电液主动悬架灵敏度分析与自适应跟踪控制

应急救援车辆载重量大、行驶路面复杂，电液主动悬架输出力的响应和控制精度对衰减振动至关重要。建立了电液主动悬架单元数学模型，给出了系统的轨迹灵敏度方程，并得到力阶跃响应对应各主要参数的灵敏度，为悬架性能优化提供理论依据；针对电液主动悬架负载质量大的特点，结合灵敏度分析结果，设计模型参考自适应控制器。最后，通过实验对自适应控制效果进行验证，结果表明所提出的控制方法可有效提高电液主动悬架单元的跟踪性能和对输出力的控制精度，助力整车主动悬架系统实现各种先进控制算法。

Sensitivity Analysis and Adaptive Tracking Control of Electro-hydraulic Active Suspensions

 Emergency rescue vehicles carried heavy loads and travel on complex roads and the response and control accuracy of output forces of electro-hydraulic active suspensions were very important to attenuate vibrations. Firstly， the mathematical model of electro-hydraulic active suspension system was established. Secondly， the trajectory sensitivity equation of the system was established to give the sensitivity of the main parameters with the force step response， so as to provide a theoretical basis for the performance optimization. Thirdly， considering the large load characteristics of electro-hydraulic active suspensions and the sensitivity analysis results， a reference model adaptive controller was designed. Finally， the adaptive control effectiveness was verified by experiments. The results show that the proposed control method effectively improves the tracking performance and the force control accuracy of the electro-hydraulic active suspension actuator units. It will help the vehicle active suspension system to realize various advanced control algorithms.