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 Home > Research > Research Areas |
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| Preview Control for Tracked Vehicle |
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, more undesired vibration could be
generated by the road profile particularly in the case of field running.
Because, excessive vibration can harm the operation ability of crewmen and
stability of complex equipments, the maximum running speed is limited.
In this study, to improve the performance of the tracked vehicle
system, we examined the feasibility of using the active preview control for the
tracked vehicle¡¯s suspension system. We proposed a method to apply a linear
optimal preview control to the tracked vehicle system. To avoid the complexity
of modeling the track subsystem and kinematical nonlinearity in the trailing arm
suspension system, we classified these as unknown dynamics and disturbances. We
used the Time Delay Control(TDC) method to make sprung mass dynamics follow that
of linear preview controlled tracked vehicle model. We have verified by computer
simulation that the proposed method shows good robustness to some uncertainty in
modeling even when the unsprung mass is assumed to be two times heavier than the
model parameters. Therefore, we can expect that the proposed method can be used
for active preview control of the tracked vehicle system.
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