An active suspension in vehicle is developed to improve both ride comfort and steering stability which are in trade off relation. Most of the literatures in this area have not considered the concept of robustness on model uncertainty and measurement error.
In this study, the mode sky-hook controller for 7D.O.F. model is proposed to resolve the problems such as computational power restriction and uncertainties in modeling of systems and enviroments. Mode sky-hook controller decouples each mode to be controlled. While improving ride comfort, according the simulation of stationary road profile, the perfomance of proposed controller can be matched to that of the optimal controller. The method of determining its gain is proposed.
The Linear Quadratic Gaussian controller with Loop Transfer Recovery (LQG/LTR), design method based on modelling error, is proposed. The performance of its controller is compared with that of the mode sky-hook controller and the optimal controller through the simulation. The mode sky-hook controller and the LQG/LTR controller in vehicle show the robustness in track irregularity and modeling error.
Also, the method for height control of body is proposed. The scheme and the gain range of feedforward controller for tansient response during acceleration, braking and tuming is decided.
