Mustafa EROĞLU, Mehmet Akif KOÇ, Recep KOZAN, İsmail ESEN

Kayan kipli kontrol kullanılarak çeyrek araç ve köprü titreşimlerinin aktif kontrolü

Bu çalışmada Euler-Bernoulli kirişi olarak modellenebilen köprü üzerinden geçen üç serbestlik dereceli çeyrek araç süspansiyon sisteminin aktif kontrolü üzerine çalışılmıştır. Köprü ve aracın matematik modeli belirlenip Lagrange yöntemi kullanılarak hareket denklemleri çıkarılmıştır. Elde edilen hareket denklemleri dördüncü dereceden Runge-Kutta yöntemi kullanılarak Matlab ortamında çözdürülmüştür. Tekerleklere köprü kirişinin salınımları ile birlikte iki farklı yol profili verilerek aracın yol tutuşunun ve yolcu konforunun klasik PID ve Kayan kipli kontrol (SMC) yöntemi kullanılarak en optimum olması sağlanmıştır. Çalışmada önerilen yöntemin doğruluğu literatürde bulunan diğer çalışmalarla karşılaştırılmıştır. Simülasyon sonuçları göstermiştir ki önerilen aktif süspansiyon kontrolcüleri sayesinde yolcu deplasmanı ve ivmelenme değerlerinin sonucu pasif olana göre yüksek oranda iyileşme sağlamıştır.

Anahtar Kelimeler:

Çeyrek araç modeli, Aktif süspansiyon sistemi, PID kontrol, Kayan kipli kontrol, Yolcu konforu

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