Browsing by Author "Güvenç,L."

Now showing 1 - 8 of 8

Citation Count: 32
Control of mechatronic systems
(Institution of Engineering and Technology, 2017) Güvenç,L.; Aksun-Güvenç,B.; Demirel,B.; Emirler,M.T.
This book introduces researchers and advanced students with a basic control systems background to an array of control techniques which they can easily implement and use to meet the required performance specifications for their mechatronic applications. It is the result of close to two decades of work of the authors on modeling, simulating and controlling different mechatronic systems from the motion control, automotive control and micro and nano-mechanical systems control areas. The methods presented in the book have all been tested by the authors and a very large group of researchers, who have produced practically implementable controllers with highly successful results. The approach that is recommended in this book is to first start with a conventional control method which may then be cascaded with a feedforward controller if the input is known or can be measured with a preview; to add a disturbance observer if unknown disturbances are to be rejected and if regulation of the uncertain plant about a nominal model is desired; and to add a repetitive controller to take care of any periodic inputs of fixed and known period. Case studies ranging from road vehicle yaw stability control and automated path following, to decoupling control of piezotube actuators in an atomic force microscope are presented. Parameter space based methods are used in the book for achieving robust controllers. Control of Mechatronic Systems is essential reading for researchers and advanced students who want to be exposed to control methods that have been field tested in a wide variety of mechatronic applications, and for practicing engineers who design and implement feedback control systems. © The Institution of Engineering and Technology 2017.
Citation Count: 1
A cooperating autonomous road vehicle platform
(IFAC Secretariat, 2013) Emirler,M.T.; Uygan,I.M.C.; Altay,I.; Acar,O.U.; Keleş,T.; Güvenç,B.A.; Güvenç,L.
A cooperating autonomous vehicle platform is introduced in this paper for research work on automated path following and cooperative mobility. This platform is implemented on the autonomous research vehicle Okanom of Istanbul Okan University. The hardware and software components added to Okanom for cooperative autonomous driving are presented. The GPS/INS system implemented in Okanom for autonomous following of GPS waypoint trajectories is explained. The low level lateral and longitudinal controllers used in this platform are given and a robust parameter space lateral steering controller design is presented. A double lane change simulation using the experimentally validated model of Okanom is used to illustrate the effectiveness of the designed steering controller. Information on experimental work in progress and past experimental work are also presented. © IFAC.
Citation Count: 0
Development of automatic lift axle system for trucks with mechanical suspensions
(IFAC Secretariat, 2013) Acar,O.U.; Keleş,T.; Koç,Z.; Güner,S.; Duruş,M.; Altuǧ,E.; Güvenç,L.
In 2014, the automatic lift axle dropping system is expected to be a legal obligation for trucks in Turkey. The aim of an automatic lift axle auto-drop system is to drop the appropriate live axle of a truck automatically based on the loading condition, instead of being manually controlled by the driver. In this paper, an algorithm providing the rules defined in the mass and dimensions regulation and a simulator that can be used to test this algorithm are developed for a truck with a mechanical suspension. During the simulations, the condition of the truck's load is used as an input and the automatic lift axle system algorithm decides on the axle(s) that canot be lifted by the driver. The determination of the vertical load shared by each axle is a statically indeterminate problem and the Direct Stiffness Method is used to obtain the solution in the simulator. Simulations are used to illustrate the use of the simulator and the developed algorithm. Extensive experimental work on testing the algorithm has been conducted on a truck with a prototype automatic lift axle system. © IFAC.
Citation Count: 8
Lidar data analysis for time to headway determination in the DriveSafe project field tests
(2013) Altay,I.; Aksun Güvenç,B.; Güvenç,L.
The DriveSafe project was carried out by a consortium of university research centers and automotive OEMs in Turkey to reduce accidents caused by driver behavior. A huge amount of driving data was collected from 108 drivers who drove the instrumented DriveSafe vehicle in the same route of 25 km of urban and highway traffic in Istanbul. One of the sensors used in the DriveSafe vehicle was a forward-looking LIDAR. The data from the LIDAR is used here to determine and record the headway time characteristics of different drivers. This paper concentrates on the analysis of LIDAR data from the DriveSafe vehicle. A simple algorithm that only looks at the forward direction along a straight line is used first. Headway times based on this simple approach are presented for an example driver. A more accurate detection and tracking algorithm taken from the literature are presented later in the paper. Grid-based and point distance-based methods are presented first. Then, a detection and tracking algorithm based on the Kalman filter is presented. The results are demonstrated using experimental data. © 2013 İlker Altay et al.
Citation Count: 23
Optimisation of the nonlinear suspension characteristics of a light commercial vehicle
(2013) Özcan,D.; Sönmez,Ü.; Güvenç,L.
The optimum functional characteristics of suspension components, namely, linear/nonlinear spring and nonlinear damper characteristic functions are determined using simple lumped parameter models. A quarter car model is used to represent the front independent suspension, and a half car model is used to represent the rear solid axle suspension of a light commercial vehicle. The functional shapes of the suspension characteristics used in the optimisation process are based on typical shapes supplied by a car manufacturer. The complexity of a nonlinear function optimisation problem is reduced by scaling it up or down from the aforementioned shape in the optimisation process. The nonlinear optimised suspension characteristics are first obtained using lower complexity lumped parameter models. Then, the performance of the optimised suspension units are verified using the higher fidelity and more realistic Carmaker model. An interactive software module is developed to ease the nonlinear suspension optimisation process using the Matlab Graphical User Interface tool. © 2013 Dinçer Özcan et al.
Citation Count: 0
Robust control of atomic force microscopy
(John Wiley and Sons, 2013) Güvenç,B.A.; Necipoǧlu,S.; Demirel,B.; Güvenç,L.
The atomic force microscope (AFM) is an instrument used for acquiring images at nanometer scale. Obtaining better image quality at higher scan speed is a research area of great interest in the control of an AFM. Improving the dynamic response of the scanning probe in the vertical direction and the dynamic response of the scanning motion in the lateral plane are the two major areas of application of advanced control methods to an AFM. The uncertainties inherent in the models of AFM vertical and lateral direction motion stages dictates the application of robust control methods. In this chapter, robust control methods are applied to AFM, treating first the vertical direction and then the lateral plane. ©2011 ISTE Ltd.
Citation Count: 33
Robust PID steering control in parameter space for highly automated driving
(2014) Emirler,M.T.; Uygan,I.M.C.; Aksun Güvenç,B.; Güvenç,L.
This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies D-stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan. © 2014 Mümin Tolga Emirler et al.
Citation Count: 9
Vehicle yaw rate estimation using a virtual sensor
(2013) Emirler,M.T.; Kahraman,K.; Şentürk,M.; Aksun Güvenç,B.; Güvenç,L.; Efendioǧlu,B.
Road vehicle yaw stability control systems like electronic stability program (ESP) are important active safety systems used for maintaining lateral stability of the vehicle. Vehicle yaw rate is the key parameter that needs to be known by a yaw stability control system. In this paper, yaw rate is estimated using a virtual sensor which contains kinematic relations and a velocity-scheduled Kalman filter. Kinematic estimation is carried out using wheel speeds, dynamic tire radius, and front wheel steering angle. In addition, a velocity-scheduled Kalman filter utilizing the linearized single-track model of the road vehicle is used in the dynamic estimation part of the virtual sensor. The designed virtual sensor is successfully tested offline using a validated, high degrees of freedom, and high fidelity vehicle model and using hardware-in-the-loop simulations. Moreover, actual road testing is carried out and the estimated yaw rate from the virtual sensor is compared with the actual yaw rate obtained from the commercial yaw rate sensor to demonstrate the effectiveness of the virtual yaw rate sensor in practical use. © 2013 Mümin Tolga Emirler et al.