시상수와 시스템 불확실성을 고려한 ER 댐퍼의 댐핑력 제어

This paper presents an electro-rheological(ER) suspension system for a passenger vehicle considering time response and system uncertainties. An appropriate size of ER damper is designed and manufactured on the basis of Bingham model, and its field-dependent damping force characteristics are experimentally evaluated. The time response of ER damper is identified and integrated with the 1/4 car suspension model. In addition, the variation of the sprung mass is considered as well as the variation of the yield stress of ER fluid. A semi-active skyhook controller is designed and implemented associated with the hardware-in-the-loop simulation. Control responses of the proposed ER suspension system are evaluated under various road conditions.