10 Serbestlik Dereceli Demiryolu Taşıtında Hidrolik Eyleyicili Aktif Süspansiyon Kullanılarak Titreşim Azaltımı ve PID–LQR Karşılaştırması

Öz

Bu çalışmada, 10 serbestlik dereceli bir demiryolu taşıtı modeli için hidrolik eyleyicili aktif süspansiyon sistemi geliştirilmiş ve PID ile LQR kontrolcülerin titreşim azaltma performansları karşılaştırmalı olarak incelenmiştir. Taşıt modeli; vagon gövdesi, bojiler ve tekerlek takımlarını kapsayan çok serbestlik dereceli bir yapı olarak ele alınmış ve sistemin dinamik tepkileri sinüzoidal, darbe tipi ve rastgele yol girdileri altında zaman alanında analiz edilmiştir. Performans değerlendirmesi, vagon gövdesinin dikey deplasman, hız ve ivme tepkileri üzerinden gerçekleştirilmiştir. Elde edilen sonuçlar, kontrolsüz durumda yol girdilerinin vagon gövdesine önemli ölçüde iletildiğini ve özellikle rastgele yol girdileri altında yüksek titreşim seviyelerinin oluştuğunu göstermektedir. PID kontrolcü uygulandığında, sinüzoidal yol girdisi altında dikey deplasman genliklerinde kontrolsüz duruma kıyasla yaklaşık %75–80 oranında bir azalma sağlanmıştır. LQR kontrollü sistem ise tüm yol girdileri altında daha dengeli bir dinamik davranış sergilemiş; özellikle rastgele yol girdileri altında vagon dikey ivme tepkilerinde PID kontrolcüye kıyasla yaklaşık %35–45 oranında ek bir iyileşme sunmuştur.

Anahtar Kelimeler

• Demiryolu taşıtı
• Aktif süspansiyon
• Titreşim kontrolü
• PID kontrol
• LQR kontrol

Vibration Reduction in a 10-Degree-of-Freedom Railway Vehicle Using a Hydraulic Actuator-Based Active Suspension and a Comparative Analysis of PID and LQR Controllers

Öz

In this study, a hydraulic actuator–based active suspension system is developed for a 10-degree-of-freedom railway vehicle model, and the vibration reduction performance of PID and LQR controllers is comparatively investigated. The vehicle model represents the car body, bogies, and wheelsets within a multi-degree-of-freedom framework, and the dynamic responses of the system are analyzed in the time domain under sinusoidal, impulse, and random track excitations. System performance is evaluated based on the vertical displacement, velocity, and acceleration responses of the vehicle body. The results indicate that, in the uncontrolled case, track excitations are significantly transmitted to the vehicle body, leading to high vibration levels, particularly under random track input. When the PID controller is applied, vertical displacement amplitudes are reduced by approximately 75–80% for sinusoidal excitation. The LQR-controlled system exhibits a more stable dynamic behavior under all excitation types and provides an additional reduction of about 35–45% in vertical acceleration compared to the PID controller under random excitation. Overall, the findings demonstrate that the LQR controller offers superior vibration mitigation performance, especially for random and transient track disturbances.

Anahtar Kelimeler

• Railway vehicle
• Active suspension
• Vibration control
• PID control
• LQR control

Kaynakça

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