Abstract: In order to restrain the pulsations of the main power outputs from the actuators of the EHA active suspension and to improve the dynamic performance of the vehicles, a dual-sliding mode control strategy for the EHA active suspensions was proposed. The dynamics model of EHA active suspensions was established, and the outer loop sliding mode controllers and the motor inner loop sliding mode controllers were designed based on the model reference. The main dynamic characteristics of the suspensions and the dynamic characteristics of the vehicles under different road excitations were simulated and analyzed. The bench tests were carried out. The simulation and experimental results show that, the dual sliding mode control strategy may restrain the pulsations produced by the main power outputs of the motor, make the actual output main forces track the ideal main power effectively, and improve the dynamic characteristics of the EHA active suspensions.

Key words: electrostatic-hydraulic actuator(EHA), active suspension, dual sliding mode control, model reference, bench test

摘要： 为了抑制电动静液压作动器（EHA）主动悬架作动器输出主动力的脉动，改善车辆的动态性能，提出了一种EHA主动悬架双滑模控制策略。建立了EHA主动悬架动力学模型，设计了基于模型参考的外环滑模控制器和电机内环滑模控制器，仿真分析了不同路面激励下该悬架的输出主动力特性和车辆动态特性，并开展了台架试验测试。结果表明，双滑模控制策略能够抑制电机输出主动力所产生的脉动，使实际输出主动力有效跟踪理想主动力，提高了EHA主动悬架的动态特性。

关键词: 电动静液压作动器(EHA), 主动悬架, 双滑模控制, 模型参考, 台架试验