Yol Gözlemleyicisi Kullanarak Parametrik Belirsizlik İçeren MR Damperli Süspansiyon Sisteminin Yarı Aktif Doğrusal Olmayan Uyarlamalı Kontrolü
Abstract
Taşıt titreşimlerini bastırmak
amacıyla yapılan kontrolör tasarımlarında yol girişinin ölçülmesi zor ve ek
sensörler gerektirdiği için maliyetlidir. Bu yüzden, manyetoreolojik damper ile
donatılmış süspansiyon sistemine sahip çeyrek taşıt modeline ait düşey
titreşimleri bastırmak için yol bozucusunun önceden bilinmesine veya
ölçülmesine ihtiyaç duymayan bir lineer olamayan uyarlamalı kontrolör tasarımı bu
çalışma ile yapılmıştır. Bu amaç doğrultusunda, yolun farklı frekans, farklı
genlik ve farklı faz değerlerine sahip bilinmeyen ve birbirinden farklı
sinüzoidallerin toplamından oluştuğu varsayımı yapılarak Lyapunov esasına
dayalı bir yol gözlemleyicisi tasarlanmıştır. Ele alınan kontrolör, model
içerisinde yer alabilecek parametrik belirsizliklere karşı da en iyi cevabı
garanti edecek şekilde tasarlanmıştır. Önerilen yöntemin etkinliği pasif
cevaplar ile zaman ve frekans alanında karşılaştırılarak incelenmiştir.
Keywords
Taşıt titreşimi manyetoreolojik damper uyarlamalı kontrol parametre belirsizliği yol gözlemleyicisi
References
- M. Paksoy, R. Guclu, and S. Cetin, "Semiactive Self-Tuning Fuzzy Logic Control of Full Vehicle Model with MR Damper," Advances in Mechanical Engineering, vol. 6, p. 816813, 2014.
- X. Tang, H. Du, S. Sun, D. Ning, Z. Xing, and W. Li, "Takagi–Sugeno fuzzy control for semi-active vehicle suspension with a magnetorheological damper and experimental validation," IEEE/ASME Transactions on Mechatronics, vol. 22, pp. 291-300, 2017.
- M. Yu, X. Dong, S. B. Choi, and C. Liao, "Human simulated intelligent control of vehicle suspension system with MR dampers," Journal of Sound and Vibration, vol. 319, pp. 753-767, 2009.
- G. Kararsız, M. Paksoy, M. Metin, and H. İ. Baştürk, "Hardware-In-The-Loop Simulation For Semi-Active Suspension System With Using Adaptive Backstepping Approach," 6th International Conference on Control Engineering and Information Technologies (CEIT 2018), pp. 443-448, 2018.
- H. Metered, P. Bonello, and S. Oyadiji, "Nonparametric identification modeling of magnetorheological damper using Chebyshev polynomials fits," SAE International Journal of Passenger Cars-Mechanical Systems, vol. 2, pp. 1125-1135, 2009.
- D. Wang and W. Liao, "Modeling and control of magnetorheological fluid dampers using neural networks," Smart materials and structures, vol. 14, p. 111, 2004.
- J. C. Tudón-Martínez and R. Morales-Menendez, "Nonparametric modeling of an automotive damper based on ANN: effect in the control of a semi-active suspension," in Computational Intelligence, ed: Springer, 2015, pp. 295-309.
- C. Sakai, H. Ohmori, and A. Sano, "Modeling of MR damper with hysteresis for adaptive vibration control," in Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, 2003, pp. 3840-3845.
- A. S. Yildiz, S. Sivrioglu, E. Zergeroglu, and S. Cetin, "Adaptive control of semiactive quarter car model with MR damper," in Control Conference (ASCC), 2013 9th Asian, 2013, pp. 1-6.
- G. Kararsız and H. Baştürk, "Aktif süspansiyon sistemleri için bilinmeyen bozucu etkisi altında uyarlamalı kontrolcü tasarımı," Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, vol. 24, pp. 1403-1408, 2018.
- H. İ. Baştürk and M. Krstic, "Adaptive cancellation of matched unknown sinusoidal disturbances for LTI systems by state derivative feedback," Journal of Dynamic Systems, Measurement, and Control, vol. 135, p. 014501, 2013.
- V. O. Nikiforov, "Observers of external deterministic disturbances. I. Objects with known parameters," Automation and Remote Control, vol. 65, pp. 1531-1541, Oct 2004.
Semi-Active Nonlinear Adaptive Control of MR Damper Suspension System which Contains Parametric Uncertainty using Road Observer
Abstract
In
designed controllers in order to suppress the vehicle vibrations, the road
input measurement process is difficult and costly as additional sensors are
required. Therefore, a nonlinear adaptive semi-active controller is designed
without road disturbance measurement for quarter vehicle model with suspension
system equipped with magnetorheological damper in this study. For this aim, a
road observer based on the Lyapunov approach is designed by assuming that the
road consists of a sum of different frequency, different amplitude, and
different phases. The controller is designed to guarantee the best response to
the parametric uncertainties that may be present in the model. Effectiveness of
the suggested method is investigated in time and frequency domain with using
numeric simulations and some graphics.
Keywords
Vehicle vibrations magnetorheological damper adaptive control parametric uncertainties road observer
References
- M. Paksoy, R. Guclu, and S. Cetin, "Semiactive Self-Tuning Fuzzy Logic Control of Full Vehicle Model with MR Damper," Advances in Mechanical Engineering, vol. 6, p. 816813, 2014.
- X. Tang, H. Du, S. Sun, D. Ning, Z. Xing, and W. Li, "Takagi–Sugeno fuzzy control for semi-active vehicle suspension with a magnetorheological damper and experimental validation," IEEE/ASME Transactions on Mechatronics, vol. 22, pp. 291-300, 2017.
- M. Yu, X. Dong, S. B. Choi, and C. Liao, "Human simulated intelligent control of vehicle suspension system with MR dampers," Journal of Sound and Vibration, vol. 319, pp. 753-767, 2009.
- G. Kararsız, M. Paksoy, M. Metin, and H. İ. Baştürk, "Hardware-In-The-Loop Simulation For Semi-Active Suspension System With Using Adaptive Backstepping Approach," 6th International Conference on Control Engineering and Information Technologies (CEIT 2018), pp. 443-448, 2018.
- H. Metered, P. Bonello, and S. Oyadiji, "Nonparametric identification modeling of magnetorheological damper using Chebyshev polynomials fits," SAE International Journal of Passenger Cars-Mechanical Systems, vol. 2, pp. 1125-1135, 2009.
- D. Wang and W. Liao, "Modeling and control of magnetorheological fluid dampers using neural networks," Smart materials and structures, vol. 14, p. 111, 2004.
- J. C. Tudón-Martínez and R. Morales-Menendez, "Nonparametric modeling of an automotive damper based on ANN: effect in the control of a semi-active suspension," in Computational Intelligence, ed: Springer, 2015, pp. 295-309.
- C. Sakai, H. Ohmori, and A. Sano, "Modeling of MR damper with hysteresis for adaptive vibration control," in Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, 2003, pp. 3840-3845.
- A. S. Yildiz, S. Sivrioglu, E. Zergeroglu, and S. Cetin, "Adaptive control of semiactive quarter car model with MR damper," in Control Conference (ASCC), 2013 9th Asian, 2013, pp. 1-6.
- G. Kararsız and H. Baştürk, "Aktif süspansiyon sistemleri için bilinmeyen bozucu etkisi altında uyarlamalı kontrolcü tasarımı," Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, vol. 24, pp. 1403-1408, 2018.
- H. İ. Baştürk and M. Krstic, "Adaptive cancellation of matched unknown sinusoidal disturbances for LTI systems by state derivative feedback," Journal of Dynamic Systems, Measurement, and Control, vol. 135, p. 014501, 2013.
- V. O. Nikiforov, "Observers of external deterministic disturbances. I. Objects with known parameters," Automation and Remote Control, vol. 65, pp. 1531-1541, Oct 2004.
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Publication Date | January 28, 2020 |
| Submission Date | June 24, 2019 |
| Published in Issue | Year 2020 Volume: 8 Issue: 1 |
