비대칭형 유압 실린더를 사용한 능동현가 시스템에서의 궤한 선형화와 최적제어기법을 이용한 이득계획제어기 설계

Gain-scheduled controller design of an Active Suspension System with an Asymmetric Hydraulic Cylinder using Feedback linearization technique & optimal

Asymmetric cylinders are usually used as an actuator of active suspensions. The conventional optimal controller design does not include actuator dynamics as a state. and force controller is needed to track the desired force. But the actuator is not ideal, so performance of an active suspension system is degraded. In this paper, we take account nonlinear actuator dynamics and obtain a linear model using a feedback linearization technique then apply optimal control method. For real time application, gain-scheduling method is used. Effectiveness of proposed method is demonstrated by numerical simulation of 1/4 car model.