Demiryolu Araçlarında Çıkış Geri Beslemeli Aktif Süspansiyon Kontrolü ile Sürüş İyileştirme

Öz

Bu çalışmada, bir raylı taşıtın sürüş konforu ve dinamik yanıt karakteristiklerini değerlendirmek amacıyla, değişken ray pürüzlülüğüne sahip bir sistem modeli oluşturulmuş ve bu model için altı serbestlik dereceli hareket denklemleri türetilmiştir. Araç gövdesinin düşey ve yunuslama açısal ivmelerini en aza indirmek ve düzensiz ray yüzeyi uyarıları altında süspansiyon ile tekerlek yer değiştirmelerini sınırlamak amacıyla Linear Quadratic Regulator (LQR) ve Kalman Filtresi tabanlı bir çıkış geri beslemeli denetleyici tasarlanmıştır. Denetleyici sentezi sürecinde, farklı performans hedeflerine karşılık gelen maliyet fonksiyonunun en uygun değerleri dikkate alınmıştır. Önerilen aktif süspansiyon sistemi ile geleneksel pasif süspansiyon sistemi, MATLAB tabanlı benzetimler aracılığıyla karşılaştırmalı olarak analiz edilmiştir.. Elde edilen sonuçlar, aktif denetimli süspansiyon sisteminin pasif sisteme kıyasla sürüş konforunu artırırken yürüş emniyetini de belirgin biçimde iyileştirdiğini ortaya koymaktadır.

Anahtar Kelimeler

• Aktif süspansiyon
• Ray yolu düzensizliği
• Sürüş performansı
• LQR denetleyici
• Kalman filtresi

Ride Enhancement Through Output-Feedback Active Suspension Control in Railway Vehicles

Öz

In this study in order to investigate the ride and handling characteristics of a rail vehicle, a two dimensional mathematical model with a varying track profile is developed, and the equations of motions for the proposed model with six degrees-of-freedom are derived. An LQR and Kalman Filter based output feedback controller is designed to minimize the vertical and the pitch angular accelerations of the vehicle body while simultaneously limiting the suspension and wheel deflections under uneven rail surface excitations acting on a moving vehicle. In this design problem the optimum value for the cost function for different objectives is considered. A comparative analysis between an active railway suspension system and a conventional passive suspension is carried out using MATLAB-based simulations. The simulation results demonstrate that the actively controlled suspension significantly enhances ride comfort and running safety of the railway vehicle when compared with the passive suspension configuration.

Anahtar Kelimeler

• Active suspensions
• track roughness
• ride quality.
• LQR controller
• Kalman filter

Kaynakça

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