TEKERLEK İÇİ MOTORLU ELEKTRİKLİ BİR ARACIN AKTİF SÜSPANSİYON SİSTEMİNİN PID VE BULANIK MANTIK TABANLI KONTROLÜ

Bu çalışmada tekerlek içi motorlu elektrikli bir aracın aktif süspansiyon sistemleri PID ve Bulanık Mantık denetleyicileri ile kontrol edilmiş ve performansları karşılaştırılmıştır. Doğrusal olmayan süspansiyon yaylarının kullanıldığı ve sürücü modeli ile birlikte 14 serbestlik derecesine sahip modelin hareket denklemleri çıkarılarak Matlab/Simulink ortamında çözdürülmüştür. Daha sonra PID ve Bulanık Mantık yöntemleri yardımı ile tam taşıt modelinde aktif süspansiyon sistemlerinin kontrolü gerçekleştirilmiş ve elde edilen sonuçları kontrolcü olmadan çıkan simülasyon sonuçları ile karşılaştırılmıştır. Çalışmada kontrolcü tasarımına yönelik Bulanık Mantık yönteminin hesaplama metodu, buna ait hata oranı ve hata oranının grafikleri, PID kontrolcü tasarımı, hesaplamaları ve sonuçları sunulmuştur. Sonuçta, her iki kontrolcü ile elde edilen verilerin kontrolcü olmadan elde edilenlere göre titreşim genliğini büyük oranda düşürdüğü ve ayrıca Bulanık Mantık ile yapılan kontrolün daha iyi sonuçlar verdiği gözlemlenmiştir.

Anahtar Kelimeler:

PID, Bulanık, Mantık, Elektirkli, Araç, Süspansiyon

PID and Fuzzy Logic Based Control of the Active Suspension System of an Electric Vehicle with In- Wheel Motor

In this study, active suspension systems of an electric vehicle with in-wheel motor are controlled with PID and Fuzzy Logic controllers and their performances are compared. The equations of motions are drived by using the 14 degrees of freedom model with nonlinear suspension springs and the driver model and solved in Matlab / Simulink environment. Then, control of active suspension systems in full vehicle model is performed with the help of PID and Fuzzy Logic methods and the obtained results are compared with the simulation outcomes without a controller. The calculation method of the Fuzzy Logic method for controller design, the related error rate and error rate graphs, PID controller design, calculations and results are presented. As a result, it is observed that the data obtained with both controllers decrease the vibration amplitude significantly compared to the ones obtained without the controller and also the control performed with Fuzzy Logic gives better results.

Keywords:

PID, Fuzzy, Logic, Electrical, Vehicle, Suspension,

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