关键词: 三轴应急救援车辆, 主动悬架, 电液伺服作动器, 位置跟踪, 自适应

Abstract: The active suspension might adjust the suspension parameters according to the real-time status of the vehicles, which greatly improved the rescue efficiency of emergency rescue vehicles. Electro-hydraulic servo actuator was the core component of active control of electro-hydraulic servo active suspension system, the control strategy of electro-hydraulic servo actuator was studied. The active suspension hydraulic servo actuator model was established. Then, based on the model, an adaptive position tracking control strategy was proposed based on a strict feedback model, and the stability of the proposed strategy in the Lyapunov sense was proved. The simulation and single-cylinder experiments show that the position tracking algorithm proposed may effectively improve the position tracking performance of electro-hydraulic servo actuators compared with the traditional control methods.

Key words: three-axis emergency rescue vehicle, active suspension, electro-hydraulic servo actuator, position tracking, adaptive