DOI QR코드

DOI QR Code

Self-Tuning Gain-Scheduled Skyhook Control for Semi-Active Suspension Systems: Implementation and Experiment

반능동 현가시스템용 자기동조 게인조절형 스카이훅 제어기의 구현 및 실험

  • Hong, Kyung-Tae (Dept.of Intelligent Mechanical Engineering, Busan National University) ;
  • Huh, Chang-Do (Dept.of Intelligent Mechanical Engineering, Busan National University) ;
  • Hong, Keum-Shik (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University)
  • 홍경태 (부산대학교 지능기계공학과) ;
  • 허창도 (부산대학교 지능기계공학과) ;
  • 홍금식 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2002.03.01

Abstract

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

References

  1. 허승진, 심정수, 황성호, '승용차용 반능동형 가변댐퍼 시스템의 개발,' 한국소음진동공학회지, 제8권 제4호, pp. 683-689, 1998
  2. Sohn, H. C., Hong, K. S., and Hedrick, J. K., 'Semi-active control of the acpherson suspension system: hardware-in-the-loop simulations,' IEEE International Conference on Control Applications, Anchorage, Alaska, USA, pp. 982-987,2000 https://doi.org/10.1109/CCA.2000.897600
  3. 전동섭, 홍금식, 박배정, '맥퍼슨형 반능동현가장치의 새로운 모델링 및 HiLS 구현,' 한국정밀공학회 추계학술대회 논문집, vol. I, pp.334-347, 서울시립대학교, 1998
  4. Hong, K. S., Sohn, H. C., and Hedrick, J. K., 'Modified skyhook control for the semi-active macpherson strut suspension: A new model and hiLS,' to appear in the Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, 2001
  5. 이경수, '자동차 현가시스템의 능동 제어,' 대한기계학회지, 제36권 제7호, pp. 679-704, 1996
  6. 정재룡, 홍금식, '반능동현가장치의 Self-Tuning 기능을 갖는 수정된 스카이훅 제어,' 한국정밀공학회 춘계학술대회, pp. 389-392,2000
  7. 이병윤, 김완일, 원상철, '신경망을 이용한 엑티브 현가 장치의 자기동조 최적제어,' 한국자동제어학술회의 논문집, vol. I, pp. 295-298, 1996
  8. Vallurupalli, S. S., Dukkipati, R. V., and Osman, M. O. M., 'Discrete adaptive active suspension for hardware implementation,' Vehicle System Dynamics, vol. 26, pp. 161-196,1996 https://doi.org/10.1080/00423119608969308
  9. Valasek, M., Babic, M., Sika, Z., and Magdolen, L., 'Development of semi-active truck suspension,' Proc. of the 8th IFAC/IFIP/IFORS Symposium on Transportation Systems, Chania, Greece, pp. 470-475,1997
  10. Novak, M. and Valasek, M., 'A New concept of semi-active control of trucks suspension,' Proc. of AVEC 96 International Symposium on Advanced Vehicle Control, Aachen University of Technology, pp. 141-151, 1996
  11. Karnopp, D. C., Crosby, M. J., and Harwood, R. A., 'Vibration control using semi-active force generators,' ASME Journal of Engineering for Industry, vol. 96,no. 2,pp. 619-626, 1974 https://doi.org/10.1115/1.3438373
  12. Cho, Y. J., Song, B. S., and Yi, K. S., 'A Road-adaptive control law for semi-active suspensions,' KSME International Journal, vol. 13, no.10, pp. 667-676, 1999 https://doi.org/10.1007/BF03184446
  13. Kim, H. and Yoon, Y. S., 'Semi-active suspension with preview using a frequency-shaped performance index,' Vehicle System Dynamics, vol. 24, pp. 759-780, 1995 https://doi.org/10.1080/00423119508969117
  14. Alleyne, A. and Hedrick, J. K., 'Nonlinear adaptive control of active suspensions,' IEEE Transactions on Control Systems Technology, vol. 3, no. 1, pp. 94-101,1995 https://doi.org/10.1109/87.370714
  15. 홍금식, 전동섭, 김철민, 유완석, 'Macpherson형 현가장치의 새로운 모델링과 최적극배치 제어,' 제어 ? 자동화 ? 시스템공학 논문지, 제4권 제6호, pp. 713-721, 1998
  16. Besinger, F. H., Cebon, D., and Cole, D. J., 'Force control of a semi-active damper,' Vehicle System Dynamics, vol. 24,pp. 695-723,1995 https://doi.org/10.1080/00423119508969115
  17. 손현철, '반능동현가장치의 수정된 스카이훅 제어: 축소된 전차량 모델과 동력전달장치의 통합제어,' 부산대학교 지능기계공학과 석사학위 논문, 2000
  18. 최영휴, '승차감 및 조종성능을 고려한 승용차 현가장치의 동적 설계,' 서울대학교 박사학위 논문, 1991
  19. 김광석, 유완석, '전력밀도함수를 이용한 노면형상 생성에 관한 연구,' 한국자동차공학회 논문집, 제5권 제1호, pp. 136-145, 1997