Publication: Sistema de control antivuelco para camión utilizando lógica difusa y suspensión activa
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2015-06
Defense date
2015-07-10
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Abstract
En este proyecto se ha desarrollado un sistema de control antivuelco para un sistema de suspensión activa equipado en un camión ligero. Los sistemas de suspensión activa se componen de una serie de actuadores que permiten compensar las fuerzas que aparecen durante la circulación de un vehículo con el fin de mantener el conjunto equilibrado. El software TruckSim permite simular el comportamiento dinámico del vehículo, así como recoger información relativa acerca de distintas variables, como pueden ser el ángulo de vuelco o la velocidad a la que éste se produce. Los datos obtenidos se envían al programa diseñado utilizando Matlab – SIMULINK. Mediante el uso de la lógica difusa, los datos se procesan y se crea una señal que se devuelve de forma automática a TruckSim. La lógica difusa se utiliza como herramienta para diseñar la respuesta necesaria por parte de los actuadores. Esta señal es portadora de la información requerida por cada uno de los actuadores. De esta forma pueden ejercer una fuerza distinta dependiendo de los datos que vienen del camión. Para determinar la mejor configuración del sistema, se han realizado diferentes ensayos en entornos muy distintos. Estos ensayos incluyen desde tests de giro en terrenos llanos, como puede ser un aeródromo, hasta simulaciones a distintas velocidades en carreteras que simulan condiciones reales. Cada uno de los test se repite con diferentes configuraciones del sistema, que permiten ejercer fuerzas diferentes en el eje delantero y trasero del vehículo. La comparación de los resultados obtenidos en cada simulación se realiza mediante un coeficiente de transferencia de carga, que indica, en cada instante de tiempo, el porcentaje del peso total del camión soportado por cada lado.
In this project a controller has been developed for an anti rollover system which uses active suspension for a light truck. Active suspension systems are formed by a set of actuators which compensate the forces which appear during a ride in order to keep the vehicle balanced. Using the software TruckSim it is possible to simulate the dynamic behavior of the vehicle, as well as gathering information about different variables, such as the roll angle or roll rate for each of the instances belonging to the simulation. The data gathered by TruckSim is sent to a program designed in MATLAB – SIMULINK. By means of fuzzy logic, this information is processed and a signal is created. This signal is sent automatically back to TruckSim. Fuzzy logic is used as a tool to design the response required from the actuators. This signal carries the information needed by each of the actuators in order to work. This way, depending on the value of the variables which come from the truck, it is possible to exert a different force. In order to find out the best set up for the system, a series of different tests in different environments are simulated. These tests include from steering tests in flat airfields to simulations at different speeds in real roads. Each of the tests is repeated with different configurations of the system, applying different forces in the front and rear axles. The comparison of results from each simulation is done by means of a load transfer coefficient, which indicates at every moment the percentage of the vehicle’s weight withstood by each side of the truck.
In this project a controller has been developed for an anti rollover system which uses active suspension for a light truck. Active suspension systems are formed by a set of actuators which compensate the forces which appear during a ride in order to keep the vehicle balanced. Using the software TruckSim it is possible to simulate the dynamic behavior of the vehicle, as well as gathering information about different variables, such as the roll angle or roll rate for each of the instances belonging to the simulation. The data gathered by TruckSim is sent to a program designed in MATLAB – SIMULINK. By means of fuzzy logic, this information is processed and a signal is created. This signal is sent automatically back to TruckSim. Fuzzy logic is used as a tool to design the response required from the actuators. This signal carries the information needed by each of the actuators in order to work. This way, depending on the value of the variables which come from the truck, it is possible to exert a different force. In order to find out the best set up for the system, a series of different tests in different environments are simulated. These tests include from steering tests in flat airfields to simulations at different speeds in real roads. Each of the tests is repeated with different configurations of the system, applying different forces in the front and rear axles. The comparison of results from each simulation is done by means of a load transfer coefficient, which indicates at every moment the percentage of the vehicle’s weight withstood by each side of the truck.
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Keywords
Tecnología automovilística, Lógica difusa, Sistemas de suspensión activa, Camiones