가상환경을 이용한 지능형 자동차 주행 제어 알고리즘 개발

This paper presents a control algorithm for semi-active suspension of utility vehicle to improve its ride comfort. Linear Quadratic Regulator (LQR) is a full state feedback control algorithm, but the state variables of real system are not fully measured by sensors. Using Kalman filter as an estimator, the state variables are estimated and the LQR control algorithm is adapted to the system, which is Linear Quadratic Gaussian (LQG) control algorithm. It can be applied to the real vehicle system for improvement of the ride comfort. Two rear suspensions are independently developed with the control algorithm. Hydraulic system of the suspension is designed using SimulationX and the full vehicle model with control algorithms is constructed using MATLAB/Simulink. Finally, the simulation is conducted by combining the vehicle model and the hydraulic suspension model.