MRダンパを用いたセミアクティブサスペンションのゲインスケジュールド制御(機械力学,計測,自動制御)

In this paper we design a controller for a semi-active suspension using a magneto rheological (MR) damper. We formulate the linear-parameter-varying system taking account of the mechanism of a fictitious damper model includes valve stroke of the orifice and the damping coefficient restriction. The gain-scheduled controller is obtained with linear matrix inequalities and we confirm that the controller according to the varying parameters is superior to the semi-active damper utilizing the sky-hook damper theorem by simulation. Furthermore, we propose the control method using the relation between the input current and the damping coefficient of the MR damper that is experimentally obtained. By carrying out experiments it is verified that the designed controller for the semiactive suspension using the MR damper has the desired good performance.