本研究使用PC-BASED於控制架構，實現1/4車主動式懸吊控制與輪胎變形量之估測。主動式懸吊系統已發展多年，各種演算法應用相繼提出，然而車輛的輪胎變形量多半被忽略。輪胎變形量對於車輛的操縱性與舒適性有相當影響，由於輪胎為一非線性彈性體，難以使用數學模式準確估測出其變形量，實際車輛上不易獲得輪胎變形量，本研究利用車體與輪軸上的加速度計獲得加速度，使用遞迴最小平方法(RLS)與卡爾曼估測器(Kalman Filter)估測輪胎變形量，比較估測效果，並將估測結果應用於主動式懸吊上的車體位置控制補償，驗證估測結果有助於車體舒適性提升。主動式懸吊控制方面，採用不需要系統模型之基本模糊控制(Fussy)、自組織模糊控制(SOFC)，可免除非線性系統之鑑定，在車體控制上亦有不錯的控制效果。

PC-BASED control system was constructed to realize quarter vehicle active suspension control and estimate the tire deformation. The active suspension system research logic had been investigated for a long time and many control algorithms had been proposed in literatures. However, the tire deformation affect on vehicle suspension control was seldom discussed. The tire deformation may affect the active suspension control performance and vehicle comfort. In addition, tire is a nonlinear elastomer, and its tire deformation is hard to be measured or estimated accurately by modeling. Here, the RLS and Kalman Filter algorithms are employed to estimate the tire deformation based on the acceleration feedback from the accelerometers on vehicle and axle. Then, the estimation result is used to compensate suspension travel during active suspension control. The intelligent fuzzy control and SOFC are adopted to design the active suspension system controller in this thesis. The experimental results show that the vehicle body deformation signal filtering out the tire estimate deformation can improve the comfort of active suspension system.

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