대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제36권11호
  • /
  • Pages.1311-1318
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  • 2012
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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차량 전복 방지를 위한 강인 제어기 설계

Design of a Robust Controller for Vehicle Rollover Prevention

  • 임성진 (서울대학교 차세대융합기술연구원) ;
  • 김용무 (충남대학교 기계공학과) ;
  • 오동호 (충남대학교 기계공학과)
  • Yim, Seong-Jin (Advanced Institutes of Convergence Technology, Seoul Nat'l Univ.) ;
  • Kim, Yong-Moo (Dept. of Mechanical Engineering, Chungnam Nat'l Univ.) ;
  • Oh, Dong-Ho (Dept. of Mechanical Engineering, Chungnam Nat'l Univ.)
  • 투고 : 2012.05.03
  • 심사 : 2012.07.17
  • 발행 : 2012.11.01
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초록

본 논문에서는 차량 전복 방지를 위해 강인 제어기를 설계하고 적용하는 방법에 대해 제시한다. 운행 중인 차량은 속도나 무게중심과 같은 파라미터 변화가 쉽게 발생하는데, 차량 전복 방지 제어기가 파라미터 변화에 대해 강인하게 설계된다면 차량 전복 방지 성능을 더욱 향상시킬 수 있다. 이를 위해 본 논문에서는 이산시간영역에서 LMI 를 이용하여 $H_2$ 및 $H_{\infty}$ 강인제어기를 설계하고, 실험에 대한 신뢰도가 높은 차량 시뮬레이션 패키지인 CarSim 에서 차량 전복 방지를 위한 제어기의 성능을 검증한다.

Vehicle systems are frequently exposed to parameter uncertainties such as vehicle speed and height of center of gravity. If a controller is designed to be robust against these parameter uncertainties, the rollover prevention capability can be considerably enhanced. In this study, robust controllers $H_2$ and $H_{\infty}$ are designed by using LMI for vehicle rollover prevention control in the discrete time domain. Some simulations using CarSim, a reliable simulation tool, are performed to validate the proposed controllers.

키워드

참고문헌

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