Taşıt savrulma dinamiği kontrol sistemlerinde zaman gecikmesi etkisinin zaman gecikmesi gözleyicisi kullanılarak telafi edilmesi

Yıl 2018, Cilt: 24 Sayı: 8, 1450 - 1457, 29.12.2018

Mümin Tolga Emirler , Bilin Aksun Güvenç Levent Güvenç

Öz

Zaman gecikmesi kontrol sistemleri tasarımında dikkate
alınması gereken sistemin performansını azaltan ve en kötü durumda da sistemi
kararsız yapan etkenlerden birisidir. Zaman gecikmesi telafisi için literatürde
pek çok yöntem önerilmiştir. Bunlardan en yaygın olarak kullanılanı Smith
tahmincisidir. Smith tahmincisi kolaylıkla uygulanabilse de tahmincinin
kullandığı zaman gecikmesi modeli ile sistemdeki gerçek zaman gecikmesi
farklılaştıkça gecikme telafisi performansı düşmektedir. Bu metodun alternatifi
olarak zaman gecikmesi gözleyicisi önerilmiş ve literatürde daha önce bilateral
teleoperasyon sistemlerine, robotik manipülatörlere ve iletişim ağı tabanlı
yürüyüş şekli rehabilitasyon cihazlarına uygulanmıştır. Bu çalışmada ise zaman
gecikmesi gözleyicisinin taşıt savrulma dinamiği kontrolüne uygulanması ele
alınmıştır. Zaman gecikmesi gözleyicisinin performansı zamanla değişen
gecikmeler için çeşitli simülasyon çalışmalarıyla test edilmiş, ayrıca sonuçlar
Smith tahmincisiyle karşılaştırılmıştır. 

Anahtar Kelimeler

Zaman gecikmesi, Taşıt dinamiği kontrolü, Smith tahmincisi, Bozucu gözleyicisi, Parametre uzayı yaklaşımı

Compensation of time delay effect in vehicle yaw stability control systems by using communication disturbance observer

Öz

Time delay is a control system design factor, which
reduces the performance of the system and makes the system unstable in the
worst case. Many methods have been proposed in the literature for time delay
compensation and the Smith predictor is the most widely used. Although the
Smith predictor is easy to implement, the delay compensation performance
degrades as the time delay model used by the predictor differs from the actual
time delay in the system. Communication disturbance observer has been proposed
as an alternative method to the Smith predictor and it has been applied to the
bilateral teleoperation systems, robotic manipulators and network-based gait
rehabilitation systems. This paper deals with the application of communication
disturbance observer to the vehicle yaw stability control. The performance of
communication disturbance observer is tested for time varying delays by using
several simulations and the results are compared with the Smith predictor
results.

Anahtar Kelimeler

Time delay, Vehicle dynamics control, Smith predictor, Disturbance observer, Parameter space approach

Kaynakça

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