3자유도 현가장치의 강인관측기 성능 평가를 위한 HIL 시스템

초록

A vertical 3-DOF model was constructed using MATLAB/Simulink to form a MILS(Model-In-the-Loop Simulation), and a robust observer was designed to verify its performance in simulation in our previous paper. To verify the performance of the designed robust observer in a real environment, this study configured HILS(Hardware-In-the-Loop Simulation) and conducted experiments. As For verifying the performance of the robust observer by attaching accelerometer and displacement sensors to the actual suspension device, but this is costly and requires vehicles for suspension device. Therefore, we designed a device that can measure actual vibration signals and change the physical properties of the model within the space constraints of the laboratory environment. To construct the HIL system, a vertical 3-DOF model was built. The vibration signal was measured by accelerometer and a laser displacement sensor, and the measured value was used for robust observer to estimate the value that was not directly measured.