Aktif Süspansiyon Sistemleri Kontrolünde Ters Optimal Kontrol Yaklaşımı

Öz

Bu çalışmada da aktif süspansiyon sisteminin konfor ve sürüş güvenliği isterlerini karşılamak amacıyla ters optimal kontrol temelli yeni bir tasarım yaklaşımı önerilmiştir. Ters Optimal Kontrol (TOK) yaklaşımı, geleneksel optimal kontrol yaklaşımının aksine önceden belirlenmiş bir maliyet fonksiyonu için uygun kontrol kuralını hesaplama problemi değil; önceden belirlenmiş olan bir kontrol kuralının minimum yaptığı maliyet fonksiyonunu bulma problemidir. Çalışmada çeyrek araç modeli kullanılmış ve TOK yaklaşımıyla kararlı, maliyet-etkin ve gerçek zamanda uygulanabilir bir kontrolör tasarlanmıştır. Tasarlanan kontrolör, yine durum geri beslemeli bir kontrolör olan Doğrusal Kuadratik Regülatör (DKR) ile karşılaştırılmış ve bu kontrolöre alternatif olabileceği gösterilmiştir.

Anahtar Kelimeler

• Kontrol Lyapunov Fonksiyonu
• Doğrusal sistemler
• Ters Optimal Kontrol
• Aktif Süspansiyon Sistemi
• Durum Geri Beslemeli Kontrol
• Doğrusal Kuadratik Regulator

Inverse Optimal Control Approach for Active Suspension System Control

Öz

In this study, a new inverse optimal control–based design approach is proposed to satisfy the comfort and driving safety requirements of an active suspension system. Unlike the conventional optimal control approach, the Inverse Optimal Control (IOC) method does not solve the problem of computing an appropriate control law for a predefined cost function; instead, it seeks the cost function that is minimized by a given control law. A quarter-car model is employed, and a stable, cost-effective, and real-time applicable controller is designed using the IOC approach. The designed controller is compared with a Linear Quadratic Regulator, which is also a state-feedback controller, and it is demonstrated that the proposed approach can serve as a viable alternative to the LQR controller.

Anahtar Kelimeler

• Control Lyapunov Function
• Linear Systems
• Inverse Optimal Control
• Active Suspension System
• State Feedback Control
• Linear Quadratic Regulator

Kaynakça

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