$H_{\infty}$ Control of a Tracked Vehicle with ER Suspension Units

ER 현수장치를 갖는 궤도차량의 $H_{\infty}$ 제어

This paper presents dynamic modeling and controller design of a tracked vehicle installed with the double-rod type ERSU(electro-rheological suspension unit). A 16 DOF(degree-of-freedom) model for the tracked vehicle is established by Lagrangian method. After showing the spring and damping characteristics of the proposed ERSU, equivalent 2 DOF 1/12 tracked vehicle model is then formulated by regarding the spring and viscous damping coefficients under the static state as constant values. A robust LSDP(loop-shaping design procedure) $H_{\infty}$ controller compensating spring and damping parameter variations is then designed in order to suppress unwanted vibration of the vehicle. The control responses such as vertical and pitch acceleration are presented in time domain.