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7자유도 전차량 모델 기반 차량용 능동현가장치 강인 제어기 설계
채민지(Minji Chae),서인석(Inseok Seo),김태형(Tae-Hyoung Kim) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper proposes a method to design robust static-output feedback (SOF) controller of vehicle active suspension which is to improve ride comfort and driving safety based on full car model by using linear matrix inequalities (LMIs) and multi-objective particle-swarm optimization (MO-PSO). The main strategies are composed of three important parts. First, we decouple 7-DOF full car model into 4-DOF heave+pitch model and 3-DOF roll model to design controller focusing on sensitive frequency range of each mode. Second, we consider vehicle parameter uncertainty such as mass variation and mechanical components’ nonlinearities by polytopic uncertainty model. Finally, we design robust finite-frequency H∞/GH2 SOF controller which generally known as non-convex mathematical problem, by combining Generalized KYP lemma based LMIs and MO-PSO. The proposed controller design method is validated via numerical simulation describing real driving situations.