NONLINEAR ADAPTIVE CONTROLLER OF ACTIVE SUSPENSION FOR VEHICLE

摘要

PURPOSE: A nonlinear adaptive controller of an active suspension for a vehicle is provided to compensate non-linearity of a hydraulic actuator through indirect adaptive control from feedback linearization with parameterization. CONSTITUTION: A nonlinear adaptive controller is composed of a data sensor unit(22) measuring data on vertical acceleration of a vehicle body and vehicle wheels(20); a damping control unit(24) inputting the value measured from the date sensor unit, and outputting damping force to restrict rolling of the vehicle body by using the coulomb friction compensating term and the skyhook damping term; a hydraulic pressure control unit(26) regulating the internal pressure of a hydraulic cylinder according to the damping force calculated by the damping control unit and outputting force to a hydraulic actuator(3); and the hydraulic actuator controlling the vertical acceleration of the vehicle body and the vehicle wheels according to the control of the hydraulic pressure control unit.