Year 2020, Volume 25 , Issue 3, Pages 1373 - 1390 2020-12-31

PID and Fuzzy Logic Based Control of the Active Suspension System of an Electric Vehicle with In- Wheel Motor
TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ

Mustafa Tayyip TOKSOY [1] , Ahmet YILDIZ [2]


In this study, active suspension systems of an electric vehicle with in-wheel motor are controlled with PID and Fuzzy Logic controllers and their performances are compared. The equations of motions are drived by using the 14 degrees of freedom model with nonlinear suspension springs and the driver model and solved in Matlab / Simulink environment. Then, control of active suspension systems in full vehicle model is performed with the help of PID and Fuzzy Logic methods and the obtained results are compared with the simulation outcomes without a controller. The calculation method of the Fuzzy Logic method for controller design, the related error rate and error rate graphs, PID controller design, calculations and results are presented. As a result, it is observed that the data obtained with both controllers decrease the vibration amplitude significantly compared to the ones obtained without the controller and also the control performed with Fuzzy Logic gives better results.
Bu çalışmada tekerlek içi motorlu elektrikli bir aracın aktif süspansiyon sistemleri PID ve Bulanık Mantık denetleyicileri ile kontrol edilmiş ve performansları karşılaştırılmıştır. Doğrusal olmayan süspansiyon yaylarının kullanıldığı ve sürücü modeli ile birlikte 14 serbestlik derecesine sahip modelin hareket denklemleri çıkarılarak Matlab/Simulink ortamında çözdürülmüştür. Daha sonra PID ve Bulanık Mantık yöntemleri yardımı ile tam taşıt modelinde aktif süspansiyon sistemlerinin kontrolü gerçekleştirilmiş ve elde edilen sonuçları kontrolcü olmadan çıkan simülasyon sonuçları ile karşılaştırılmıştır. Çalışmada kontrolcü tasarımına yönelik Bulanık Mantık yönteminin hesaplama metodu, buna ait hata oranı ve hata oranının grafikleri, PID kontrolcü tasarımı, hesaplamaları ve sonuçları sunulmuştur. Sonuçta, her iki kontrolcü ile elde edilen verilerin kontrolcü olmadan elde edilenlere göre titreşim genliğini büyük oranda düşürdüğü ve ayrıca Bulanık Mantık ile yapılan kontrolün daha iyi sonuçlar verdiği gözlemlenmiştir.
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Primary Language tr
Subjects Engineering, Mechanical
Journal Section Research Articles
Authors

Orcid: 0000-0003-4517-2490
Author: Mustafa Tayyip TOKSOY
Institution: BURSA ULUDAĞ ÜNİVERSİTESİ
Country: Turkey


Orcid: 0000-0001-5434-4368
Author: Ahmet YILDIZ (Primary Author)
Institution: BURSA ULUDAĞ ÜNİVERSİTESİ
Country: Turkey


Dates

Application Date : September 1, 2020
Acceptance Date : October 27, 2020
Publication Date : December 31, 2020

Bibtex @research article { uumfd789019, journal = {Uludağ University Journal of The Faculty of Engineering}, issn = {2148-4147}, eissn = {2148-4155}, address = {}, publisher = {Bursa Uludağ University}, year = {2020}, volume = {25}, pages = {1373 - 1390}, doi = {10.17482/uumfd.789019}, title = {TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ}, key = {cite}, author = {Toksoy, Mustafa Tayyip and Yıldız, Ahmet} }
APA Toksoy, M , Yıldız, A . (2020). TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ . Uludağ University Journal of The Faculty of Engineering , 25 (3) , 1373-1390 . DOI: 10.17482/uumfd.789019
MLA Toksoy, M , Yıldız, A . "TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ" . Uludağ University Journal of The Faculty of Engineering 25 (2020 ): 1373-1390 <https://dergipark.org.tr/en/pub/uumfd/issue/57911/789019>
Chicago Toksoy, M , Yıldız, A . "TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ". Uludağ University Journal of The Faculty of Engineering 25 (2020 ): 1373-1390
RIS TY - JOUR T1 - TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ AU - Mustafa Tayyip Toksoy , Ahmet Yıldız Y1 - 2020 PY - 2020 N1 - doi: 10.17482/uumfd.789019 DO - 10.17482/uumfd.789019 T2 - Uludağ University Journal of The Faculty of Engineering JF - Journal JO - JOR SP - 1373 EP - 1390 VL - 25 IS - 3 SN - 2148-4147-2148-4155 M3 - doi: 10.17482/uumfd.789019 UR - https://doi.org/10.17482/uumfd.789019 Y2 - 2020 ER -
EndNote %0 Uludağ University Journal of The Faculty of Engineering TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ %A Mustafa Tayyip Toksoy , Ahmet Yıldız %T TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ %D 2020 %J Uludağ University Journal of The Faculty of Engineering %P 2148-4147-2148-4155 %V 25 %N 3 %R doi: 10.17482/uumfd.789019 %U 10.17482/uumfd.789019
ISNAD Toksoy, Mustafa Tayyip , Yıldız, Ahmet . "TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ". Uludağ University Journal of The Faculty of Engineering 25 / 3 (December 2020): 1373-1390 . https://doi.org/10.17482/uumfd.789019
AMA Toksoy M , Yıldız A . TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ. UUJFE. 2020; 25(3): 1373-1390.
Vancouver Toksoy M , Yıldız A . TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ. Uludağ University Journal of The Faculty of Engineering. 2020; 25(3): 1373-1390.
IEEE M. Toksoy and A. Yıldız , "TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ", Uludağ University Journal of The Faculty of Engineering, vol. 25, no. 3, pp. 1373-1390, Dec. 2021, doi:10.17482/uumfd.789019