The invention discloses a self-adaptive LQ disturbance suppression method for a high-speed train active suspension system containing passenger seats based on control separation, and the method employs an LQ multi-objective optimization framework based on control separation, a controller is divided into two parts, one part is used for guaranteeing the stability and control performance of a whole closed-loop system to achieve multi-objective optimization, and the other part is used for guaranteeing the stability and control performance of the whole closed-loop system to achieve multi-objective optimization. And the other part is directly related to the disturbance and is used for compensating the influence caused by the disturbance. The method comprises the steps that a parameterization error control model is established according to the uncertainty of system parameters and disturbance parameters of the high-speed train active suspension system containing passenger seats, an adaptive LQ controller is designed, unknown parameters are estimated through an adaptive parameter updating law so as to process the uncertainty of the system and disturbance, and the system parameters and disturbance parameters of the high-speed train active suspension system containing the passenger seats can be determined. The stability and the control performance of a closed-loop system are ensured, the smoothness of the train is effectively ensured when the active suspension system of the high-speed train with the passenger seats is disturbed due to track irregularity, and the comfort requirement of passengers is met.

本发明公开了一种基于控制分离的含乘客座椅的高速列车主动悬架系统自适应LQ扰动抑制方法，采用基于控制分离的LQ多目标优化框架，将控制器分为两部分，一部分用于保证整个闭环系统的稳定性和控制性能以实现多目标优化，另一部分与扰动直接相关，用于对扰动带来的影响进行补偿。本发明方法包括：针对含乘客座椅的高速列车主动悬架系统的系统参数和扰动参数的不确定性，建立参数化误差控制模型，设计自适应LQ控制器，未知参数由自适应参数更新律进行估计，来处理所述系统和扰动的不确定性，确保闭环系统的稳定性和控制性能，有效保证含乘客座椅的高速列车主动悬架系统在遭受由轨道不平顺造成的扰动时的列车平顺性，满足乘客的舒适度需求。