Fırçasız doğru akım motorunun hız kontrolü için uyarlamalı geri adımlamalı kontrolcü tasarımı

Yıl 2018, Cilt: 24 Sayı: 2, 214 - 218, 30.04.2018

Türker Türker

Öz

Fırçasız
doğru akım motorlarının hız kontrolünde yüksek performans elde edebilmek için
doğrusal olmayan dinamik model ve modeldeki fiziksel niceliklerin tam olarak
biliniyor olması gerekmektedir. Fakat, model parametrelerinin tam olarak
bilinememesi, bazı fiziksel özelliklerin çalışma esnasındaki değişimleri ve yük
momentinin belirsiz olması sebebi ile bu mümkün olmayabilmektedir. Parametrik
model belirsizlikleri olması durumunda hız kontrolünü sağlayabilmek için
uyarlamalı geri adımlamalı bir kontrolcü tasarımı bu çalışmada önerilmektedir.
Kontrolcünün tasarımında model belirsizlikleri de göz önünde bulundurulmuş ve
Lyapunov kararlılık analizi ile rotor hız hatasının sıfıra yakınsayacağı
garanti edilmiştir. Pratik bir uygulamadaki tüm unsurların hesaba katıldığı bir
benzetim ortamı ile tasarlanan kontrolcü farklı referans yörüngeler için
sınanmış ve tatmin edici sonuçlar elde edilmiştir.

Anahtar Kelimeler

Uyarlamalı geri adımlamalı kontrol, FDAM hız kontrolü, Lyapunov kararlılığı

Adaptive backstepping controller design for the speed control of brushless DC Motor

Öz

Nonlinear
dynamical model and its physical quantities have to be known exactly in order
to obtain a high performance in the speed control of brushless direct current
(BLDC) motors. However this may not be possible due to the lack of knowledge on
the model parameters, the change of some physical characteristics during the
operation and uncertainty on the load torque. An adaptive backstepping
controller design is proposed in this paper to provide the speed control under
parametric uncertainties. Model uncertainties have been considered in the
design process of the controller and the convergence of the speed error to zero
has been ensured via Lyapunov stability analysis. The designed controller has
been tested for various reference trajectories considering all the practical
issues in a simulation environment and satisfactory results have been obtained.

Anahtar Kelimeler

Adaptive backstepping controller, Speed control of BLDC motors, Lyapunov stability.

Kaynakça

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