İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü

Yıl 2023, Cilt: 38 Sayı: 1, 605 - 616, 21.06.2022

Yusuf Abukan , M. Nuri Almalı

https://doi.org/10.17341/gazimmfd.947168

Cited By: 1

Öz

Helikoptere benzeyen ikinci dereceden ikiz pervaneli çoklu girişli ve çoklu çıkışlı (MIMO) doğrusal olmayan bir sistemin (TRMS) kontrol tasarımı çok karmaşık bir iştir. TRMS sistemi, bir kiriş ile birbirlerine bağlantılı olan ana ve kuyruk pervanesinde oluşmaktadır. TRMS sisteminin dengesinin sağlanması için her iki pervane açıları, pervanelerin bağlı bulunduğu DC motorların hızları değiştirilerek yapılır.
TRMS sisteminin dengede çalışması sağlamak amacıyla oransal-integral-türev (PID), kesir dereceli PID (FOPID), kayan kip (SMC), Süper bükümlü kayan kip (STSMC) ve Kesirli dereceli süper bükümlü kayan kip (FOSTSMC) kontrol yöntemleri kullanılmıştır. Kontrol parametrelerinin belirlenmesi için MATLAB/Simulink programında benzetim çalışmaları yapılmıştır. Benzetim çalışmalarında bulunan en başarılı yöntemler kullanılarak, deneysel çalışmalar yapılmıştır.
Benzetim ve deneysel çalışmalarının her ikisinde de ana pervane FOPID ve kuyruk pervanesi FOSTSMC yöntemi ile kontrolü diğer kontrol yöntemlerine göre en iyi sonucu verdiği görülmüştür.

Anahtar Kelimeler

• TRMS, • PID Control, • Fractional-order PID Control, • Fractional Order Super Twisting Sliding Mod Control, • Super Twisting Sliding Mod Control, • Sliding Mod Control

Control of 2-Dof TRMS MIMO system using FOPID & FOSTSMC method

Öz

Kaynakça

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