Mahmut PAKSOY, Gökhan KARARSIZ, Muzaffer METİN

Yol Gözlemleyicisi Kullanarak Parametrik Belirsizlik İçeren MR Damperli Süspansiyon Sisteminin Yarı Aktif Doğrusal Olmayan Uyarlamalı Kontrolü

Taşıt titreşimlerini bastırmak amacıyla yapılan kontrolör tasarımlarında yol girişinin ölçülmesi zor ve ek sensörler gerektirdiği için maliyetlidir. Bu yüzden, manyetoreolojik damper ile donatılmış süspansiyon sistemine sahip çeyrek taşıt modeline ait düşey titreşimleri bastırmak için yol bozucusunun önceden bilinmesine veya ölçülmesine ihtiyaç duymayan bir lineer olamayan uyarlamalı kontrolör tasarımı bu çalışma ile yapılmıştır. Bu amaç doğrultusunda, yolun farklı frekans, farklı genlik ve farklı faz değerlerine sahip bilinmeyen ve birbirinden farklı sinüzoidallerin toplamından oluştuğu varsayımı yapılarak Lyapunov esasına dayalı bir yol gözlemleyicisi tasarlanmıştır. Ele alınan kontrolör, model içerisinde yer alabilecek parametrik belirsizliklere karşı da en iyi cevabı garanti edecek şekilde tasarlanmıştır. Önerilen yöntemin etkinliği pasif cevaplar ile zaman ve frekans alanında karşılaştırılarak incelenmiştir.

Semi-Active Nonlinear Adaptive Control of MR Damper Suspension System which Contains Parametric Uncertainty using Road Observer

In designed controllers in order to suppress the vehicle vibrations, the road input measurement process is difficult and costly as additional sensors are required. Therefore, a nonlinear adaptive semi-active controller is designed without road disturbance measurement for quarter vehicle model with suspension system equipped with magnetorheological damper in this study. For this aim, a road observer based on the Lyapunov approach is designed by assuming that the road consists of a sum of different frequency, different amplitude, and different phases. The controller is designed to guarantee the best response to the parametric uncertainties that may be present in the model. Effectiveness of the suggested method is investigated in time and frequency domain with using numeric simulations and some graphics.

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