Aktif süspansiyon sistemleri için bilinmeyen bozucu etkisi altında uyarlamalı kontrolcü tasarımı

Bu çalışmada, aktif süspansiyon sistemleri için yoldan gelen bozucu etkinin bilinmediği kabulü yapılarak, uyarlamalı kontrolcü tasarlanmıştır. Yol düzgünsüzlüğünden kaynaklanan bozucu, frekans, genlik ve faz değerleri bilinmeyen farklı sinüzoidal dalgaların toplamı olarak modellenmiş ve gözlemci tasarımı yapılmıştır. Böylece bozucu parametrize edilmiş ve geri adımlama yöntemi kullanılarak uyarlamalı kontrolcü tasarımı yapılmıştır. Kapalı çevrim sistemin kararlılığı kanıtlanmış ve yol bozucusu etkisi altında taşıt gövde ivmesinin bastırıldığı gösterilmiştir. Kontrolcünün performansı benzetim ile test edilmiştir.

Anahtar Kelimeler:

Aktif süspansiyon, Uyarlamalı kontrolör, Gözlemci tasarımı

Design of an adaptive controller under unknown disturbance input for active suspension systems

In this paper, an adaptive backstepping controller is designed where the road disturbance is assumed that it is not measured. Therefore, the disturbance is modelled as a sum of sinusoidals where amplitude, phase and frequency are considered as unknown. Then, the observer is parametrized. After the design of the observer, an adaptive controller is designed with using backstepping technique. It is proven that the closed loop system is stable and the acceleration of the body is attenuated under the effect of the road disturbance. To reveal the performance of the controller, a simulation is illustrated with road test.

Keywords:

Active suspension, Adaptive controller, Observer design,

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