PSO Tabanlı PID Denetimci kullanarak Zaman Gecikmeli AVR Sisteminin Analizi

Öz

Bu çalışmada, zaman gecikmesi ve değişken yükler karşısında Otomatik Voltaj Regülatörü (AVR) sistemi terminal referans voltaj gerilimi takip problemi için bir parçacık sürüsü optimizasyonu (PSO) algoritması tabanlı Oransal-İntegral-Türev (PID) kontrolörü önerilmiştir. AVR, jeneratör çıkış terminal voltajını belirli bir referansta zaman gecikmeleri ve değişken yük altında tutmak için yaygın olarak kullanılan bir sistemdir, bundan dolayı zor bir elektriksel problemi ortaya çıkarır. Zaman gecikmeleri, iletim ve aktarmadaki gecikmelerden dolayı gerçek dünyadaki birçok sistemde bulunur, genel olarak kararlılık ve kontrol tasarımı üzerinde olumsuz bir etkiye sahiptirler. Bu araştırmada, zaman gecikmesi, asgari olmayan faz sistemine yol açan Pade yaklaşımı ile yaklaşık olarak tahmin edilmektedir. Karmaşık faz sistemi, s-düzleminin sağ tarafında bulunan sıfırları nedeniyle kontrol güçlüğüne neden olur. Bu amaçla, AVR için gerçek zamanlı sistemlerde yaygın olarak kullanılan PID kontrolör tercih edilmiştir. Optimal kontrolörün kazançları Kp, Ki ve Kd, yaygın olarak kullanılan bir hata minimizasyon objektif fonksiyonuna dayanarak PSO algoritması ile optimize edilmiştir. PSO tabanlı en uygun katsayılı PID denetleyicisinin performansı; kök yer eğrisi, bode analizi, sağlamlık ve bozucu karşısındaki dayanımı gibi çeşitli yöntemlerle analiz edilmiştir. Önerilen PID denetleyicisinin AVR çıkış referans terminal gerilim izleme performansını iyileştirdiği görülmüştür. Elde edilen sonuçlara göre, önerilen PSO tabanlı PID kontrolörünün zaman gecikmesi ve yük değişimi altında izleme özelliklerini geliştirdiği, böylece senkron jeneratör otomatik voltaj regülatörü (AVR) sistemi terminal voltaj kararlılığı için etkili bir şekilde kullanılabileceği ortaya çıkmıştır.

Anahtar Kelimeler

• Otomatik voltaj regülatörü,Zaman gecikmeli sistemler,Parçacık sürüsü optimizasyonu,PID denetimcisi,kararlılık

Time-delay AVR System Analysis Using PSO-based PID Controller

Abstract

In this study, a particle swarm optimization (PSO) algorithm-based Proportional-Integral-Derivative (PID) controller is proposed for the Automatic Voltage Regulator (AVR) system terminal tracking problem in the existence of time-delay and varying loads. AVR is a commonly used electronic device for maintaining generator output terminal voltage at a given reference under time-delays and varying load thus introduces a challenging electrical system problem. Time-delays exist in many real-world systems due to the lags in transmission and transport, in general, they have a negative effect on the stability and control design. In this research, the time delay is approximated by Pade approximation leading to the so-called non-minimum phase system. A nonminimum phase system represents the difficulty of controlling due to its zeroes in the complex right half side of the s-plane. To this aim, we utilize a PID controller, its design and application widely studied in real-time systems, thus it is a suitable selection for the AVR system. The optimal controller gains Kp, Ki, and Kd are optimized with the proposed PSO algorithm based on a commonly used error minimization objective function. The PSO-based optimal PID controller’s performance is analyzed with several methods including root locus, bode analysis, robustness, and disturbance rejection. It is demonstrated that the proposed PID controller improves the reference terminal voltage tracking performance of the AVR system. According to the obtained results, it has been revealed that the proposed PSO-based PID controller improves tracking properties under time-delay and load change thus it can be effectively used for synchronous generator automatic voltage regulator (AVR) system terminal voltage stability.

Keywords

• Automatic voltage regulator,Time-delay systems,Particle swarm optimization PID controller

Kaynakça

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