<p>随着汽车工业的快速发展及智能化、电动化趋势的推进，车辆性能优化与能源效率提升成为研究热点。传统悬架系统虽能改善车辆平顺性与操纵稳定性，但其被动式结构难以适应复杂多变的路面工况，且无法回收路面振动能量，导致能量浪费与燃油经济性降低。为此，研究一种兼具动态性能提升与能量回收功能的新型悬架系统成为行业迫切需求。电动静液压互联式悬架系统（Electro-Hydrostatic Interconnected Suspension ,EHA-HIS）通过液压互联技术与能量回收机制，不仅能够提升车辆的平顺性、抗侧倾与抗俯仰性能，还能将振动能量转化为电能存储，为车辆节能与性能优化提供了创新解决方案。本文以EHA-HIS为研究对象，通过系统建模、特性分析、控制策略设计及性能验证，提升其在多工况下的车辆性能及能量回收效率。本文的主要研究内容如下：</p> <p>（1）在分析EHA-HIS结构及工作原理的基础上，构建电液馈能互联悬架的数学模型。进一步建立包含横摆、俯仰和侧倾动态特性的十四自由度整车动力学模型。同时，采用滤波白噪声法构建随机路面激励模型，为仿真分析提供了真实的输入条件，为后续控制策略的设计与验证奠定了理论基础。</p> <p>（2）在四种典型工况下，研究EHA-HIS的多工况适应性与能量回收稳定性。通过仿真分析高压蓄能器、低压蓄能器、液压缸、液压马达排量及馈能电路电阻对悬架特性的影响，为系统参数优化提供依据。利用Isight与Amesim联合仿真平台，对系统参数进行了正交实验分析与优化。此外，通过特性试验验证仿真模型与试验结果的一致性。</p> <p>（3）针对车辆部分参数的不确定性，结合自适应控制理论与反步法，以车辆的簧载质量位移、侧倾角、俯仰角及车轮非簧载质量位移为控制目标，推导补偿力计算公式，并确定输出变量的控制率。最终，通过实时计算并施加补偿力于车辆悬架系统，实现俯仰和侧倾运动的稳定控制，从而提升车辆的操纵稳定性和乘坐舒适性。</p> <p>（4）为评估安装EHA-HIS车辆的性能，搭建EHA-HIS整车控制AMESim-Simulink-Carsim联合仿真模型。针对整车的平顺性，在随机路面下采用不同时速进行仿真分析。针对整车的抗侧倾性能，分别在双移线工况与蛇形工况下进行仿真分析；针对整车的抗俯仰性能，分别在制动工况与脉冲激励工况下进行仿真分析；通过仿真数据分析其性能，验证控制策略的有效性。</p>

<p>With the rapid development of the automotive industry and the accelerating trends of intelligence and electrification, vehicle performance optimization and energy efficiency improvement have become key research focuses. Although traditional suspension systems can improve ride comfort and handling stability, their passive structures are inadequate for adapting to complex and variable road conditions and are incapable of recovering vibration energy from the road, resulting in energy waste and reduced fuel economy. Therefore, the development of a novel suspension system that integrates both dynamic performance enhancement and energy recovery functions has become an urgent demand in the industry. The Electro-Hydrostatic Interconnected Suspension (EHA-HIS), utilizing hydraulic interconnection technology and energy recovery mechanisms, not only enhances ride comfort, anti-roll, and anti-pitch performance, but also converts vibration energy into electrical energy for storage, providing an innovative solution for vehicle energy saving and performance optimization. This paper focuses on the EHA-HIS system, aiming to improve its vehicle performance and energy recovery efficiency under various operating conditions through system <font color='red'>modeling</font>, characteristic analysis, control strategy design, and performance validation. The main research contents of this study are as follows:</p> <p>(1) Based on the analysis of the EHA-HIS structure and working principles, a mathematical model of the electro-hydrostatic energy-feeding interconnected suspension was developed. Furthermore, a fourteen-degree-of-freedom full-vehicle dynamic model incorporating yaw, pitch, and roll dynamics was established. In addition, a random road excitation model was constructed using the filtered white noise method, providing realistic input conditions for simulation analysis and laying a theoretical foundation for the design and validation of subsequent control strategies.</p> <p>(2) Under four typical operating conditions, the multi-condition adaptability and energy recovery stability of the EHA-HIS were investigated. Simulation analyses were conducted to examine the effects of the high-pressure accumulator, low-pressure accumulator, hydraulic cylinder, hydraulic motor displacement, and energy-feeding circuit resistance on suspension characteristics, providing a basis for system parameter optimization. An orthogonal experimental analysis and optimization of system parameters were carried out using the Isight and Amesim co-simulation platform. In addition, characteristic tests were conducted to verify the consistency between the simulation model and the experimental results.</p> <p>(3) In response to the uncertainty of certain vehicle parameters, an adaptive backstepping control strategy was developed by integrating adaptive control theory with the backstepping method. Taking the sprung mass displacement, roll angle, pitch angle, and unsprung mass displacement of the wheels as control objectives, the compensation force calculation formulas were derived, and the control laws for the output variables were determined. Ultimately, by computing and applying the compensation forces to the suspension system in real time, stable control of pitch and roll motions was achieved, thereby enhancing vehicle handling stability and ride comfort.</p> <p>(4) To evaluate the performance of a vehicle equipped with EHA-HIS, a co-simulation model for full-vehicle control was established using AMESim, Simulink, and CarSim. For ride comfort assessment, simulation analyses were conducted under random road conditions at various vehicle speeds. For roll resistance performance, simulations were carried out under double lane-change and slalom conditions; for pitch resistance performance, simulations were conducted under braking and pulse excitation conditions. The simulation results were analyzed to evaluate system performance and verify the effectiveness of the proposed control strategy.</p>

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