다단 댐퍼 현가계 제어기의 Hardware-in-the-loop Simulation

A semi-active suspension system with a damper having variable damping characteristics was simulated to verify the performance of the controller in real time. A simulator using the AD-RTS had been built. Which composed of four parts: (1) RTS(Real Tims Station) to simulate software models including the 17-DOF vehicle model and process data. (2) HP host to interface between user and RTS. (3) Interfacing box to connect the virtual(software) world with the real(hardware. user) one. (4) ECU. The hardware to control the damper. It took less than 1.5ms to perform one cycle simulation. Which is enough for the vehicle model to be simulated in real time. Several results of simulation showed that the ECU did not work correctly according to the control logic. Succeeding simulation after modification of the ECU presented acceptable results.