궤도차량 능동 및 반능동 현수장치의 예견제어

In this study, preview control algorithms for the active and semi-active suspension systems of a full tracked vehicle are designed based on a 3-D.O.F model and evaluated. The goal of this study is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain an operator's driving capability. Since road wheels almost trace the profiles of the road surface as long as the track doesn't depart from the ground, the preview information can be obtained by measuring only the absolute position or velocity of the first road wheel. Simulation results show that the performance of the sky-hook suspension system almost follows that of full state feedback suspension system and the presence of preview information can simultaneously improve all of the aspects of performance. The results simulated with 1st and 2nd weighting sets mean that the suspension system combined with the soft type of inner suspension and hard type of outer suspension can carry out better ride comfort characteristics than that with identical suspensions. Frequency response curves to four types of inputs, such as heaving, pitching, rolling, and warping input, also demonstrate the merits of preview control in ride comfort.