고속 궤도 차량의 강인 예견 제어

Abstract

The role of the suspension system in tracked vehicles cannot be overestimated because the driving and running conditions of such vehicles are very severe. It reduces the vibration and shock that are generated by road profile in running conditions. As the tracked vehicle's running speed increases, undesired vibration could be intensified by the road profile particularly in the case of field nursling. Because excessive vibration can harm the operational ability of crewmen and stability of complex equipments, the maximum running speed is limited. In this study, we examined the feasibility of the preview control to improve the performance of the tracked vehicle system. We proposed a method to apply a robust $H_{\infty}$ preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the tailing arm suspension system we classified these as unknown dynamics and disturbances. To derive the robust $H_{\infty}$ preview control theory, we modified a robust $H_$ $\infty$control theory for linear discrete-time systems with norm bounded nonlinear uncertainties by augmenting previewed road profile signal. We have verified by computer simulation that the proposed method shows good robustness to modeling uncertainty including the case when the unsprung mass is assumed to be twice heavier than the model parameters.