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능동형 현가장치를 위한 강인한 H_∞ 제어기 설계 및 안정도 해석
김영석(Young S.Kim),박종현(Jong H.Park) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
An H_∞ controller is designed for active suspensions of vehicles based upon a 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations are assured through μ-framework. The performance of the H_∞ controller is compared with that of a LQG controller in computer simulations. From the simulations, it is found that the active suspension with the H_∞ controller reduces the acceleration and motion of the sprung mass in the heaving, rolling, and pitching directions when the car is driven on a normal road or through an unequal bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall, the H_∞ controller shows a better performance and more robust than that of the LQG design.<br/>