승차감 향상을 위한 차체 상하ㆍ피칭 능동 현가제어에 관한 연구

박중현(Jung-Hyen Park) 한국컴퓨터정보학회 2007 韓國컴퓨터情報學會論文誌 Vol.12 No.2

본 논문에서는 능동 현가장치의 해석 및 설계에 강인제어 이론을 적용하여 현가장치설계에 응용 할 수 있는 이론 및 실험적 제어장치 적용에 관한 연구를 수행하였다. 최근의 현가장치설계에서는 강성과 감쇠를 능동적으로 제어하는 기술의 적용이 일반화 되고 있으며, 다른 여러 종류의 차량 안정성제어 장치와의 연계성이 높아짐에 따라, 제어 시스템설계에서 보다 내구성이 강하고 제어효과의 응답성이 빠르며 정도 또한 높은 제어장치의 필요성이 요구되고 있다. 본 연구는 전륜 및 후륜의 위치와 주행속도관계에 따른 능동현가시스템을 해석하여 위와 같은 빠른 응답성과 높은 정도의 제어가 가능한 제어시스템을 해석, 설계하기 위하여 능동 현가 제어시스템의 적용에 관한 고찰을 하였다. 그리고 제어대상시스템에 대한 능동 제어시스템을 설계하기위한 모델링 및 적용방법을 수식적으로 해석하였으며, 능동 현가장치의 제어시스템설계에 중요한 내외란성 향상을 위한 강인제어시스템설계에 적용하는 방법에 관해 고찰하였다. This paper proposed modelling and design method in suspension system design to analyze active suspension equipment by adopting active robust control theory. Recent in the field of suspension system design it is general to adopt active control scheme for stiffness and damping, and connection with other vehicle stability control equipment is also intricate, it is required for control system scheme to design more robust, higher response and precision control equipment. It is known that active suspension system is better than passive spring-damper system in designing suspension equipment. We analyze suspension system with considering location of front-rear wheel and driving velocity, then design control system. Numerical example is shown for validity of robust control system design in active suspension system.

능동 현가장치에의 지능형 제어시스템 적용에 관한 연구

박중현(Jung-hyen Park) 한국컴퓨터정보학회 2007 韓國컴퓨터情報學會論文誌 Vol.12 No.3

본 논문에서는 능동 현가장치의 해석 및 설계에 지능형 강인제어 이론을 적용하여 현가장치설계에 응용 할 수 있는 이론 및 실험적 제어장치 적용에 관한 연구를 수행하였다. 최근의 현가장치설계에서는 강성과 감쇠를 능동적으로 제어하는 기술의 적용이 일반화 되고 있으며, 다른 차량안정성제어장치와의 연계성이 높아짐에 따라, 제어시스템설계에서 보다 내구성이 강하고 제어효과의 응답성이 빠르며 정도 또한 높은 제어장치의 필요성이 요구되고 있다. 본 연구는 전륜 및 후륜의 위치와 주행속도관계에 따른 능동현가시스템을 해석하여 위와 같은 빠른 응답성과 높은 정도의 제어가 가능한 제어시스템을 해석, 설계하기 위하여 지능형 제어시스템의 적용에 관한 고찰을 하였다. 그리고 제어대상시스템에 대한 지능형 제어시스템을 설계하기위한 모델링 및 적용방법을 수식적으로 해석하였으며, 능동 현가장치의 제어시스템설계에 중요한 내외란성 향상을 위한 지능형 강인제어시스템설계에 적용하는 방법에 관해 고찰하였다. This paper proposed modelling and design method in suspension system design to analyze active suspension equipment by adopting intelligent robust control theory. Recent in the field of suspension system design it is general to adopt active control scheme for stiffness and damping, and connection with other vehicle stability control equipment is also intricate, it is required for control system scheme to design more robust, higher response and precision control equipment. It is known that active suspension system is better than passive spring-damper system in designing suspension equipment. We analyze suspension system with considering location of front-rear wheel and driving velocity, then design robust control system. Numerical example is shown for validity of intelligent control system design in active suspension system.

감쇠력 가변댐퍼를 이용한 반능동 현가장치의 실차실험 특성에 관한 연구

이광헌(K. H. Lee),이춘태(C. T. Lee),정헌술(H. S. Jeong) 유공압건설기계학회 2010 드라이브·컨트롤 Vol.7 No.4

A semi-active suspension is an automotive technology that controls the vertical movement of the vehicle while the car is driving. The system therefore virtually eliminates body roll and pitch variation in many driving situations including cornering, accelerating, and braking. This technology allows car manufacturers to achieve a higher degree of both ride quality and car handling by keeping the tires perpendicular to the road in corners, allowing for much higher levels of grip and control. An onboard computer detects body movement from sensors located throughout the vehicle and, using data calculated by opportune control techniques, controls the action of the suspension. Semi-active systems can change the viscous damping coefficient of the shock absorber, and do not add energy to the suspension system. Though limited in their intervention (for example, the control force can never have different direction than that of the current speed of the suspension), semi-active suspensions are less expensive to design and consume far less energy. In recent time, the research in semi-active suspensions has continued to advance with respect to their capabilities, narrowing the gap between semi-active and fully active suspension systems. In this paper we are studied the characteristics of vehicle movement during the field test with conventional and semi-active suspension system.

공간적 제한 하의 전자기-열 연성 해석을 통한 철도차량 2차 현가장치용 선형 전자기식 액추에이터의 설계

김동욱(Dongwook Kim),윤준호(Jun-Ho Yoon),박노철(No-Cheol Park) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.2

철도 차량의 승차감이 중요해짐에 따라 승차감에 영향을 많이 주는 횡방향 진동 저감에 대한 요구가 높아지고 있다. 이를 위해서는 기존의 수동형 현가장치가 아닌 능동형 현가장치가 적합하다. 능동형 현가장치로서는 높은 추력밀도와 제어 성능을 가지고 있는 원통형 전자기식 액추에이터가 적합하다. 원통형 전자기식 액추에이터의 구동 방식 중 배선이 쉽고 높은 추력 밀도를 가지고 있는 슬롯이 있는 영구자석 이동식 액추에이터를 선정하였다. 주어진 크기 내에서 얻을 수 있는 추력을 알기 위해 전자기-열해석 모델을 구축하였고 이를 연성하여 최종적으로 최대 추력을 도출하였다. 목표 추력인 7500N 이상을 얻을 수 있는 조건은 전자기 회로의 길이가 600mm에 직경이 300mm인 모델이었다. 열차의 주행에 따른 강제 대류로 인한 냉각 조건을 더 부여할 시 그 크기는 더 줄어들 수 있음을 확인하였다. There is a growing demand for a reduction in lateral vibration in railway vehicles, which has an effect on ride comfort. For this purpose, active suspension rather than conventional passive suspension is suitable. A tubular electromagnetic (EM) actuator is appropriate for an active suspension as it has a high thrust density and controllability. Among the several driving methods of the actuator, a permanent moving-magnet type with slots that have easy wiring, and a high thrust density, was selected. To obtain the thrust force for a given actuator size, an EM-thermal analysis model was constructed and the maximum thrust was obtained. A model of 300 mm diameter and 600 mm length satisfied the target thrust of 7500 N. It is confirmed that the size can be further reduced when forced convection due to the operation of the train is applied.

능동형 롤 스테빌라이저의 시뮬레이션 연구

박종호(Jongho Park),조태영(Taeyeong Jo),김차식(Chasik Kim),문덕수(Deoksu Mun),이재천(Jaecheon LEE) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11

This study evaluated features of existing circuits through the simulation experiment of the ARS (Active Roll Stabilizer) oil pressure circuit and suggested a possibility to replace it with a new circuit. Because the exisitng anti-roll method which adopted a stabilizer bar and an active susppension system of the pressed oil type provides poor comfortness on riding and causes excessive energy loss, ARS system is becoming more frequently applied. We did a modelling for the ARS oil pressure circuit of the currently generalized HYDAC model using the AMESim program, and proceed vehicle dynamic modelling with the Matlab. When we simulated this constructed ARS oil pressure circuit system and performed a practical car test, we could achieve a similar result. In addition, we also suggested a replace circuit in which a proportional reduction valve was used in order to enhance the loalization of the HYDAC model. The simulation results proved that the newly proposed system was sufficiently comparable to the existing products.

반능동 현가시스템 제어를 적용한 작업용 차량의 응답 특성 분석

심규현(Kyuhyun Sim),염승재(SeungJae Yum),황성호(Sung-Ho Hwang) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11

This paper presents a response characteristic analysis of utility vehicle with semi-active suspension system to improve passenger ride comfort. A quarter car model for the vehicle is formulated as state space matrix and its semi-active suspension system is controlled by implementing a skyhook controller and a Linear Quadratic Regulator (LQR). When the vehicle driving a simple bump at constant speed, their results of time domain are shown and their property for the controllers is analyzed. The paper also shows Power spectral density (PSD), frequency results of vertical acceleration, suspension deflection and tire deflection, using an uneven road profile. This simulator is developed as MATLAB/Simulink.

궤적 민감도를 이용한 능동 현가장치의 강인 예견 제어

임성진(SeongJin Yim),박영진(Youngjin Park) 한국자동차공학회 2006 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-

This paper presents a method to design a robust preview controller for active suspension with trajectory sensitivity minimization. Preview control is a good choice in improving the performance of active suspension. Vehicle systems are exposed to several uncertainties such as sprung mass, spring and tire stiffness, etc. These uncertainties deteriorate the performance of the preview controller. To cope with these uncertainties, trajectory sensitivity minimization is used to design a robust controller. Through the simulation, the effects of the robust preview controller for active suspension are investigated.

자동차 능동현가시스템의 성능향상을 위한 실험적 연구

김주용 한국기계기술학회 2012 한국기계기술학회지 Vol.14 No.3

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.

능동 현가장치와 ESP를 이용한 차량 전복 방지 강인 제어기 설계

임성진(Seongjin Yim),박영진(Youngjin Park) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

This paper presents a method to design a robust controller for rollover prevention. Several types of controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability of these controllers can be enhanced if the controlled vehicle system is robust to the variation of the height of the center of gravity(C.G.) and the speed of the vehicle. With this idea, a robust controller is designed with linear quadratic static output feedback and trajectory sensitivity reduction scheme. Electronic stability program(ESP) and active suspension system are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim<SUP>®</SUP>..