Sualtı Görevlerine Yönelik Amaç Fonksiyonu Tasarımı ile PID ve Kesir Dereceli PID Denetleyicilerin Meta-Sezgisel Ayarlanması

Abstract

Uzaktan kumandalı su altı araçlarının derinlik denetleyicileri meta-sezgisel yöntemlerle çoğunlukla genel bir hata integraline göre ayarlanır; bu ölçüt batarya kullanımı, denetim salınımlarının oluşturduğu aktüatör yükü, yön bağımlı aşım riski ve akıntı olayı sonrası toparlanma gibi göreve özgü öncelikleri temsil etmez. Bu çalışmada amaç fonksiyonunun kendisi tasarım nesnesi olarak ele alınmıştır. Zaman ağırlıklı hata integrali; denetim çabası, denetim düzgünlüğü, asimetrik aşım ve olay sonrası toparlanma terimleriyle genişletilmiş, tüm terimler referans bir PID tasarımına göre normalize edilmiş ve doygunluk, aktüatör gecikmesi ve gürültü içeren tek serbestlik dereceli bir BlueROV2 düşey hareket modelinde sınanmıştır. Terimler kademeli olarak eklendiğinde kesir dereceli denetleyicinin PID'ye üstünlüğü, seviye başına on koşuda yüzde 7,0'den yüzde 22,7'e yükselmiştir. Tarama, deniz tabanına yakın inceleme ve uzun süreli görevler ağırlık profilleri olarak kodlandığında kesir dereceli denetleyici tüm koşularda daha düşük maliyet üretmiş, en büyük fark yüzde 35,4 ile inceleme görevinde elde edilmiştir. Sonuç, tasarımcı tercihlerine karşı sınanmıştır: 160 rastgele ağırlık vektörü, dört normalizasyon şeması, ölçüm gürültüsü ve model belirsizliği üzerinde Monte-Carlo taramaları ve on bir tutulan senaryo. Doğrusal analiz olumsuz bir sonuç vermiştir: amaç fonksiyonunda frekans bölgesi kısıtı bulunmadığından ayarlanan çevrimlerin faz payları düşüktür ve bu durum itici doygunluğunca gizlenmektedir. Çalışma benzetim tabanlıdır; donanım doğrulaması iddia edilmemektedir.

Keywords

• Amaç fonksiyonu tasarımı
• BlueROV2
• görev odaklı ayarlama
• kesir dereceli PID
• parçacık sürü optimizasyonu

Project Number

121C126

Underwater-Mission-Oriented Objective Function Design for Metaheuristic Tuning of PID and Fractional-Order PID Controllers

Abstract

Metaheuristic tuning of depth controllers for remotely operated vehicles is usually performed against a generic error integral, which does not encode mission priorities such as battery use, actuator stress from chattering, direction-dependent overshoot risk and post-event recovery. This paper treats the objective function itself as the design object. A mission-oriented cost augments a time-weighted error integral with baseline-normalized effort, smoothness, asymmetric-overshoot and recovery terms on a one-degree-of-freedom BlueROV2 heave model with saturation, actuator lag and sensor noise. Adding the terms cumulatively raises the advantage of the fractional controller over PID from 7.0 to 22.7 percent over ten runs per level, and encoding survey, near-bottom inspection and long-endurance missions as weight profiles gives it the lower cost in every run, largest at 35.4 percent on inspection. The conclusion is then tested against the designer's choices: 160 random weight vectors, four normalization schemes, Monte-Carlo sweeps over noise and plant parameters, and eleven held-out scenarios. A linear analysis exposes one negative result: the cost carries no frequency-domain specification, so the tuned loops have small phase margins that saturation hides, and an explicit margin requirement is needed to restore them. The study is simulation-based and one-dimensional; no hardware validation is claimed.

Keywords

• bluerov2
• fractional-order PID
• mission-oriented tuning
• objective function design
• particle swarm optimization

Project Number

121C126

Thanks

This work was supported by The Scientific and Technological Research Council of Turkiye (TUBITAK), Department of Science Fellowships and Grant Programmes (BIDEB) through the 2232-B International Fellowship for Early Stage Researchers Program under Grant Number 121C126.

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