Vibration Control of a Tracked Vehicle with ER Suspension Units (II);Modeling and Control of a Tracked Vehicle

ER 현수장치를 갖는 궤도 차량의 진동제어 (II);궤도차량의 모델링 및 제어

  • Published : 1999.11.01


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 degree-of-freedom model for the tracked vehicle is established by Lagrangian method followed by the formulation of a new sky-ground hook controller. This controller takes account for both the ride quality and the steering stability. The weighting parameter between the two performance requirements is adopted to adjust required performance characteristics with respect to the operation conditions such as road excitation. The parameter is appropriately determined by employing a fuzzy algorithm associated with the vehicle motion. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control system. Acceleration values at the driver's seat are analyzed under bump road profile, while frequency responses of vertical acceleration are investigated under random road excitation.


ER Suspension Unit;Tracked Vehicle;Vibration Control;Fuzzy Sky-Ground Hook Controller


  1. 대한기계학회지 v.36 no.7 자동차 현가 시스템의 능동제어 이경수
  2. 대한기계학회논문집(A) v.22 no.11 HILS를 통한 ER 현가장치의 성능평가 안창섭;최영태;최승복
  3. 대한기계학회지 v.32 no.10 자동차의 능동형 샤시 시스템 개발동향 허승진
  4. Semiactive Suspension: A Mobility Case Study Saxon, N.L.;Meldrum, J.W.R.
  5. 무한궤도차량 현수장치의 동적 응답특성에 관한 연구 이진철
  6. Semiactive Suspension for Military Vehicles Hoogterp, F.B.;Saxon, N.L.;Schihl, P.J.
  7. Fuzzy Systems Theorem and Its Applications Terano, T.;Asai, K.;Sugeno, M.
  8. Active Suspension in the Automotive Industry and the Military Hoogterp, F.B.;Eiler, M.K.;Mackie, W.J.
  9. Fundamentals of Vehicle Dynamics Gillespie, T.D.
  10. Transactions of JSME v.57 Active Control with Preview to Railway Vehicles Subject to Irregular Tracks Yoshimura, T.;Hosokawa, S.
  11. System Dynamics - A Unified Approach Karnopp, D.C.;Margolis, D.L.;Rosenberg, D.C.
  12. Journal of Computers and Structures v.33 On the Statistical Performance of Active and Semi-Active Car Suspension Systems ElMadany, M.M.;Abduljabbar, Z.
  13. Transactions of ASME : Journal of Dynamical Systems, Measurement and Control v.119 Electromechanical Modeling of Hybrid Piezohydraulic Actuator System for Active Vibration Control Tang, P.;Palazzolo, A.B.;Kascak, A.F.;Montague, G.T.
  14. 대한기계학회논문집(A) ER 현수장치를 갖는 궤도차량의 진동제어 (I) ER 현수장치의 설계 박동원;최승복;강윤수;서문석;신민재;한인식