• 한국자동차공학회논문집
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• 제11권4호
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• pp.135-143
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• 2003

In this study, a real-time simulation model was developed for tracked vehicles with in-arm type semi-active hydro-pneumatic suspension unit using MATLAB S-functions. Since the vehicle model uses relative coordinates and massless link elements, the developed model has an enhanced analytic time performance. Through the comparison of simulation results with multi-body software(DADS), the vehicle model is verified. A controller using on-off skyhook control algorithm is designed with the pilot-centre]led proportional valve based on conventional damper characteristics. Exploiting the developed tracked vehicle model with other subsystem model such as a controller model, a suspension unit model, and a test road model, computer simulations are carried out. Control simulation results with the developed tracked vehicle model show that the semi-active suspension control system has a better performance than the conventional suspension system.

• 소음진동
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• 제8권4호
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• pp.683-689
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• 1998

A control algorithm for multi-stage dampers is developed based on the mode skyhook control concept, and implemented on the full vehicle system environment. The test vehicle system is equipped with the real time controller, four-stage variable dampers and sensors. The real time controller is developed using a digital signal processor(DSP), digital I/O, A/D and D/A converters. The dampers are driven by the electromagnetic actuators of less than 20 msec response time. The sensors include accelerometers, relative displacement transducers, and steering wheel rate sensors, etc. Through a series of tests in laboratory and proving ground, the performance of the semi-active suspension system is evaluated and it is shown that the vehicle dynamic characteristics is improved with the developed damping system. Futhermore, the parameter tuning methods to enhance vehicle dynamic performance are propsoed.

• 한국지진공학회논문집
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• 제10권1호
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• pp.51-62
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• 2006

다양한 원인에 의해서 발생하는 구조물의 동적응답을 감소시키기 위하여 현재까지 여러 가지 형태의 동조질량감쇠기(Tuned Mass Damper; TMD)가 개발되었고 이에 대한 많은 연구가 수행되어 왔다. 본 연구에서는 구조물의 응답에 따라서 실시간으로 TMD의 감쇠를 변화시킬 수 있는 준능동 TMD(Semi-active TMD; STMD)의 제어성능을 다양한 형태의 하중을 적용하여 해석적으로 검토하였다. STMD를 구성하는 준능동 감쇠기의 감쇠력을 조절하기 위하여 skyhook 제어알고리즘을 이용하였다. 조화하중 및 임의의 동적하중을 직접가력하중과 지반진동하중 형태로 단자유도 구조물에 가하여 STMD와 일반적인 TMD의 제어성능을 비교하였다. 또한, 주구조물의 질량의 변화에 따른 TMD 및 STMD의 제어성능의 견실성을 비교하였다. 그리고, 가변감쇠장지 뿐만 아니라 MR 감쇠기를 사용한 STMD의 제어성능도 평가하여 새로운 진동제어장치로서의 활용가능성을 검토하였다. 수치해석을 수행한 결과 STMD는 TMD에 비하여 조화하중 및 임의의 동적하중에 대해서 매우 뛰어난 제어성능을 보이는 것을 확인할 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.346-348
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• 2005

In this paper, we designed a vehicle active suspension controller. Vehicle suspensions have various design objects with tradeoff among them and these objects cannot be satisfied under all driving conditions. We need to design a controller adapted to variable driving conditions changing the objects of vehicle suspensions. To design such a controller, we must be able to detect the current driving conditions and focus on the road frequencies giving us useful and important information about driving conditions. Detecting the road frequencies, we use the Fourier Transform. A unexpected driving change like a speed bump was also included to items the new designed controller must consider.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1995년도 춘계학술대회논문집; 전남대학교, 19 May 1995
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• pp.45-50
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• 1995

본 연구에서는 기존에 널리 사용되고 있는 스카이훅 제어 알고리즘(skyhook control algorithm)[3]을 바탕으로 확장 개발된 모드 스카이훅 제어(mode skyhook control) 개념 및 주파수 감응식 제어(frequency dependent control)개념[4][5]을 실용화하기 위하여 응답속도가 20msec이하의 비교적 빠른 응답 속도를 갖는 전자기식 작동기 (electro-magnetic actuator)에 의해 가변되는 4단 반능동형 가변 댐퍼 시스템을 개발한 후, 다음과 같은 성능의 향상을 시험결과를 통하여 보이고자 한다. -저속에서의 승차감 향상과 고속에서의 주행 안정성 향상 -커브 주행 또는 급격한 핸들 작동시의 롤안정성 (rolling stability) 향상 -제동 및 급발진시의 차체 피칭 운동 방지 (anti-dive, anti-squat)

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.481-486
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• 2000

This paper presents vibration control performance of a passenger vehicle installed with olectro-rheological(ER) engine mounts. As a first step, a mixed-mode ER engine mount is modeled and manufactured. After verifying the controllability of the dynamic stiffness by the intensity of the electric field, ER engine mounts are incorporated with a full-car model. The governing equation of motion is then formulated by considering engine excitation force. A skyhook controller to attenuate vibration motions is designed. The controller is implemented through hardware-in-the-loop simulation and control responses are presented in the both frequency and time domains.

• Structural Engineering and Mechanics
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• 제36권3호
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• pp.381-399
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• 2010

A fuzzy hybrid control technique using a semi-active tuned mass damper (STMD) has been proposed in this study for mitigation of wind induced motion of a tall building. For numerical simulation, a third generation benchmark is employed for a wind-excited 76-story building. A magnetorheological (MR) damper is used to compose an STMD. The proposed control technique employs a hierarchical structure consisting of two lower-level semi-active controllers (sub-controllers) and a higher-level fuzzy hybrid controller. Skyhook and groundhook control algorithms are used as sub-controllers. When a wind load is applied to the benchmark building, each sub-controller provides different control commands for the STMD. These control commands are appropriately combined by the fuzzy hybrid controller during realtime control. Results from numerical simulations demonstrate that the proposed fuzzy hybrid control technique can effectively reduce the STMD motion as well as building responses compared to the conventional hybrid controller. In addition, it is shown that the control performance of the STMD is superior to that of the sample TMD and comparable to an active TMD, but with a significant reduction in power consumption.

• 대한기계학회논문집A
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• 제37권1호
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• pp.25-30
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• 2013

군용 견마로봇차량은 전시 임무수행간 야지를 주행하게 되는데, 이때 발생하는 지속적인 충격에 의한 차체의 진동은 내부 구성품에 손상을 초래할 수 있다. 현재 차체 진동저감을 위한 제어의 수단으로 능동 또는 반능동 현가장치을 사용한 많은 연구가 진행 되고 있다. 본 연구에서는 기존의 반능동 현가장치와 더불어 $6{\times}6$ 차량의 회전형 현가장치와 독립적인 구동제어에 의한 진동저감 기법을 제안한다. 진동 제어기로는 스카이훅의 수정기법 중의 하나인 SH-ADD 를 적용하였다. ISO E 등급의 노면을 주행노면으로 선정하였으며, 시뮬레이션은 ADAMS Control 과 Matlab Simulink 를 연동하여 수행하였다. 야지에서의 내부장비의 피로누적에 초점을 두어 주행 제어조건에 따른 RMS 수치로서 결과를 비교 및 분석하였다.

• 대한기계학회논문집A
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• 제24권3호
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• pp.691-700
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• 2000

This paper presents a novel type of a semiactive damper featuring an electro-rheological(ER) fluid. Unlike conventional cylindrical ER damper, the proposed one has controllable orifices by the intensity of electric fields (We call it orifice type). The dynamic model of the orifice type ER damper is formulated by incorporating field-dependent Bingham properties of an arabic gum-based ER fluid. Design parameters such as electrode gap are subsequently determined on the basis of the dynamic model. After manufacturing the orifice type ER damper, field-dependent damping forces and damping force controllability are empirically evaluated. In the evaluation procedure, conventional cylindrical ER damper is adopted and its performance characteristics are compared with those of the orifice type ER damper. In addition, the proposed one is installed with a full-car model and its vibration control performance associated with a skyhook controller is investigated.

• 한국자동차공학회논문집
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• 제4권6호
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• pp.164-174
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• 1996

This paper presents control and response characteristics of a continuously variable ER(electrorheological) damper for small-sized vehicles. The ER damper is devised and its governing equation of motion is derived from the bond graph model. The field-dependent yield shear stresses are distilled from experimental investigation on the Bingham property of the ER fluid. The distilled data are incorporated into the governing system model and, on the basis of this model, an appropriate size of the ER damper is manufactured. After evaluating the field-dependent damping performance of the proposed ER damper, the skyhook control algorithm is formulated to achieve desired level of the damping force. The controller is then experimentally implemented and control characteristics of the ER damper are presented in order to demonstrate superior controllability of the damping force. In addition, response characteristics of the damping force with respect to the electric field with fast on-off frequency are provided to show the feasibility of practical application.