PID Parametrelerinin LQR ve GA Tabanlı Optimizasyonu: Sıvı Seviye Kontrol Uygulaması

Year 2020, Volume: 23 Issue: 4, 1111 - 1119, 01.12.2020

Gökhan Yüksek Ahmet Naci Mete Alkan Alkaya

https://doi.org/10.2339/politeknik.603344

Cited By: 1

Abstract

Bu
çalışmada iki farklı metot kullanılarak PID parametre ayarlaması yapılmıştır.
İlk olarak Doğrusal Karesel Düzenleyici (LQR) yaklaşımı kullanılarak maliyet
fonksiyonu minimize edilmiş ve optimal parametreler elde edilerek LQR tabanlı
PID denetleyici tasarlanmıştır. Ardından LQR maliyet fonksiyonunun
minimizasyonu için Genetik Algoritma (GA) kullanılmış ve GA tabanlı PID
denetleyici tasarlanmıştır. Tasarlanan PID denetleyiciler bir sıvı seviye
kontrol sisteminde benzetimsel ve deneysel olarak test edilmiş ve performans
karşılaştırmaları yapılmıştır. Deneysel sonuçlar, GA tabanlı PID'nin
performansının LQR tabanlı PID'den performans indisleri açısından daha başarılı
olduğunu göstermektedir. GA Tabanlı PID için normalize edilmiş ITSE indisi
0.6479 ile daha başarılı performans sergilemiştir.

Keywords

Doğrusal Karesel Düzenleyici, PID Ayarlama, Genetik Algoritma

LQR and GA based PID Parameter Optimization: Liquid Level Control Application

Abstract

In this study, PID parameter tuning was made by using two different
methods. Firstly, LQR based PID controller is designed by minimizing the cost
function by obtaining Linear Quadratic Regulator (LQR) approach. Then Genetic
Algorithm (GA) was used for minimizing the LQR cost function and GA based PID
controller was designed. The designed PID controllers have been simulated and
experimentally tested in a liquid level control system and performance
comparisons have been made. Experimental results show that the performance of
the GA based PID is better than LQR based PID in terms of performance indices. Normalized ITSE index of 0.6479 is achieved for better performing GA
based PID.

Keywords

Linear quadratic regulator, PID tuning, genetic algorithm

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