液压互联悬架（HIS）因具有独立调节悬架系统各运动模式刚度和阻尼的优势，已成为改善工程车辆动力学特性的先进悬架技术，并在智能网联矿车中得到应用；但网络系统和液压系统的固有时滞特性，加大了多作动器协调控制的难度，从而劣化车辆动力学性能，因此，本项目拟研究网联HIS矿车的时滞特性及其控制方法。首先研究HIS矿用车的非线性动力学建模方法，提出无时滞特性下车辆动力学失稳机制；其次构建机液电网络耦合系统时滞动力学模型，结合无时滞特性下动力学失稳条件，阐明时滞特性对车辆动力学性能的积极和不利作用条件；然后根据时滞特性的不同作用条件，研究基于事件触发和时滞补偿机制的HIS系统压力协同控制方法；最后将理论成果用于可控悬架时滞控制系统数值仿真分析和实验研究。本项目提出的可控悬架时滞控制方法能够充分发挥时滞特性的积极作用，消除其不利影响，降低网络负载，增强作动器的鲁棒性和容错能力，实现车辆动力学稳定裕拓展。

Due to the advantage of independently adjusting the stiffness and damping of each motion mode for suspension systems, hydraulically interconnected suspension (HIS) has become an advanced suspension technology for improving the dynamics properties of engineering vehicles, and been widely applied into intelligent connected mining vehicles. But the inherent time-delay characteristics of network system and hydraulic system affect the coordinated control of multiple actuators, and it deteriorates the dynamic performances. Thus, this study conducts the research on Research on time-delay dynamics characteristics and its active control of HIS for connected mining vehicles. Firstly, an nonlinear dynamic modeling method of mining vehicles with HIS system is studied, and the vehicle dynamic instability mechanism without time-delay characteristics is presented; Secondly, the coupling system time-delay dynamics model is derived. Combining with dynamics instability condition without delay characteristics, the positive and negative effects of time-delay characteristics on vehicle dynamic performance can be described; Then, according to the different conditions of time-delay characteristics, the pressure coordinated control strategy for HIS system based on event-triggered and time-delay compensation mechanisms is developed; Finally, a series of theoretical results would be used in controllable suspension control system with time-delay numerical simulation analysis and experimental research. The control method of controllable suspension with time-delay characteristics proposed in this study can make full use of its positive conditions, eliminate its adverse effects, reduce the network overload, enhance the robustness and fault tolerance of actuators, and realize the development of vehicle dynamics stability margin.