Ömür AKYAZI, Erdinç ŞAHİN, Oğuzhan ÇAKIR, Ali Kıvanç ŞAHİN

DC Motorun Hız Kontrolü İçin Meta-Sezgisel Algoritma Tabanlı PID Denetleyici Tasarımı

Bu makalede DC motor hız kontrolü için balina optimizasyonu (WOA) ve güve-alevi optimizasyonu (MFO) algoritmaları kullanılarak en uygun PID denetleyici parametreleri $(k_p, k_i ve k_d)$ belirlenmiştir. PID denetleyici parametre değerleri belirlenirken her iki algoritma için de hata tabanlı bir amaç fonksiyonu olan hatanın mutlak değerinin zaman ağırlıklı integrali (ITAE) seçilmiştir. İki farklı yaklaşımla tasarlanan PID denetleyicilerin yakınsama profili analizi, geçici tepki analizi, frekans uzayı analizi (bode analizi), hata tabanlı performans ölçütlerinin analizi ve bozucu yük cevabı analizi MATLAB programı aracılığıyla gerçekleştirilmiş ve performansları karşılaştırılmıştır. Bulunan sonuçlara göre WOA tabanlı PID denetleyicinin MFO tabanlı PID denetleyiciye göre daha iyi sonuç verdiği gözlemlenmiştir. Ayrıca balina optimizasyonu algoritmasıyla ayarlanan PID denetleyicisinin atom arama optimizasyonu (ASO), gri kurt optimizasyonu (GWO), yabani ot optimizasyonu (IWO) ve stokastik fraktal arama (SFS) algoritmaları kullanılarak ayarlanmış PID denetleyicilerine göre geçici tepki karakteristiğini iyileştirdiği, dayanıklılığını arttırdığı ve sistemde yük momentinden kaynaklanan bir değişiklik meydana geldiğinde bu bozulmayı daha kısa sürede toparlamayı başardığı görülmüştür.

Meta-Heuristic Algorithm Based PID Controller Design for Speed Control of DC Motor

In this article, the optimal parameters of PID controller $(k_p, k_i and k_d)$ are determined by using whale optimization (WOA) and moth-flame optimization (MFO) algorithms for speed control of DC motor. While determining the PID controller parameter values, the time-weighted integral of the absolute value of the error (ITAE), which is an error-based objective function, are chosen for both algorithms. Convergence profile analysis, transient response analysis, frequency-domain analysis, error-based performance metrics analysis and load disturbance response analysis of PID controllers designed with two different approaches are carried out by MATLAB program and performance are compared. According to the obtained results, it has been observed that the WOA based PID controller gives better results than the MFO based PID controller does. In addition, the PID controller tuned with the whale optimization algorithm improves the transient response characteristic compared to PID controllers tuned using atom search optimization (ASO), grey wolf optimization (GWO), invasive weed optimization (IWO) and stochastic fractal search (SFS) algorithms, improves its robustness. It has been observed that when a change occurs due to the load moment, it manages to recover this deterioration in a shorter time.

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