Gramian matrix tabanlı LQG kontrolü kullanılarak aktif araç süspansiyonunun tasarımı ve analizi

Yıl 2024, Cilt: 30 Sayı: 7, 869 - 876, 28.12.2024

Murat Catalkaya , Orhan Akay , Güçhan Taşlialan

Öz

Bu çalışmada sadece düşey kuvvetler dikkate alınarak tasarlanan tek
serbestlik dereceli çeyrek araç aktif süspansiyon modeli incelenmiştir.
Sistemin farklı yol profillerine göre tepkisini en aza indirmek için LQG
tabanlı kapalı döngü süspansiyon kontrolü kullanıldı. Tasarlanan
kontrol sisteminin gerçekçi simülasyonları için sensör sesleri eklenmiş
ve bu gürültüleri filtrelemek için Kalman filtresi kullanılmıştır. Aktif
süspansiyon sistemi MATLAB simülasyon yazılım paketi ile analiz
edilmiştir. Yeni yaklaşımla kontrol sistemi için kullanılan geri besleme
sinyali ve sensör konumu sistemin Gramian matrisi kullanılarak
belirlendi. Elde edilen sonuçlara göre LQG kontrol sistemi geleneksel
pasif süspansiyon sistemiyle karşılaştırıldı. Bu çalışmada çeşitli geri
bildirim sinyallerine göre modellenen aktif ve pasif süspansiyon
sistemlerine üç farklı yol girdisi uygulanmıştır. LQG kontrolü sensör
gürültüsüne maruz kalmasına rağmen farklı yol girdilerine karşı
sönümleme yeteneğinin pasif süspansiyon sistemine göre daha iyi
olduğu belirlendi.

Anahtar Kelimeler

Doğrusal sistemler, Optimal kontrol teorisi, Kalman filtreleme teknikleri, Taşıt süspansiyonu, Çeyrek Araba modeli

Design and analysis of active vehicle suspension using gramian matrix based LQG control

Öz

In the present study, a quarter vehicle active suspension model with one
degree of freedom designed considering only vertical forces were
examined. LQG-based closed-loop suspension control was used to
minimize the response of the system according to different road profiles.
Sensor noises were added for the realistic simulations of the designed
control system and a Kalman filter was used to filter these noises. The
active suspension system was analyzed with the MATLAB simulation
software package. The feedback signal and sensor location which used
for the control system were determined using the system's Gramian
matrix with the new approach. The LQG control system was compared
to the conventional passive suspension system, according to the
obtained results. In this study, three different road inputs were applied
to active and passive suspension systems modeled according to several
feedback signals. Although the LQG control was exposed to sensor noise,
its damping ability against different road inputs was determined to be
better than the passive suspension system.

Anahtar Kelimeler

Linear systems, Optimal control theory, Kalman filtering techniques, Vehicle suspension, Quarter Car model

Kaynakça

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