Türev Filtresi Kullanımının Pathfinder Algoritması ile Optimize Edilmiş Bir PID Denetleyici Üzerindeki Etkisi: Bir DC Motor Hız Kontrol Sistemi Örneği

Öz

Bu makalede DC motor hız kontrolü için en uygun algoritma ve denetleyici olarak Türev Filtreli Pathfinder Algoritmalı Oransal İntegral Türev denetleyici (TFPFA-OİT) önerilmektedir. Pathfinder algoritması, hayvan kolonisinin ortaklaşa davranışlarından esinlenir ve en iyi beslenme veya av alanını belirlemek için sürülerin liderlik aşama sırasını taklit eder. Tüm parçacıkların hareketi düzenli değildir, hepsi rastgele hareket eder. Pathfinder algoritması ile TFPFA-OİT denetleyicisinin en iyi parametrelerini elde etmek için literatürde sık kullanılan amaç fonksiyonlarından; zaman çarpımı mutlak hatasının integrali (ZÇMHİ) başarım ölçütü kullanılmıştır. Algoritmalar ile denetleyiciler arasında karşılaştırma yapabilmek ve önerilen denetleyicinin yeterliliğini kanıtlamak için MATLAB/Simulink yazılımıyla zaman çözüm kümesi analizi, frekans tepkisi analizi (bode), gürbüzlük analizi, kararlılık analizi ve bozucu yük yanıtı analizleri yapılmıştır. Çalışmalar sonucunda TFPFA-OİT makalede yer alan en iyileştirme algoritmalarından daha iyi başarım elde edildiği görülmüştür.

Anahtar Kelimeler

• TFPFA-OİT denetleyici
• ZÇMHİ
• gürbüzlük
• DC motor

Effect of Derivative Filter Usage on a PID Controller Optimized via Pathfinder Algorithm: An Example of a DC-MSCS

Öz

In this article, Pathfinder-Derivative filtered proportional-integral-derivative controller (PF-PIDF) is proposed as the optimum algorithm and controller for DC motor speed control. The Pathfinder algorithm is inspired by the collective behavior of the animal colony and imitates the leadership hierarchy of the herds in order to determine the best meal or hunting ground. The movement of all particles is not regular, they all move randomly. In order to acquire the best parameters of the derivative filtered PID controller (PIDF) controller with the Pathfinder algorithm, the objective function ITAE (Integral of the Time Multiple Absolute Error), one of the commonly used objective functions in the literature, was used. Time solution set analysis, frequency response analysis (bode), robustness analysis, pole-zero map analysis and load disturbance rejection analysis were performed in MATLAB/Simulink software to make comparisons between algorithms and controllers and to testify the sufficiency of the proposed controller. As a result of the studies, it has been seen that the with PIDF Pathfinder algorithm has better performance than the other optimization algorithms in the article.

Anahtar Kelimeler

• PIDF controller
• ITAE
• Robustness
• DC motor.

Kaynakça

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