外乱オブザーバによる空気式サスペンションの制御器の設計

概要

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Our main purpose is to establish a pneumatic servo-type active suspension utilizing the vibration isolation function due to the effect of air compressibility. In this paper, we propose an approach to design of the controller using a disturbance observer, so as to suppress the pitching motion and the translational motion in the car body caused by the roughness of the road surface. This approach has the advantage that the controller for the two-wheeled vehicle model can be designed based on a single-wheeled vehicle model ignoring the interference between front and rear suspension. Also, it becomes easy to design the control parameters because the property of the disturbance suppression can be determined by a time constant of the filter. Some experimental and simulation results show the remarkable improvement of the pitching motion and the translational motion in the car body, and the applicability of this proposed control approach is confirmed.
一般社団法人日本機械学会の論文
1995-08-25