This study presents the nonlinear modeling and model predictive control of a new semi-active hydro-pneumatic inerter-based suspension system (SAHPISS) for the first time. Unlike the traditional semi-active hydro-pneumatic suspension, a fluid inerter is added to the semi-active hydro-pneumatic suspension and a better damping effect can be achieved by adjusting the opening of the hydraulic control valve. First, an accurate analysis modeling of SAHPISS that considers the fluid hydraulic pressure drop, oil-gas nonlinearity and inerter nonlinearity is carried out. Then, a two-stage hierarchical control scheme based on MPC control strategy is proposed for SAHPISS to reduce calculation times of the system and the use rate of the hydraulic control valve and improve the working life of the hydraulic control valve under the consideration of suspension performance requirements. The results of the numerical simulations and experiments prove that the proposed new structure optimizes the low-frequency effect, has a high-frequency effect of the semi-active hydro-pneumatic suspension and verify the effectiveness of the control method.

这项研究首次提出了一种新的基于半主动液压气动惯性的悬挂系统（SAHPISS）的非线性建模和模型预测控制。与传统的半主动式液压气动悬架不同，在半主动式液压气动悬架上增加了一个流体惰性装置，通过调节液压控制阀的开度可以达到更好的阻尼效果。首先，建立了考虑流体液压降，油气非线性和惯性非线性的SAHPISS精确分析模型。然后，针对悬架性能要求，提出了一种基于MPC控制策略的两阶段分级控制方案，以减少系统的计算时间，降低液压控制阀的使用率，提高液压控制阀的使用寿命。数值模拟和实验结果表明，所提出的新结构优化了低频效果，具有半主动式油气悬架的高频效果，验证了控制方法的有效性。