415 セミアクティブサスペンションの受動性を考慮したスライディングモード制御

概要

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This paper presents a sliding mode controller for semi-active suspension systems. The structure of the proposed controller is basically designed by applying the integral sliding mode control theory, which consists of two control laws. One of them is a state feedback law to realize an ideal closed-loop dynamics such as a sky-hook suspension without disturbances. Another one is a discontinuous control law to induce a sliding mode for rejecting the disturbances. It is shown that not only the discontinuous control mentioned above but also the passivity constraint induces a high frequency vibration known as chattering. That is, the passivity constraint brings about a discontinuous control signal naturally. Then, in order to reduce the chattering, it is attempted to smooth the passivity constraint by using a continuous function as is done in a relay control. Numerical simulation results illustrate the effectiveness of the proposed control strategy.
一般社団法人日本機械学会の論文
2003-10-30