DC MOTORUN HIZ KONTROLÜ İÇİN KESİR DERECELİ PID KONTROLÖR TASARIMI VE DAYANIKLILIK ANALİZİ

Kesir dereceli PID kontrolör çoğu kontrol sisteminde geleneksel PID kontrolöre göre daha başarılı bir kontrol performansı sunar. Bu çalışmada, DC motorun hız kontrolü için kesir dereceli PID kontrolörün kullanıldığı optimizasyon-tabanlı bir metot önerilmiştir. Önerilen yöntem, optimal kesir dereceli PID kontrolör parametrelerini belirlemek amacıyla yusufçuk algoritması ve çok-ölçütlü bir amaç fonksiyonu kullanır. Kontrol sistemlerinde amaç fonksiyonu oluşturulurken hatayı esas alan ölçütler ya da zaman cevabı özelliklerini esas alan ölçütler kullanılır. Bu çalışmada hatayı esas alan integral performans ölçütleri ve zaman cevabı özelliklerinden yüzde aşma değeri birleştirilerek bir çok-ölçütlü amaç fonksiyonu tanımlanmıştır. Önerilen yöntemin performansını değerlendirmek amacıyla zaman cevabı analizi ve dayanıklılık analizi yapılmıştır. Her iki analizde de güncel literatürden çalışmalarla karşılaştırmalar yapılarak, yöntemin başarısı test edilmiştir. Elde edilen sonuçlar şekiller ve çizelgelerle sunulmuş, önerilen yöntemin DC motorun hız kontrolü için başarılı bir kontrol gerçekleştirdiği görülmüştür.

Anahtar Kelimeler:

Kesir dereceli PID kontrolör, Yusufçuk algoritması, DC motor hız kontrolü, Dayanıklılık analizi, Optimal kontrol

FRACTIONAL ORDER PID CONTROLLER DESIGN and ROBUSTNESS ANALYSIS for SPEED CONTROL of DC MOTOR

A fractional-order PID controller offers better control performance than a traditional PID controller in most control systems. In this study, an optimization-based method using a fractional-order PID controller is proposed for speed control of DC motor. The proposed method uses the dragonfly algorithm and a multi-criteria objective function to determine the optimal fractional-order PID controller parameters. In control systems, criteria based on error or based on time response specifications are used while creating the objective function. The study, a multi-criteria objective function is defined by combining the error-based integral performance index and the percent overshoot from the time response properties. Time response analysis and robustness analysis are performed to evaluate the performance of the proposed method. In both analyzes, the success of the method is tested by making comparisons with studies from the current literature. The obtained results are presented with figures and tables, and it is seen that the proposed method performs a successful control for the speed control of the DC motor.

Keywords:

Fractional order PID controller, Dragonfly algorithm, DC motor speed control, Robustness analysis, Optimal control,

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