Ters sarkacın uyarlamalı kazançlı bağımsız yüzeyli kayan kip yöntemi ile denetimi

Öz

Bu çalışmada gerçek bir ters sarkaç sistemi için yeni bir uyarlamalı kazançlı, bağımsız yüzeyli kayan kip denetim tekniği (UKKKD) önerilmektedir. Böylece modellenemeyen ve üst sınır değerleri belirli olmayan bozucu etkilere karşı dayanıklı bir denetim yapısı elde edilmektedir. Önerilen denetim yöntemi ile dayanıklılık özelliği en küçük kazanç değerlerinde dahi korunmakta ve böylece kayan kip denetimin temel problemi olan çatırtı etkisi de azaltılmaktadır. Çalışmada, ters sarkaç ve denetim sisteminin MATLAB/SIMULINK benzetim ile uygulama grafikleri karşılaştırmalı olarak verilmiş ve denetimin olumlu etkisi doğrulanmıştır.624432

Anahtar Kelimeler

• Ters sarkaç,kayan kip,uyarlamalı kazanç,dayanıklı denetim

Adaptive gain decoupled sliding mode control of inverted pendulum

Öz

In this study, a new adaptive gain, decoupled surface sliding mode control technique is proposed for a real inverted pendulum system. Thus a robust control structure against unmodeled and uncertain upper limit valued disturbances is developed. With the proposed control method, the robustness property is preserved even at the smallest gain values and thus the chattering effect, which is the main problem of the sliding mode control, is reduced. In this study, MATLAB / SIMULINK simulations and experimental results of the inverted pendulum control system are compared and the positive effect of the proposed control method is confirmed.

Anahtar Kelimeler

• Inverted pendulum,sliding mode,adaptive gain,robust control

Kaynakça

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