Experimental Evaluation of Sliding-Mode Control Techniques

Yıl 2012, Cilt: 27 Sayı: 1, 23 - 37, 25.07.2016

Murat Furat İlyas Eker

Öz

Klasik kayan kipli-kontrol (KKK), doğrusal olmayan ve dayanıklı kontrol yöntemlerinden biridir. Metodun düzenli tasarım işlemi, kontrol girişi için kolay çözüm sağlar. Bu yöntemin eşleşen dış bozuculara ve belirsiz parametre değişimlerine karşı dayanıklılığı gibi çeşitli avantajları vardır. Diğer yandan, çıtırdama bu yöntemin ortak problemidir. Literatürde, çıtırdama problemini aşmak için bazı yaklaşımlar önerilmiştir. Bu çalışmada, klasik (birinci derece) KKK yöntemlerin deneysel değerlendirmesi ve pratik uygulanabilirliği araştırılmıştır. Deneysel uygulamalar, bir elektromekanik sistemin hız kontrolü ve bozucu ayarlaması üzerine yapılmıştır. Zamana bağlı grafiksel sonuçlar gösterilmiş ve performans ölçümleri tablolar halinde sunulmuştur. Deneysel sonuçlar, bazı dezavantajlarına rağmen kayan kipli kontrolün pratik kontrol sistemlerine uygulanabilirliğini göstermiştir

Anahtar Kelimeler

Klasik kayan-kipli kontrol, KKK, çıtırdama, gerçek sistem uygulaması

Kaymalı-Kutup Kontrol Tekniklerinin Deneysel Değerlendirilmesi

Öz

Sliding-mode control (SMC) is one of the robust and nonlinear control methods. Systematic design procedure of the method provides a straightforward solution for the control input. The method has several advantages such as robustness against matched external disturbances and unpredictable parameter variations. On the other hand, the chattering is a common problem for the method. Some approaches have been proposed in the literature to overcome the chattering problem. In the present paper, an experimental evaluation and practical applicability of conventional (first-order) sliding-mode control techniques are investigated. Experimental applications are performed using an electromechanical system for speed tracking control and disturbance regulation problems. The graphical results are illustrated and the performance measurements are tabulated based on time-domain analysis. The experimental results indicate the fact that the sliding-mode control is applicable to practical control systems with the cost of some disadvantages.

Anahtar Kelimeler

Conventional sliding-mode control, SMC, chattering, real system application

Kaynakça

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