Koordine Fren - Aktif Süspansiyon Kontrolü ile Aracın Frenleme Mesafesinin Kısaltılması

Aktif süspansiyon – fren entegre kontrolü, akademik ve otomotiv sanayi literatüründe popüler bir araştırma konusudur. Söz konusu araştırma alanına odaklanan bu çalışma, iki entegre kontrol alternatifi önermektedir. Önerilen her iki kontrol yaklaşımı, kontrol bölüştürme yöntemini uygulamaktadır. İlk metot, aracın arka süspansiyonuna yerleştirilecek doğrusal elektrik motorları gözetilerek tasarlanmıştır. Bu metotta, aracın frenleme performansını ve sürüş konforunu geliştirecek olan kontrol sinyalleri, teker kayması, ve arka doğrusal elektrik motor kuvvetlerine bölüştürülmektedir. İkinci metot ise, hem ön, hem de arka süspansiyonlara yerleştirilecek doğrusal elektrik motorları gözetilerek tasarlanmıştır. Bu kez kontrol hedefi, teker kuvveti – teker kayması karakteristik grafiğinin pik noktasında kalmaktır. Aynı zamanda aracın yunuslama hareketi de kısıtlanmaktadır. Çalışmada özetlenen simülasyon çalışmaları ile, önerilen kontrolcülerin -pasif süspansiyonlu konvansiyonel araç ile kıyaslandığında- aracın frenleme mesafesini kısaltacağı gösterilmiştir.

Anahtar Kelimeler:

Kontrol bölüştürme, fren kontrolü, ABS

Shortening the Braking Distance of a Passenger Car through Coordinated Control of Brakes and Active Suspension

Coordinated control of active suspension and brakes, is a hot research topic in academic and industrial literature. This work focuses on this area of vehicle dynamics, and proposes two methods of integrated control. Both control methods, apply the control allocation technique. In the first method which considers a vehicle equipped with a linear motor at the rear suspension, the desired control action, regarding braking, and ride comfort, is allocated to tire slips, and rear linear motor force. In the second method, a vehicle equipped with linear motors, at both front, and rear suspensions, is considered. This time the control objective is staying at the peak point of the tire force versus tire slip curve, and mitigating pitch motion as much as possible, through manipulating wheel loads. The simulation results show significant improvement in braking distance, obtained with the proposed controllers, compared to the stock vehicle, equipped with standard ABS.

Keywords:

Control allocation, brake control, ABS,

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