Optimization and Control of Agile Eye Mechanism to Stabilize Car Vibrations and Target Tracking

Document Type : Research Article

Authors

1 Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran

2 تربیت مدرس-مهندسی مکانیک

Abstract

The presence of vibrations and disturbances causes serious damage to the system. In this research, the agile eye mechanism is installed on a moving car and moves along with the car. Vibrations enter the base plate of the agile eye. A large part of the road disturbances is dampened by the car suspension system. The purpose of the research is to keep the operator of the agile eye robot in the desired direction. The movement of the mechanism is investigated under the influence of two types of hilly and mountainous roads. The PID controller is adjusted by trial and error method and Ziegler-Nichols method, and the results of these conditions are compared in the presence of vibration absorber and normal condition. A genetic algorithm has been used to adjust the spring damper coefficients. which improves system response, saves time and money. The coefficients obtained from the optimization algorithm play a significant role in reducing the vibrations from the vehicle to the base of the mechanism. In fact, the absorber improves the control of the system, prevents disturbances from entering the mechanism and prevents the mechanism from being damaged due to vibrations. The effective value of the error in the case of using the vibration absorber on the examined roads was reduced to the range of 0.02 to 0.04.

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Amirkabir Journal of Mechanical Engineering
Volume 56, Issue 6
September 2024
Pages 885-908

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