电动静液压主动悬架的内模-Smith时滞补偿控制

提出一种内模-Smith时滞补偿控制方法进行电动静液压主动悬架的时滞控制。对电动静液压作动器(Electro-Hydrostatic Actuator，EHA)进行了响应特性试验，采用一维线性插值方法对试验数据进行了模型拟合，并得到了含纯时滞的作动器简化模型。针对作动器的惯性响应设计了内模控制器，利用一阶泰勒表达式转化成了PID控制器形式；将作动器的纯时滞视为理想主动力的时滞，设计了Smith时滞补偿控制器。搭建了EHA主动悬架的内模-Smith时滞补偿控制仿真模型，并进行了仿真分析。结果表明，内模-Smith时滞补偿控制能使作动器输出的主动力在时间上得到较好的控制，明显改善了主动悬架的动态性能。

Internal Model-Smith Time Delay Compensation Control of Active Suspension with Electro-hydrostatic Actuator

An internal model-Smith time delay compensation control method is proposed for time delay control of  active suspension with an electro-hydrostatic actuator. The mechanics property of the electro-hydrostatic actuator (EHA) is tested, and the test data are modeled by one-dimensional linear interpolation method. A simplified EHA model with pure time delay is obtained. For inertial response of EHA actuator, we design an internal model controller and convert it into a traditional PID controller by using the first-order Taylor expression. The time delay of EHA actuator is regarded as the time delay of ideal active force, and a Smith compensation controller is designed. An internal model-Smith compensation control simulation model of EHA active suspension is built and the simulation analysis is carried out. The results show that the internal model-Smith time delay compensation control can make the active force output of EHA actuator be well controlled in time, and obviously improve the dynamic performance of active suspension.