Lqr-Fuzzy Logic Control of a Quarter Vehicle Model

Öz

In this study, a new control rule was developed using two different control methods, and the results were discussed by applying the developed controller to the quarter vehicle model. A new hybrid controller was designed by considering the advantages of Fuzzy Logic control method and Linear Quadratic Regulator (LQR) control method. Control gain coefficients used in LQR controller were determined by fuzzy logic control method. The developed new controller has been applied to the quarter vehicle model. In the results, control with only Fuzzy Logic controller and developed LQR-Fuzzy Logic controller were compared. It was understood from the results that the developed control method was satisfactory.

Anahtar Kelimeler

• Fuzzy Logic Control
• LQR Control
• Quarter Vehicle Model
• Simulation

Çeyrek Taşıt Modelinin Lqr-Bulanık Mantıklı Kontrolcü ile Kontrolü

Öz

Bu çalışmada iki farklı kontrol yöntemi kullanılarak yeni bir kontrol kuralı geliştirilmiş ve geliştirilen kontrolcü çeyrek taşıt modeline uygulanarak sonuçlar değerlendirilmiştir. Bulanık Mantık kontrol yöntemi ve Lineer Kuadratik Düzenleyici (LQR) kontrol yönteminin avantajları dikkate alınarak yeni bir hibrit denetleyici tasarlanmıştır. LQR denetleyicide kullanılan kontrol kazanç katsayıları bulanık mantık kontrol yöntemi ile belirlenmiştir. Geliştirilen yeni kontrol yasası çeyrek taşıt modeline uygulanmıştır. Sonuçlar kısmında, pasif, sadece bulanık mantıklı kontrolcü ve geliştirilen LQR-Bulanık mantıklı kontrolcü ile elde edilen sonuçlar karşılaştırılmıştır. Geliştirilen kontrol yönteminin tatmin edici olduğu sonuçlardan anlaşılmıştır

Anahtar Kelimeler

• Bulanık Mantıklı Kontrol
• LQR Kontrol
• Çeyrek Taşıt Modeli
• Simulasyon

Kaynakça

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