关键词: 油气悬架, 微分几何, 非线性控制, 比例-积分-微分（PID）控制, 模糊比例-积分-微分（PID）控制, 平顺性

Abstract: In order to carry out an effective control of active hydro-pneumatic suspension for mining dumping truck, the nonlinear characteristics of the spring force and the damping force are analyzed, then a mathematical model of a two-degree-freedom model with nonlinear active hydro pneumatic suspension system is established . The linear control theory of differential geometric is applied to realize the exact linearization of nonlinear system through the appropriate coordinate transformation and feedback control, then the linear PID control is applied. According to the control target and output variables, the corresponding fuzzy control rule tables are made and the fuzzy PID controller is designed, then the fuzzy PID approach is applied. The simulation results show that the linear PID control and Fuzzy-PID control method can signifi-cantly improve the ride comfort and handling stability, then making the dynamic performance of suspension tends to be stable. In addition, compared with fuzzy PID control, the linear PID control has more obvious advantages on improving the ride comport.

Key words: hydro-pneumatic suspension, differential geometry, non-linear control, Proportion-Integration-Differentiation（PID） control, fuzzy-Proportion-Integration-Differentiation（PID） control, ride comfort