궤도차량의 현수장치 예견제어를 위한 실시간 시뮬레이션
(The) Real time simulation for preview suspension control of a tracked vehicle
궤도차량 현수장치 예견제어 기계공학;
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In this research, preview control algorithm for the active suspension systems of a full tracked vehicle is designed based on a 3-DOF model and evaluated. The road information obtained by the motion of the first road wheel is utilized to control the vehicle dynamic motion as the preview information applying to the rest of road wheels with time delay. The goal of this study is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain an operator's driving capability. Simulation results in time domain show that the presence of preview information can simultaneously improve all of the aspects of performance. Frequency response curves to four types of inputs, such as heaving, pitching, rolling, and warping input, also demonstrate the merits of preview control in ride comfort. Discrete time control algorithm that is verified by continuous time control algorithm of full tracked vehicle and make a HiL(hardware in the loop) system. The control that divides into a feedback and a feedforward is calculated each part. The simulator part of vehicles exercise and the feedback part of the control are downloaded in a DSP board. The feedforward part that has much calculation amount is downloaded in other DSP board. To operate the system in real time, the HiL system was built up using two DSP board. The real time responses of the preview suspension control are nearly same as the results of computer simulation for a theoretical model.