本論文提出了一個具有復原控制能力的四分之一車懸吊系統測試平台提供垂直干擾對舒適度及路面掌控能力的影響，並進行懸吊系統的性能分析，本測試平台主要由一個氣壓缸、兩組麥花臣避震器及一個氣壓肌肉主動式懸吊所組成。以氣壓缸作為路面致動器來提供測試車輛懸吊時所需之路面訊號，氣壓肌肉則被用來建構主動式懸吊。本論文在路面致動器上設計了一個以模糊控制為基礎的復原性控制系統，以便產生各種不同的路面干擾，並利用基因演算法來搜尋模糊控制器的最佳控制參數來克服在不同的操作條件下，氣壓缸的高度非線性及不確定性等特性，以達到良好的控制效果。在此懸吊系統測試平台，除了被動式懸吊的性能測試，本論文也在氣壓肌肉主動式懸吊系統使用天鉤式控制策略。完整的測試平台是由一個嵌入式系統來執行測試自動化，實驗結果證明了氣壓驅動之主動式懸吊系統測試平台的可靠性及有效性。

This work studies a quarter-car suspension test bench with the capability of resilient control to provide the suspension performance analysis in the influences of vertical deflections so that the system can improve ride comfort. The test bench mainly consists of one pneumatic cylinder, two MacPherson suspension components, and one pneumatic muscle based active suspension. The pneumatic cylinder is used to construct the road actuator which can provide the simulated road profile for the tests of vehicle suspension. The pneumatic muscle is used to build the active suspension. As to the road actuator, a resilient control system is designed based on the fuzzy control technique so that various types of road disturbance can be generated. The genetic algorithm (GA) is applied in the resilient control system for searching for the optimized fuzzy control parameters so that the good tracking control performance can be achieved against high nonlinearity and uncertainty of the pneumatic cylinder under different operation conditions. In the proposed test bench, in addition to the performance testing of the passive suspension, a skyhook control strategy is utilized in the pneumatic muscle based active suspension system. The complete test bench is controlled by an embedded system to execute the testing automation, and the experimental results demonstrate the effectiveness and the reliability of the suspension test bench using pneumatic actuators.

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