Kendinden Ayarlamalı PID Denetleyici ile İki Eksenli Gimbal Sisteminin Stabilizasyonu

Yıl 2024, Cilt: 27 Sayı: 4, 1441 - 1452, 25.09.2024

Murat Şahin

https://doi.org/10.2339/politeknik.1210906

Cited By: 2

Öz

Gimbal, füzelerde arayıcının hedef üzerinde kilitlenmesini ve takibini sağlayan, iki eksende hareket kabiliyeti ile görüş açısını arttıran bir sistemdir. Bu çalışmada, füzede kullanılan iki eksenli bir gimbal sisteminin stabilizasyonu gerçekleştirilmiştir. Gimbal stabilizasyonunda dengesizlik, çapraz kuplaj ve ölçülemeyen bozucu etkenler nedeniyle klasik denetleyiciler yerine uyarlamalı denetleyiciler tercih edilmektedir. Stabilizasyon algoritmasındaki eksen kontrolleri için Bulanık Mantık tabanlı Kendinden Ayarlamalı PID denetleyici geliştirilmiştir. Her adımda en uygun katsayının seçilmesi prensibi ile çalışan bu denetleyici sayesinde, uçuş simülatörü ile yapılan testlerde %3'ten daha az hata ile stabilizasyon gerçekleştirmek mümkün olmuştur. Ayrıca karşılaştırma amacıyla Parçacık Sürü Optimizasyonu ile katsayıları ayarlanmış bir PID denetleyici tasarlanmıştır. Deneysel çalışmalarda katsayıları kendinden ayarlanabilir PID denetleyicinin, sabit PID denetleyiciye göre daha iyi sonuç verdiği görülmüştür.

Anahtar Kelimeler

Gimbal, bulanık mantık, kendinden ayarlamalı denetleyici, PID, parçacık sürüsü optimizasyonu

Destekleyen Kurum

Roketsan A. Ş.

Stabilization of Two Axis Gimbal System with Self Tuning PID Control

Öz

Gimbal is a system that provides locking and tracking of the seeker on the target in missiles and increases the angle of view with its mobility in two axes. In this study, stabilization of a two-axis gimbal system used in the missile was carried out. In gimbal stabilization, adaptive controllers are preferred instead of classical controllers due to unbalance, cross-coupling, and unmeasurable disturbances. A Self Tuning PID controller based on Fuzzy Logic was developed for axis controls in the stabilization algorithm. Thanks to this controller, which works with the principle of choosing the most appropriate coefficient at every step, it was possible to control with less than 3% errors in the tests performed with the flight simulator. In addition, a PID controller whose coefficients are optimized with Particle Swarm Optimization is designed for comparison purposes. In experimental studies, it was seen that PID with adjustable coefficients gave better results than the fixed PID.

Anahtar Kelimeler

fuzzy logic, self-tuning controller, particle swarm optimization, Gimbal, PID

Kaynakça

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