Abstract
Bu çalışmada, sabit mıknatıslı bir Doğru Akım (DA) motorunun hız kontrolü, bilinmeyen sistem parametreleri varlığında, kendinden ayarlamalı denetleyici tasarımı ile gerçek zamanda gerçekleştirilmiştir. Tasarlanan denetleyici Matlab/Simulink ortamında hızlı kontrol prototipleme tekniğine uygun olarak hazırlanmış ve Waijung blok seti ve düşük maliyetli STM32F4 uygulama geliştirme kiti kullanılarak geliştirilmiştir. Parametre kestirimi ve denetleyici tasarımı için özyinelemeli en küçük kareler yöntemi ve kutup atama yöntemi uygulanmıştır. Kontrolcü performansının test edilmesi için farklı karakteristiğe sahip referans girişler sisteme uygulanmış ve test düzeneği üzerinde elde edilen deneysel sonuçlar gözlenmiştir. Sistem çıkışının tüm referans girişleri başarılı bir şekilde takip etmesi ile tasarlanan kontrolcünün performansı net bir şekilde ortaya çıkarılmıştır.
Anahtar Kelimeler: DA motor, gerçek zamanlı kontrol, kendinden ayarlamalı denetleyici
References
- [1] Yurdakul S.S., “Self-Tuning PID Control with Experimental Applications”, Yüksek Lisans Tezi, Çukurova Üniversitesi Fen Bilimleri Enstitüsü, (2009).
- [2] Clarke D.W. and Gawthrop P.J., “Self-tuning controller”, Proc. Inst. Electr. Eng., 122(9): 929–934, (1975).
- [3] Gianto R., “Review of Self-Tuning Controller and Its Application in Electrical Power System”, Int. J. Sci. Technol. Res., 4(11): 137–142, (2015).
- [4] Warwick K., “Self-tuning regulators–a state space approach”, Int. J. Control, 33(5): 839–858, (1981).
- [5] Arici M. and Arslan A.O., “Self-tuning speed control of permanent magnet DC motor”, 9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, 1113–1116, (2015).
- [6] Vukic Z., “A Tutorial on Adaptive Control: The Self-Tuning Approach”, (2000).
- [7] Valášek M., “Design and Commissioning of new control system for industrial robot Puma 200”, Master’s Thesis, Czech Technical University Faculty of Mechanical Engineering, (2018).
- [8] Kizir S., Yaren T. and Kelekçi E., “Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları’’, Seçkin Yayıncılık, Ankara, Türkiye, (2019).
- [9] Bobál V., Böhm J., Fessl J. and Machácek J., “Digital Self-tuning Controllers”, Springer-Verlag, London, (2005).
- [10] Behera S., Jyotiranjan M. and Pati B.B., “Optimal pole placement for a self tuning PID controller”, 6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA), Roorkee, 456–461, (2017).
- [11] Aström K.J. and Wittenmark B., “Adaptive Control”, Addison-Wesley, United States, (1994).
- [12] Abdul-Adheem W., “Evolutionary Computation Techniques and ARX Model for System Identification”, 17th Scientific Conference of Almamoon University College, 1–23, (2016).
- [13] Karny M., “Parametrization of multi-output autoregressive-regressive models for self-tuning control”, Kybernetika, 28(5): 402-412, (1992).
- [14] https://waijung1.aimagin.com, “Waijung Blockset”, (2020).
- [15] Yaren T., Süel V., Yeniaydın Y., Sakacı B. and Kizir S., “STM32F4 Kiti ile Simulink Tabanlı Kontrol Eğitimi Uygulamaları Geliştirme”, Otomatik Kontrol Ulusal Toplantısı, Kocaeli, 868-873, (2014).
Abstract
In this study, the speed control of a permanent magnet brushed Direct Current (DC) motor was performed in real-time using a self-tuning controller design with the unknown system parameters. The designed controller was prepared in Matlab/Simulink environment in accordance with the rapid control prototyping technique and was developed using the Waijung block set and low-cost STM32F4 development kit. The recursive least squares method and pole assignment method were applied for parameter estimation and controller design. In order to test the controller performance, reference inputs with different characteristics were applied to the system and the experimental results obtained on the test setup were observed. The performance of the designed controller is clearly understood by the system output following all reference inputs successfully.
References
- [1] Yurdakul S.S., “Self-Tuning PID Control with Experimental Applications”, Yüksek Lisans Tezi, Çukurova Üniversitesi Fen Bilimleri Enstitüsü, (2009).
- [2] Clarke D.W. and Gawthrop P.J., “Self-tuning controller”, Proc. Inst. Electr. Eng., 122(9): 929–934, (1975).
- [3] Gianto R., “Review of Self-Tuning Controller and Its Application in Electrical Power System”, Int. J. Sci. Technol. Res., 4(11): 137–142, (2015).
- [4] Warwick K., “Self-tuning regulators–a state space approach”, Int. J. Control, 33(5): 839–858, (1981).
- [5] Arici M. and Arslan A.O., “Self-tuning speed control of permanent magnet DC motor”, 9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, 1113–1116, (2015).
- [6] Vukic Z., “A Tutorial on Adaptive Control: The Self-Tuning Approach”, (2000).
- [7] Valášek M., “Design and Commissioning of new control system for industrial robot Puma 200”, Master’s Thesis, Czech Technical University Faculty of Mechanical Engineering, (2018).
- [8] Kizir S., Yaren T. and Kelekçi E., “Matlab Simulink Destekli Gerçek Zamanlı Kontrol: Teori ve Mühendislik Uygulamaları’’, Seçkin Yayıncılık, Ankara, Türkiye, (2019).
- [9] Bobál V., Böhm J., Fessl J. and Machácek J., “Digital Self-tuning Controllers”, Springer-Verlag, London, (2005).
- [10] Behera S., Jyotiranjan M. and Pati B.B., “Optimal pole placement for a self tuning PID controller”, 6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA), Roorkee, 456–461, (2017).
- [11] Aström K.J. and Wittenmark B., “Adaptive Control”, Addison-Wesley, United States, (1994).
- [12] Abdul-Adheem W., “Evolutionary Computation Techniques and ARX Model for System Identification”, 17th Scientific Conference of Almamoon University College, 1–23, (2016).
- [13] Karny M., “Parametrization of multi-output autoregressive-regressive models for self-tuning control”, Kybernetika, 28(5): 402-412, (1992).
- [14] https://waijung1.aimagin.com, “Waijung Blockset”, (2020).
- [15] Yaren T., Süel V., Yeniaydın Y., Sakacı B. and Kizir S., “STM32F4 Kiti ile Simulink Tabanlı Kontrol Eğitimi Uygulamaları Geliştirme”, Otomatik Kontrol Ulusal Toplantısı, Kocaeli, 868-873, (2014).
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Engineering |
| Journal Section | Research Article |
| Authors | |
| Publication Date | June 1, 2022 |
| Submission Date | December 14, 2020 |
| Published in Issue | Year 2022 |
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