demiryolu mühendisliği Demiryolu Mühendisliği 2149-1607 2687-2463 Demiryolu Mühendisleri Derneği 10.47072/demiryolu.1893819 Hybrid and Electric Vehicles and Powertrains Hibrit ve Elektrikli Araçlar ve Güç Aktarma Organları Kayma–Tutunma Eğrisi Bağlamında Referans Kayma Oranı Seçiminin PI Kontrollü Sistem Performansına Etkisi Effect of Reference Slip Ratio Selection on the Performance of a PI-Controlled System in the Context of the Slip–Adhesion Curve https://orcid.org/0000-0002-6670-134X Zirek Abdulkadir ESKISEHIR TECHNICAL UNIVERSİTY, FACULTY OF ENGINEERING 03 19 2026 24 02 20 2026 03 19 2026 Copyright © 2014, Demiryolu Mühendisliği 2014 Demiryolu Mühendisliği

Bu çalışmada, PI (Oransal–İntegral) denetleyici ile kontrol edilen bir tekerlek sisteminde referans kayma oranı seçiminin sistem dinamiği ve kayma kontrol performansı üzerindeki etkisi analiz edilmiştir. İnceleme kapsamında, tramvayın ray üzerinde ilerlemesini temsil eden tekerlek–silindir deney düzeneği esas alınmış ve sistem MATLAB ortamında ayrıntılı biçimde modellenmiştir. Modelde, kayma kontrolü PI tabanlı bir geri besleme yapısı ile gerçekleştirilmiş ve tekerlek–silindir temasının ıslak yol koşullarını temsil ettiği varsayılmıştır. Gerçekleştirilen sayısal simülasyonlar, referans kayma oranının kayma–tutunma eğrisinin kararlı bölgesinden seçilmesi durumunda sistemin istenen kayma değerine hızlı bir şekilde ulaştığını ve kararlı bir çalışma sergilediğini göstermiştir. Buna karşılık, referans kayma oranının kararsız bölgeden belirlenmesi halinde, sistem cevabında belirgin sapmalar meydana gelmiş ve kontrol performansının zayıfladığı gözlenmiştir. Ayrıca, referans değerin kararlı bölgeden uzaklaşmasıyla birlikte kayma büyüklüğünün arttığı ve sistemin dinamik kararlılığının olumsuz yönde etkilendiği tespit edilmiştir.

This study analyzes the effect of reference slip ratio selection on system dynamics and slip control performance in a wheel system controlled by a PI (Proportional–Integral) controller. Within the scope of the investigation, a wheel–roller experimental setup representing the motion of a tram on rails was taken as the basis, and the system was modeled in detail in MATLAB. In the developed model, slip control was implemented using a PI-based feedback structure, and the wheel–roller contact was assumed to represent wet adhesion conditions. The numerical simulation results demonstrate that when the reference slip ratio is selected from the stable region of the slip–adhesion curve, the system rapidly reaches the desired slip value and exhibits stable operation. In contrast, when the reference slip ratio is chosen from the unstable region, significant deviations occur in the system response and the control performance deteriorates. Furthermore, as the reference value moves farther away from the stable region, the magnitude of slip increases, and the dynamic stability of the system is adversely affected.

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