Çeyrek Taşıt Aktif Süspansiyon Sistemi için LQR ve LQI Denetleyicilerinin Karşılaştırılması

Öz

Bu çalışma kara araçları için yol tutuşu ve yolcu konforu bakımından çok önemli bir yere sahip olan aktif süspansiyon sisteminin kontrolünü sunar. Kontrol sistemi için literatürde çeyrek taşıt modeli olarak bilinen ve aracın dörtte bir kütlesiyle tek teker sisteminden oluşan model kullanılmıştır. Öncelikle pasif ve aktif süspansiyon sistemlerinin matematiksel modelleri ortaya konulmuş ve aktif süspansiyon sistemi için kontrolörler tasarlanmıştır. Kontrolör tasarımları lineer matris eşitsizlikleri (LMI) ile optimizasyon yapılarak elde edilmiştir. Çalışmada lineer quadratik regülatör (LQR) kontrol ile lineer quadratik integral (LQI) kontrol tasarımları yapılmış ve yol bozucularına karşı performansları kıyaslanmıştır.

Anahtar Kelimeler

• Aktif Süspansiyon Sistemi,Çeyrek Taşıt Modeli,Kontrol Tasarımı,LQR,LQI

The Comparisons of LQR and LQI Controllers for Quarter Car Active Suspension System

Abstract

This paper presents the control of the suspension system, which has a very important place in terms of road handling and passenger comfort for land vehicles. For the control system, the model consisting of a single wheel system with one-fourth mass of vehicle is used, which is known as a quarter-car model in the literature. Firstly, the mathematical models of passive and active suspension systems have been presented, and the controllers have been designed for the active suspension system. The controller designs have been obtained by optimization with linear matrix inequalities (LMI). In the study, linear quadratic regulator (LQR) control and linear quadratic integral (LQI) control have been designed, and their performances have been compared against the road disturbances.

Keywords

• Active Suspension System,Quarter Car Model,Control Design,LQR,LQI

References

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