Çeşitli Test Senaryoları ile Ters Sarkaca Uygulanan Açık Model Öngörümlü Kontrol Tekniği Üzerinde Gürültü ve Bozucu Bastırma Performans Değerlendirmesi

Uygulama kolaylığı nedeniyle kontrolör tasarımı için yaygın olarak kullanılan bir test ortamı olan araba üzerinde ters sarkaç (IPC) sistemi, doğrusal olmayan ve düşük harekete geçirilmiş özellikleri ile farklı alanlarda uygulama imkânına sahiptir. Bu çalışmada, açık MPC kontrol yönteminin, iki test durumu ve analiz yaklaşımları kullanılarak gürültü ve bozuculara karşı performansı incelenmiştir. Ayrıntılı senaryolarda farklı yörünge takibi, bozucu ve gürültü durumları dikkate alınmıştır. Sayısal uygulamalar, Matlab®/Simulink®'in model öngörülü kontrol araç kutusu tarafından gerçekleştirilmiştir. Kontrolcünün avantajları ve dezavantajları, zaman alanı spesifikasyonları açısından tartışılmıştır.

Anahtar Kelimeler:

IPC, Açık MPC, Bozucu bastırma, Gürültü azaltma

Noise and Disturbance Rejection Performance Evaluation on Explicit Model Predictive Control Technique Applied to Inverted Pendulum with Various Test Scenarios

An inverted pendulum on a cart (IPC) system, which is a widely used test environment for controller design due to ease of applicability, has the opportunity to be applied in different fields with nonlinear and under-actuated characteristics. In this study, the performance of the explicit MPC control method has been examined against the noise and disturbances by using two test cases and analysis approaches. Different trajectory tracking, disturbance, and noise situations have been taken into account in the elaborated scenarios. The numerical applications have been performed by the model predictive control toolbox of Matlab®/Simulink®. The advantages and drawbacks of the controller have been discussed in terms of time-domain specifications.

Keywords:

IPC, Explicit MPC, Disturbance rejection, Noise attenuation,

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