Yarı Aktif Taşıt Süspansiyon Sistemin Döngüde Donanımsal Benzetim Yapısı Kullanılarak Kontrolü

Year 2022, Volume: 1 Issue: 1, 43 - 53, 18.08.2022

Ali Suat Yıldız

Abstract

Bu çalışmada ManyetoReolojik (MR) sönümleyici içeren yarı aktif çeyrek taşıt süspansiyon sisteminin titreşimlerini azaltmaya yönelik olarak Lineer kuadratik regulator (LQR) kontrol ve hibrit kontrol tasarımları gerçekleştirilmiştir. Kontrol tasarımları döngüde donanımsal benzetim (DDB) yapısı kullanılarak karşılaştırmalı olarak test edilmiştir. Çalışma kapsamında kullanılan sönümleyicinin model parametreleri Levenberg-Marquardt optimizasyon yaklaşımı ile elde edilmiş ve farklı yol ve voltaj girişleri altında model doğruluğu test edilmiştir. Kontrol etkinlikleri rastgele yol profili girişi altında ve seçilen performans kriterleri gözetilerek değerlendirilmiştir. Elde edilen sonuçlar incelendiğinde, LQR kontrol %52 daha az kuvvet kullanımı ile taşıt gövdesinin ivme değerinde %26 iyileşme sağladığı görülmüştür.

Keywords

Yarı aktif kontrol, döngüde donanımsal benzetim, çeyrek taşıt, LQR kontrol

Control of The Semi-Active Suspension System by Using Hardware-in-the-loop Simulation Structure

Abstract

In this study, Linear quadratic regulator (LQR) control and hybrid control are presented for vibration suppression of the quarter car suspension system equipped with a magnetorheological (MR) damper. The performances of the control designs were tested by using hardware in the loop simulation structure. The model parameters of the MR damper used in the study were obtained with the Levenberg-Marquardt optimization approach and the model accuracy was tested under different road profiles and voltage inputs to the MR damper. The vehicle model was tested under the random profile. According to the experimental results, LQR control decreases the acceleration of the vehicle body by about 26% in terms of the RMS value by using 52% less energy consumption.

Keywords

Semi-active control, hardware-in-the-loop, quarter car, LQR control

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