A Robust Feedback Control of a Full-car ER Suspension System

초록

This paper presents a robust feedback control performance of a full-car suspension system featuring electro-rheological(ER) dampers for a passenger vehicle. The field-dependent yield stress of an ER fluid is obtained using a couette type electroviscometer, and a cylindrical ER damper is designed and manufactured by incorporating the yield stress of the ER fluid. A full-car suspension system installed with four independent ER dampers is then constructed and its governing equation of motion which includes vertical, pitch and roll motions is derived. A sliding mode controller which has inherent robustness against parameter uncertainties is then formulated by taking account of mass uncertainty. Control characteristics for vibration suppression of the ER suspension system are evaluated under various road conditions through the hardware-in-the-loop simulation(HILS) for the demonstration of its practical feasibility.