Bulanık Mantık Denetleyicisi ile Volan Ters Sarkacın Denge Kontrolü

Öz

Bu çalışmada, karşılaştırma için bulanık mantık ve PID kontrolör ile bir volan ters sarkaç modellenmiş ve kontrol edilmiştir. Bulanık mantık denetleyicileri, üçgen ve Gauss üyelik fonksiyonları ve "and", "implication" ve "aggregation" gibi çeşitli yöntemler kullanılarak tasarlanmıştır. Bulanık mantık denetleyicilerinden ve PID'den elde edilen tüm kazançlar, deneme yanılma yöntemiyle ayarlanmıştır. En iyi performans, üçgen üyelik fonksiyonu ve "prob/probor" fonksiyonlarını kullanan bulanık mantık denetleyicisi ile elde edilmiştir. Sonuçlar, bulanık mantığın bir volan ters sarkacın denge kontrolü için iyi bir alternatif olduğunu, ancak PID'nin kabul edilebilir bir performansa sahip olduğunu göstermektedir.

Anahtar Kelimeler

• Volan Ters Sarkaç
• Denge Kontrolü
• Bulanık Mantık
• Simulasyon
• Flywheel inverted pendulum
• balance control
• fuzzy logic

Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Abstract

In this study, a flywheel inverted pendulum was modeled as simulation. The model controlled by fuzzy logic and PID controller for comparison. Fuzzy logic controllers were designed using triangular and Gaussian membership functions and various methods that are "and", "implication" and "aggregation". All gains from fuzzy logic controllers and PID were tuned by the trial-and-error method. The best performance was obtained by fuzzy logic controller that uses a triangular membership function and "prob/probor" functions. The results were evaluated in terms of three phenomena. In terms of Settling Time and Maximum Overshoot, Fuzzy Triangle MF with 0.15 s and 0 degrees, respectively, and PID and Fuzzy Triangle MF models with 0 degrees in terms of Steady-State error achieved the best success. In addition, the robustness of the control system was tested by applying two different types of disturbance inputs, random and impulse. The results show that fuzzy logic is a good alternative for balance control of a flywheel inverted pendulum, but PID has an acceptable performance.

Keywords

• Flywheel inverted pendulum
• balance control
• fuzzy logic
• simulation

Kaynakça

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