Sliding Mode Based Self-Tuning PID Controller for Second Order Systems

Alper BAYRAK (Abant Izzet Baysal University, Faculty of Engineering and Architecture, Department of Electrical and Electronic Engineering, 14030, Bolu)
Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi
4 1
Yıl: 2017 Cilt: 21 Sayı: 3 Sayfa Aralığı: 866 - 872 Metin Dili: İngilizce DOI: 10.19113/sdufbed.07565 İndeks Tarihi: 28-11-2018

Sliding Mode Based Self-Tuning PID Controller for Second Order Systems

Öz:
In this paper, a sliding mode based self-tuning PID controller is proposed for uncertain second order systems. While developing the controller, it is assumed that the system model has a part which contains nonlinear terms similar to PID structure which is a new approach in the literature. The controller and update rules for controller parameters are obtained from Lyapunov stability analysis. The proposed controller with update rule is experienced on an experimental 2-DOF helicopter which is also known as Twin-Rotor Multi-Input Multi-Output System (TRMS). From experiments, it was seen that the PID parameter update rules run satisfactorily and, in parallel with this, the controller achieved the control objective by providing the system track the desired trajectory.
Anahtar Kelime:

Ikinci Dereceden Sistemler için Kayan Kip Tabanlı Kendinden Ayarlamalı OTT Denetleyici

Öz:
Bu çalışmada, ikinci dereceden belirsiz sistemler için bir kayan kip tabanlı kendinden ayarlamalı Oran-Tümlev-Türev (OTT) denetleyici önerilmiştir. Denetleyici tasarlanırken, bilimsel yazında yeni bir yaklaşım olarak, sistem modelinin, OTT yapısına benzer dogrusal olmayan terimler içerdi ği varsayılmıştır. Denetleyici ve denetleyici parametreleri için güncelleme kuralları, Lyapunov kararlılık analizi kullanılarak elde edilmiştir. Önerilen denetleyici ve güncelleme kuralları, Çift-Rotorlu Çok-Girişli Çok-Çıkışlı Sistem olarak da bilenen, 2 serbestlik dereceli deneysel bir helikopter üzerinde denenmiştir. Yapılan deneyler sonucunda, OTT parametreleri için geliştirilen güncelleme kuralının tatmin edici bir şekilde çalıştıgı ve buna bağlı olarak, denetleyicinin, sistemin istenen yörüngeyi takip ˘ etmesini saglayarak, denetim amacına ulaştı ğı görülmüştür.
Anahtar Kelime:

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA BAYRAK A (2017). Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. , 866 - 872. 10.19113/sdufbed.07565
Chicago BAYRAK Alper Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. (2017): 866 - 872. 10.19113/sdufbed.07565
MLA BAYRAK Alper Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. , 2017, ss.866 - 872. 10.19113/sdufbed.07565
AMA BAYRAK A Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. . 2017; 866 - 872. 10.19113/sdufbed.07565
Vancouver BAYRAK A Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. . 2017; 866 - 872. 10.19113/sdufbed.07565
IEEE BAYRAK A "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems." , ss.866 - 872, 2017. 10.19113/sdufbed.07565
ISNAD BAYRAK, Alper. "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems". (2017), 866-872. https://doi.org/10.19113/sdufbed.07565
APA BAYRAK A (2017). Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 21(3), 866 - 872. 10.19113/sdufbed.07565
Chicago BAYRAK Alper Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi 21, no.3 (2017): 866 - 872. 10.19113/sdufbed.07565
MLA BAYRAK Alper Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, vol.21, no.3, 2017, ss.866 - 872. 10.19113/sdufbed.07565
AMA BAYRAK A Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi. 2017; 21(3): 866 - 872. 10.19113/sdufbed.07565
Vancouver BAYRAK A Sliding Mode Based Self-Tuning PID Controller for Second Order Systems. Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi. 2017; 21(3): 866 - 872. 10.19113/sdufbed.07565
IEEE BAYRAK A "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems." Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 21, ss.866 - 872, 2017. 10.19113/sdufbed.07565
ISNAD BAYRAK, Alper. "Sliding Mode Based Self-Tuning PID Controller for Second Order Systems". Süleyman Demirel Üniversitesi Fen Bilimleri Enstitüsü Dergisi 21/3 (2017), 866-872. https://doi.org/10.19113/sdufbed.07565
Sayfa Oluşturulma Tarihi
23-04-2024 6:56

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