Aktif süspansiyon sistemleri için bilinmeyen bozucu etkisi altında uyarlamalı kontrolcü tasarımı

Year 2018, Volume: 24 Issue: 8, 1403 - 1408, 29.12.2018

Gökhan Kararsız Halil Baştürk

Abstract

Bu
çalışmada, aktif süspansiyon sistemleri için yoldan gelen bozucu etkinin
bilinmediği kabulü yapılarak, uyarlamalı kontrolcü tasarlanmıştır. Yol
düzgünsüzlüğünden kaynaklanan bozucu, frekans, genlik ve faz değerleri
bilinmeyen farklı sinüzoidal dalgaların toplamı olarak modellenmiş ve gözlemci tasarımı
yapılmıştır. Böylece bozucu parametrize edilmiş ve geri adımlama yöntemi kullanılarak
uyarlamalı kontrolcü tasarımı yapılmıştır. Kapalı çevrim sistemin kararlılığı kanıtlanmış
ve yol bozucusu etkisi altında taşıt gövde ivmesinin bastırıldığı gösterilmiştir.
Kontrolcünün performansı benzetim ile test edilmiştir.

Keywords

Aktif süspansiyon, Uyarlamalı kontrolör, Gözlemci tasarımı

Design of an adaptive controller under unknown disturbance input for active suspension systems

Abstract

In
this paper, an adaptive backstepping controller is designed where the road
disturbance is assumed that it is not measured. Therefore, the disturbance is
modelled as a sum of sinusoidals where amplitude, phase and frequency are
considered as unknown. Then, the observer is parametrized. After the design of
the observer, an adaptive controller is designed with using backstepping
technique. It is proven that the closed loop system is stable and the
acceleration of the body is attenuated under the effect of the road
disturbance. To reveal the performance of the controller, a simulation is
illustrated with road test.

Keywords

Active suspension, Adaptive controller, Observer design

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