Kesir dereceli model referans denetleyici ile görüntü işleme destekli nesne takip uygulaması

Yıl 2016, Cilt: 22 Sayı: 8, 659 - 665, 27.12.2016

Gürkan Kavuran Abdullah Ateş Baykant Alagöz Celaleddin Yeroğlu

Öz

Bu
çalışmada doğru akım servo motorun pozisyon denetimi, kesir dereceli
integratörle birlikte geleneksel model referans uyarlamalı denetleyici yapısı
kullanılarak incelenmiştir. Denetleyici yapısındaki iyileşme, uyarlama
kuralında kesir dereceli operatörlerin kullanılmasıyla sağlanmıştır. Gerçek
zamanlı çalışan sistemin referans pozisyon bilgisi, kameradan alınan değerlere
göre güncellenmiştir. Sistem çıkışı, öğrenme katsayısı değiştirilerek tamsayı
ve kesir dereceli uyarlama kuralına göre karşılaştırmalı olarak kıyaslanmıştır.
Elde edilen sonuçlara göre kesir dereceli yaklaşımın daha iyi sonuç verdiği
gözlenmiştir.

Anahtar Kelimeler

Kesir dereceli matematik, Model referans uyarlamalı denetim, Nesne takibi, Servo motor

Image processing based object tracking application with fractional-order model reference controller

Öz

In
this paper, position control application of DC servo motor is investigated by
using conventional model reference adaptive control structure with fractional
order integrator. Modification of the controller is achieved by fractional
order integrator in adaptation rule. Object position for reference input of
control system is updated in real time by the values obtained from camera of
object tracking system. Results obtained for integer order integrator and
fractional-order integrator for model reference adaptive control system are
compared and it is observed that the fractional-order integrator can provide
faster adaptation for the system.

Anahtar Kelimeler

Fractional order calculus, Model reference adaptive control, Object tracking, Servomotors

Kaynakça

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