有限時間整定制振制御による車体上下動およびロール振動のアクティブサスペンション

（車体上下動およびロール振動の同時抑制）

抄録

We proposed the active suspension for vertical and rolling oscillations based on previewed closed-loop finite-time-settling control. Thie control method uses a finite-time settling function, termed vibration manipulation function (VMF). In the suspension, the positional/angle difference between the suspension base and the road surface profile was compensated by extending and retracting the actuator between the unsprung mass and the suspension base in each manipulation. By obtaining road surface profile in advance, active suspension worked much efficiently. Under the feedforward control of the position and angle between the suspension bases along vibration manipulation function, we can cease vertical and rolling vibration of the vehicle body simultaneously at the end of each operation. From the simulation results, the proposed active suspension can suppress vertical/rolling vibration after various road surface irregularities. In addition, a large damping effect was obtained with a small amount of the actuator drive. The skyhook damper that was compared took several cycles to reduce the residual vibration.