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

摘要： 主动悬架可根据车辆实时状态调节悬架参数，显著提高应急救援车辆救援效率，电液伺服作动器是电液伺服主动悬架系统实施主动控制的核心部件。对电液伺服作动器控制策略展开了研究，建立了主动悬架液压伺服作动器模型；基于该模型提出了基于严格反馈模型的自适应位置跟踪控制策略，并证明了该策略在Lyapunov意义下的稳定性。仿真和单缸实验验证表明，与传统控制方法相比，所提出的位置跟踪算法可有效提高电液伺服作动器的位置跟踪性能。

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