Cohen-Coon Tabanlı Otomatik Ayarlayıcılı Online PID Denetleyici Tasarımı ve Gerçeklenmesi

Abstract

Çalışmada, Cohen-Coon yöntemini kullanarak otomatik olarak Oransal-İntegral-Türevsel (PID) katsayılarını elde eden denetleyici tasarlanır, L298N devresi ve 1.1 W fırçasız doğru akım motoru içeren gerçek sistemde test edilir. Çalışmada hızlı, taşınabilir ve modelden bağımsız bir otomatik denetleyici önerilir. ATmega2560 mikrodenetleyici PID denetleyici olarak programlanır. ATmega2560 seri haberleşme aracılığıyla veri eldesi, işleme ve gönderimi için programlanmış Raspberry Pi ile haberleşir. Önerilen sistemin performansı, yapılan testler ile kanıtlanır.

Keywords

• PID
• Ayarlama
• Seri Haberleşme

Design and Realization of Online Auto Tuning PID Controller Based on Cohen-Coon Method

Abstract

In this paper, a controller which is capable of automatically obtaining proportional integral derivative (PID) parameters using Cohen-Coon tuning method is developed and tested on a real system consisting of an L298N circuit and a 1.1W brushless DC motor. The main purpose of this paper is to propose a fast, portable, and model-independent automatic controller. ATmega2560 microcontroller is programmed as a PID controller and a Raspberry Pi programmed to collect, compute, send and receive data from ATmega2560 through serial communication. Finally, the system is proven for its performance with satisfactory results.

Keywords

• PID
• Tuning
• Serial Communication

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