TY - JOUR T1 - Farklı denetim yöntemlerinin bir gimbal sistemi üzerinde sınanması ve karşılaştırılması TT - Testing and comparison of different control methods on a gimbal system AU - Mandacı, Muharrem AU - Yıldız, Şölen Kumbay PY - 2024 DA - August Y2 - 2024 DO - 10.17341/gazimmfd.1375758 JF - Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi JO - GUMMFD PB - Gazi Üniversitesi WT - DergiPark SN - 1300-1884 SP - 219 EP - 236 VL - 40 IS - 1 LA - tr AB - Gimbal sistemleri, faydalı yükleri taşımak ve bunları belirli bakış hatlarına doğru şekilde hizalamak için kritik mekanizmalar olarak hizmet eder. Bu sistemler için denetleyici tasarımı, dış etkenlere ve sistem parametrelerindeki değişikliklere karşı gürbüzlük gerektirir. Bu zorluğun üstesinden gelmek için mevcut literatürde çeşitli kontrol yöntemleri araştırılmıştır. Bu çalışma kapsamında gimbal sisteminin için hız denetimi için dört farklı kontrol stratejisinin başarımı irdelenmektedir: Oransal-Tümlevsel (OTüm) denetim, Özayarlamalı OTüm Denetim, Tümlev Etkili Doğrusal Karesel Denetim (TE-DKD) ve Giriş Çıkış Modeline Dayalı Röle Kayan Kipli Denetim (GÇ-RKKD). Bu yaklaşımların etkinliği hem benzetimler hem de gerçek uygulamaları aracılığıyla değerlendirilmiş ve sonuçları kapsamlı bir şekilde irdelenmiştir. Hız denetimine ek olarak, dış döngüde bir Oransal Türevsel (OTür) denetim yapısı kullanılarak ardışık konum denetimi de gerçekleştirilmiştir. Çalışma, model parametrelerindeki değişimler ve bozulmalar etkisinde bu denetim yapılarının başarımını değerlendirmeye odaklanmaktadır. RSMC-IO yönteminin bir gimbal sistemine uygulandığı bir çalışma bilgimiz dahilinde bulunmamaktadır. Bu bağlamda bu çalışma denetim stratejileri anlayışımızı geliştirmekte ve bunların pratik sonuçlarına ilişkin önemli katkılar sunmaktadır. KW - Gimbal denetim KW - OTüm denetim KW - özayarlamalı OTüm denetim KW - tümlev etkili doğrusal karesel denetim KW - giriş çıkış modeline dayalı röle kayan kipli denetim N2 - Gimbal systems serve as critical mechanisms for carrying payloads and accurately aligning them with specific lines of sight. Designing controllers for these gimbal systems necessitates robustness against external disturbances and variations in system parameters. Various control methods have been explored in existing literature to address this challenge. In the scope of this study, we investigate the performance of four distinct control strategies—Proportional-Integral (PI) control, Self-Tuning PI control, Integral Action Linear-Quadratic regulator (IA-LQR), and Relay Sliding Mode Control based on the Input-Output Model (RSMC-IO)—as speed controllers for a gimbal system. 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UR - https://doi.org/10.17341/gazimmfd.1375758 L1 - https://dergipark.org.tr/tr/download/article-file/3473785 ER -