Nonlinear Adaptive Control of High-Speed Railway Vehicle Vibrations by Magnetorheological Damper

Year 2021, Volume: 62 Issue: 703, 350 - 371, 15.06.2021

Muzaffer Metin , Fırat Can Yılmaz

https://doi.org/10.46399/muhendismakina.849808

Abstract

Vibrations existed at the vehicles due to railway irregularities can cause various unfavourable cases. In this study, the suppression of the vertical vibrations at the high-speed railway vehicles was aimed by the semi-active controller design with the help of magnetorheological dampers where are placed parallel with the second suspension system. The reason for the adaptive controller design selection is it has the ability to guarantee the stability of the model consist of the magnetorheological dampers and the train’s parametric uncertainties. With the working magnetorheological dampers parallel with the second suspension system, increment of the passenger comfort and less energy consumption are obtained at the same time. The proposed controller effectiveness was shown in the comparisons between active and passive ones in the time and frequency domain.

Keywords

Rail vehicle vibrations, Magnetorheological damper, Parametric uncertainity

Yüksek Hızlı Demiryolu Araçlarında Düşey Titreşimlerin Doğrusal Olmayan Uyarlamalı Kontrol ile Yarı Aktif Kontrolü

Abstract

Demiryolu düzensizlikleri nedeniyle araçlarda oluşan titreşimler çeşitli olumsuz etkilere neden olmaktadır. Bu çalışmada, yüksek hızlı demiryolu araçlarının düşey titreşimleri ikincil süspansiyonlara paralel yerleştirilen manyetoreolojik damperler vasıtasıyla yarı aktif bir yöntemle kontrol edilerek bastırılması amaçlanmıştır. Kontrol yöntemi olarak, manyetoreolojik damperin ölçülemeyen parametrelerinin ve araca ait bazı diğer parametrelerin belirsiz kabul edildiği bir modelde sistem kararlılığını garanti edebilecek uyarlamalı kontrol tercih edilmiştir. Manyetoreolojik damperlerin ikincil süspansiyon sistemine paralel çalıştırılması ile düşük enerji tüketimine rağmen özellikle yolcu konforunun artırılması yönünde etkin sonuç alınabilmektedir. Önerilen kontrolörün başarısı, zaman ve frekans alanında pasif sistem cevapları ile karşılaştırılarak gösterilmiştir.

Keywords

Raylı taşıt titreşimleri, Manyetoreolojik damper, Parametrik belirsizlik

References

• Iwnicki, S. 2006. “Handbook of railway vehicle dynamics”, e-Book ISBN: 9780429129803, CRC Press, Boca Raton.
• Metin, M., Guclu, R. 2014. “Rail vehicle vibrations control using parameters adaptive PID controller”, Mathematical Problems in Engineering, online print.
• Guclu, R., Metin, M. 2009. “Fuzzy Logic Control of Vibrations of a Light Rail Transport Vehicle in Use in Istanbul Traffic”, Journal of Vibration and Control, vol.15, pp.1423-1440
• Metin, M., Guclu, R. 2011. “Vibrations control of light rail transportation vehicle via PID type fuzzy controller using parameters adaptive method”, Turkish Journal of Electrical Engineering and Computer Sciences, vol.19, pp.807-816
• Metin, M., Guclu, R. 2011. “Active vibration control with comparative algorithms of half rail vehicle model under various track irregularities”, Journal of Vibration and Control, pp.1525-1539
• Shin, Y. J., You, W. H., Hur, H. M., Park, J. H. 2014. “H∞ control of railway vehicle suspension with MR damper using scaled roller rig”, Smart materials and structures, 23(9), 095023.
• Nagarkar, M. P., Vikhe, G. J., Borole, K. R., Nandedkar, V. M. 2011. “Active control of quarter-car suspension system using linear quadratic regulator,” International Journal of Automotive and Mechanical Engineering, 3(1), 364-372.
• Rizvi, S. M. H., Abid, M., Khan, A. Q., Satti, S. G., Latif, J. 2018. “H∞ control of 8 degrees of freedom vehicle active suspension system”, Journal of King Saud University-Engineering Sciences, 30(2), 161-169.
• Zhou, C., Liu, X., Chen, W., Xu, F., Cao, B. 2018. “Optimal sliding mode control for an active suspension system based on a genetic algorithm”, Algorithms, 11(12), 205.
• Çay, M. 2016. “Sürücü ve sürücü koltuğu ile birlikte modellenmiş bir çeyrek taşıt modeli için H∞ kontrolcü tasarımı”, Mühendis ve Makina, 57 (676), 41-48
• Güçlü, R., Sancak, Ö.F. 2019. “Savaş uçağı koltuğunun durum geri beslemeli H∞ yarı aktif kontrolü”, Mühendis ve Makina 60.694 : 32-49.
• Paksoy, M., Metin, M. 2019. “Nonlinear semi-active adaptive vibration control of a half vehicle model under unmeasured road input”, Journal of Vibration and Control, vol.25, pp.2453-2472.
• Kararsız, G., Paksoy, M., Metin, M., Basturk, H.I. 2020. “An adaptive control approach for semi-active suspension systems under unknown road disturbance input using hardware-in-the-loop simulation”, Transactions of the Institute of Measurement and Control, no.1.
• Paksoy, M., Metin, M. 2020. “Nonlinear adaptive semiactive control of a half-vehicle model via hardware in the loop simulation”, Turkish Journal of Electrical Engineering and Computer Sciences , vol.28, pp.1612-1630
• Yao, G. Z., Yap, F. F., Chen, G., Li, W., Yeo, S. H. 2002. “MR damper and its application for semi-active control of vehicle suspension system,” Mechatronics 12(7), 963-973.
• Yildiz, A. S., Sivrioglu, S., Zergeroglu, E., Cetin S. 2013. “Adaptive control of semiactive quarter car model with MR damper”, 2013 9th Asian Control Conference (ASCC), Istanbul pp. 1-6, doi: 10.1109/ASCC.2013.6606324
• Gani, A., Kılıç, E., Keçecioğlu, Ö., Açıkgöz, H., Şekkeli, M. 2016. “Endüstriyel uygulamalarda kullanılan karışım tankının seviye ve sıcaklık denetimi için pıd ve bulanık mantık denetleyici tasarımı”, Mühendis ve Makina, 57 (675) , 41-48.
• J. Han, S. Yu, S. Yi, 2017. “Advanced thermal management of automotive fuel cells using a model reference adaptive control algorithm”, International journal of hydrogen energy, pp.4328-4341.
• Bulduk, N., Metin, M., Özbilgi, C. 2019. “A low-cost vertical active secondary suspension system of the railway vehicle for ride comfort based on LQG control method”, International Conference on Applied Analysis and Mathematical Modeling, 10-13 March 2019, Istanbul.
• Lei, X. 2017. “High speed railway track dynamics”, Science Press, Beijing/Springer Nature Singapore Pte. Ltd., Singapore.
• Sakai, C., Ohmori, H., and Sano, A. 2003. “Modeling of MR damper with hysteresis for adaptive vibration control”, In 42nd IEEE International Conference on Decision and Control, 9-12 Dec. 2003, Maui, HI, USA. T. Karis, 2009. “Track Irregularities for High-Speed Trains : Evaluation of their correlation with vehicle response”, Dissertation, KTH Engineering Science, Stockholm.