FBE- Mekatronik Mühendisliği Lisansüstü Programı - Yüksek Lisans
Bu koleksiyon için kalıcı URI
Gözat
Konu "active steering system" ile FBE- Mekatronik Mühendisliği Lisansüstü Programı - Yüksek Lisans'a göz atma
Sayfa başına sonuç
Sıralama Seçenekleri
-
ÖgeAktif Direksiyon Sistemi Kontrolcüsü Tasarımı(Fen Bilimleri Enstitüsü, ) Öncü, Sinan ; Güvenç, Levent ; Mekatronik ; MechatronicsThis study is on the application of active steering and yaw stability control to a light commercial vehicle. First, models for vehicle dynamics and steering system were developed in Simulink. A linear single track model of the light commercial vehicle was used for controller design while its nonlinear version was used during hardware-in-the-loop simulations. Controller designs were tested using offline and hardware-in-the-loop simulations. A hardware-in-the-loop simulation test rig with the actual rack and pinion mechanism of the light commercial vehicle under study was built for this purpose. The hardware and geometry of the steering test rig are identical to the implementation of the steering system in the test vehicle. Unnecessary and expensive road testing is avoided with this approach as most problems are identified and solved in the hardware-in-the-loop simulation phase conducted in the laboratory where the steering subsystem and its controller exist as hardware and the rest of the vehicle being implemented exists as real time capable software. The first active steering controller designed was a boost curve type electric power assisted steering (EPAS) controller. The EPAS controller was implemented on a actual vehicle equipped with active steering system. In the next step, a steer-by-wire system was designed. Existing hardware-in-the-loop test rig used previously for electric power assisted steering studies was modified and changed into a steer-by-wire test rig. This setup was used for experimental verification of the steer-by-wire controller designed here. The third active steering controller was a steering based yaw stability controller. A multi-objective design method was used to map D-stability, mixed sensitivity and phase margin bounds into parameter space. The resulting controller was tested using offline and hardware-in-the-loop simulations.