Yanal yol tutuş kararlılığı için merkezi diferansiyel kontrolü tabanlı çekiş torku dağıtımı

Karayolu taşıtlarında, merkezi diferansiyelin aktif kontrolü için bir çoklu model geçişli kontrolcü (çmgk) algoritması oluşturulmuştur. aracın yol tutuşunda ve aktif güvenlikte etkin rol alan parametrelerin en kısa tepki süresinde, tasarlanmış kontrolcü kazancı sayesinde, beklenen, makul değerlerine yakınsaması istenmektedir. farklı tutunma katsayılarına sahip yol yüzeyleri baz alınarak doğrusallaştırma yapılmış ve farklı işletim noktaları için sistem modelleri oluşturulmuştur. bu modellerin her biri için, hıza karşı dayanımlı olacak durum geri beslemeli kontrolcü kazancı değerleri doğrusal matris eşitsizlikleri (linear matrix inequalities, lmı) kullanılarak elde edilmiştir. modeller arasında algoritmanın yapacağı geçişlerde kararlılık şartlarının sağlandığı gösterilmiştir. savrulma oranı için referans takibi sağlanmıştır. yol tutuşunda etkin diğer parametreler, kararlı sürüş için beklenen değerlerinde seyrederken, kontrolsüz araca göre yatışma zamanının kısaldığı ve salınımların azaldığı gözlenmiştir.

Torque distribution based on central differential mechanism control for lateral handling stability

A control algorithm has been proposed for multimodel switching control (mmsc) of the central differential mechanism of road vehicles. ın such problems, the peformance parameters related to vehicle handling are expected to converge to reference values in the shortest possible time by the use of appropriate controllers. ın the present approach, operating points of the system are determined at two different levels of the road friction coefficient and linear system models are obtained around these points. for each of the models, state feedback controllers, which are robust against the change of vehicle speed, are designed by solving linear matrix inequalities (lmi) feasibility problems. ıt is proved that the proposed algorithm satisfies stability and performance conditions during switching between the system models that are operative under varying road conditions. Yaw rate reference tracking is achieved, driving stability ensured, settling time improved and oscillations in yaw rate and sideslip angle are reduced for the controlled vehicle.

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