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

Zaman gecikmesi kontrol sistemleri tasarımında dikkatealınması gereken sistemin performansını azaltan ve en kötü durumda da sistemikararsız yapan etkenlerden birisidir. Zaman gecikmesi telafisi için literatürdepek çok yöntem önerilmiştir. Bunlardan en yaygın olarak kullanılanı Smithtahmincisidir. Smith tahmincisi kolaylıkla uygulanabilse de tahmincininkullandığı zaman gecikmesi modeli ile sistemdeki gerçek zaman gecikmesifarklılaştıkça gecikme telafisi performansı düşmektedir. Bu metodun alternatifiolarak zaman gecikmesi gözleyicisi önerilmiş ve literatürde daha önce bilateralteleoperasyon sistemlerine, robotik manipülatörlere ve iletişim ağı tabanlıyürüyüş şekli rehabilitasyon cihazlarına uygulanmıştır. Bu çalışmada ise zamangecikmesi gözleyicisinin taşıt savrulma dinamiği kontrolüne uygulanması elealınmıştır. Zaman gecikmesi gözleyicisinin performansı zamanla değişengecikmeler için çeşitli simülasyon çalışmalarıyla test edilmiş, ayrıca sonuçlarSmith tahmincisiyle karşılaştırılmıştır. 

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

Time delay is a control system design factor, whichreduces the performance of the system and makes the system unstable in theworst case. Many methods have been proposed in the literature for time delaycompensation and the Smith predictor is the most widely used. Although theSmith predictor is easy to implement, the delay compensation performancedegrades as the time delay model used by the predictor differs from the actualtime delay in the system. Communication disturbance observer has been proposedas an alternative method to the Smith predictor and it has been applied to thebilateral teleoperation systems, robotic manipulators and network-based gaitrehabilitation systems. This paper deals with the application of communicationdisturbance observer to the vehicle yaw stability control. The performance ofcommunication disturbance observer is tested for time varying delays by usingseveral simulations and the results are compared with the Smith predictorresults.

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