شبيه‌سازي و مقايسه‌ عملكرد دو كنترلر PID و تطبيقي براي سيستم تعليق فعال 10 درجه آزادي خودرو

Simulation and comparison of the performance of two PID and adaptive controllers for the active suspension system of vehicle 10 degrees of freedom

ﺳﯿﺴﺘﻢ ﺗﻌﻠﯿﻖ ﺑﺪون ﺷﮏ ﯾﮑﯽ از ﻣﻬﻢ ﺗﺮﯾﻦ و اﺳﺎﺳﯽ ﺗﺮﯾﻦ زﯾﺮ ﺳﯿﺴﺘﻢ ﻫﺎي ﯾﮏ ﺧﻮدرو ﻣﺤﺴﻮب ﻣﯽ ﺷﻮد. در اﯾﻦ ﭘﮋوﻫﺶ ﺟﻬﺖ ﺗﺤﻠﯿﻞ ﮐﺎﻣﻞ ارﺗﻌﺎﺷﺎت ﺣﺮﮐﺖﻫﺎي ﺑﺪﻧﻪ و ﺷﺎﺳﯽ ﺧﻮدرو ﮐﻪ ﺑﻪ ﺳﺮﻧﺸﯿﻨﺎن وارد ﻣﯽﺷﻮد از ﻣﺪل ﮐﺎﻣﻞ ﺧﻮدرو ﺑﺎ 10 درﺟﻪ آزادي اﺳﺘﻔﺎده ﺷﺪه اﺳﺖ. ﭘﺲ از ﺷﺒﯿﻪ ﺳﺎزي ﺳﯿﺴﺘﻢ ﺗﻌﻠﯿﻖ ﺧﻮدرو و ﻃﺮاﺣﯽ ﯾﮏ ﺳﯿﺴﺘﻢ ﺗﻌﻠﯿﻖ ﻓﻌﺎل ﺑﻪ ﻣﻨﻈﻮر دﻓﻊ اﻏﺘﺸﺎﺷﺎت وارده، ﻣﻘﺎﯾﺴﻪاي ﺑﯿﻦ دو ﻧﻮع ﮐﻨﺘﺮﻟﺮ PID و ﺗﻄﺒﯿﻘﯽ ﺑﺮاي ﺳﯿﺴﺘﻢﻫﺎي ﺗﻌﻠﯿﻖ اﺷﺎره ﺷﺪه ﺑﻪ ﻋﻤﻞ ﺧﻮاﻫﺪ آﻣﺪ و ﺗﻔﺎوتﻫﺎ در ﮐﻨﺘﺮل ارﺗﻌﺎﺷﺎت ﻣﻮرد ﻣﻄﺎﻟﻌﻪ ﻗﺮار ﻣﯽﮔﯿﺮد. ﺑﻪ دﻟﯿﻞ ﺛﺎﺑﺖ ﺑﻮدن ﺑﻬﺮه ﻫﺎي ﮐﻨﺘﺮﻟﺮ PID و ﻫﻤﭽﻨﯿﻦ وﺟﻮد ﻋﺪم ﻗﻄﻌﯿﺖ در ﺳﯿﺴﺘﻢ ﺗﻌﻠﯿﻖ ﺧﻮدرو، ﮐﻨﺘﺮﻟﺮ PID ﺑﻪ ﺧﻮﺑﯽ ﻗﺎدر ﺑﻪ ﮐﻨﺘﺮل و ﮐﺎﻫﺶ ارﺗﻌﺎﺷﺎت وارد ﺷﺪه ﺑﺮ ﺑﺪﻧﻪ ﺧﻮدرو ﻧﻤﯽ ﺑﺎﺷﺪ، ﭘﺲ در اﯾﻦ ﮐﺎر از ﮐﻨﺘﺮﻟﺮ ﺗﻄﺒﯿﻘﯽ ﺑﺎ ﺑﻬﺮه ﻏﯿﺮ ﺛﺎﺑﺖ ﺟﻬﺖ ﮐﻨﺘﺮل و ﮐﺎﻫﺶ ارﺗﻌﺎﺷﺎت وارد از ﺳﻮي ﻧﺎﻫﻤﻮاري ﻫﺎي ﺳﻄﺢ ﺟﺎده ﺑﻪ ﺑﺪﻧﻪ ﺧﻮدرو اﺳﺘﻔﺎده ﺷﺪه اﺳﺖ. ﻧﻮآوري اﯾﻦ ﭘﮋوﻫﺶ ﻃﺮاﺣﯽ دو ﻧﻮع ﮐﻨﺘﺮﻟﺮ PID و ﺗﻄﺒﯿﻘﯽ ﺟﻬﺖ ﮐﺎﻫﺶ ارﺗﻌﺎﺷﺎت وارده ﺑﺮ ﺧﻮدرو در ﺳﻪ ﻓﯿﺪﺑﮏ ﺟﺎﺑﺠﺎﯾﯽ، ﺳﺮﻋﺖ و ﺷﺘﺎب ﺑﺮاي ﻣﺪل 10 درﺟﻪ آزادي )ﮐﺎﻣﻞ( ﺧﻮدرو ﻣﯽ ﺑﺎﺷﺪ.

Suspension system is undoubtedly one of the most important and basic subsystems of a vehicle. In this research, in order to fully analyze the vibrations of the car body and chassis movements that enter the occupants, a complete car model with 10 degrees of freedom has been used. After simulating the car suspension system and designing an active suspension system to eliminate disturbances, a comparison between the two types of PID controllers and an adaptation for the mentioned suspension systems will be made and the differences in vibration control will be studied. Due to the constant gains of the PID controller and also the uncertainty in the vehicle suspension, the PID controller is not able to control and decrease the vibrations on the car body, so in this work of the adaptive controller with non-fixed interest to control and reduce vibrations applied by road surface roughness to the car body. The innovation of this research is the design of two types of PID and adaptive controllers to reduce the vibrations of the car in three feedback of displacement, speed and acceleration for the model of 10 degrees of freedom (complete) of the vehicle.