7 자유도 차량 모델과 출력 되먹임을 이용한 자동차 능동 현가장치 설계에 관한 연구

Output feedback, decentralized controller design for an active suspension system using 7 DOF full car model

The Output feedback linear quadratic regulator control is applied to the design of active suspension system using 7 DOF full car model. The performance index reflects the vehicle vertical movement, pitch and roll motion, and minimization of suspension stroke displacements in the rattle space. The elements of gain matrix are approximately decoupled so that each suspension requires only local information to generate the control force. The simulation results indicates that the output feedback LQ controller is more effective than purely passive or full state feedback active LQ controllers in following the road profile at the low frequency range and suppressing the road disturbance at the high frequency ranges.