Kaskat Sistemler için Genetik Algoritma ile Optimize Edilmiş Gelişmiş Kaskat Kontrolör Tasarımı ve Deneysel Uygulaması

Tek döngülü geleneksel kontrolör, kontrol edilen değişken ayar noktasından sapmadıkça bozulmalar için herhangi bir düzeltici eylemi başlatmaz. Böyle bir durumda, özellikle bozulmaları olan bir kademeli sistemde bu kontrol sisteminin performansını iyileştirmek için kademeli bir kontrol stratejisi kullanılabilir. Klasik kademeli kontrol yapısında, hem iç hem de dış döngüde Oransal-İntegral-Türev (PID) tipi kontrolörler kullanılır. Bununla birlikte, PID kontrolörleri, açık döngü kararsız süreçler ve transfer fonksiyonlarında bir integratör bulunan süreçler için iyi performans göstermeyebilir. Bazı durumlarda, kademeli kontroldeki dış döngü transfer fonksiyonu açık döngü kararsız olabilir veya bir integratör içerebilir. Bu nedenle, kontrol edilen sisteme ilişkin kapalı döngü yanıtı tatmin edici olmayabilmektedir. Bu çalışmada, dış döngüde bir PI-PD kontrolörünün kullanıldığı geliştirilmiş bir kademeli kontrol yapısı önerilmiştir. Önerilen geliştirilmiş kademeli kontrol şemasında kontrolörlerin optimal parametrelerinin ayarlanması, Genetik Algoritma (GA) kullanılarak eş zamanlı olarak elde edilmiştir. Önerilen geliştirilmiş kademeli kontrol yapısının literatürde önerilen bazı kademeli kontrol şemalarına göre üstünlüğü simülasyon örnekleri ile gösterilmiştir. Ayrıca, önerilen geliştirilmiş kademeli kontrol yapısının geçerliliğini göstermek için DIGIAC 1750 süreç kontrol seti üzerinde gerçek zamanlı uygulama gerçekleştirilmiştir.

Anahtar Kelimeler:

Kaskat Kontrol, Optimal Kontrol, PID, PI-PD, Performans Kriteri.

Design and Experimental Application of an Improved Cascade Controller Optimized via Genetic Algorithm for Cascade Systems

A single loop conventional controller will not initiate corrective action for disturbances unless the output variable moves away from the set-point. In this case, cascade control strategy can be benefitted to obtain better the control system performance, especially in existence of strong disturbances. Proportional-Integral-Derivative (PID) type controllers are usually preferred in both loops of a classical cascade control structure. However, if the outer loop transfer function of cascade control has an unstable pole or an integrator then its performance may not be as good as desired due to limitations of PID controllers. In this study, an improved cascade control structure incorporating a PI-PD controller in its outer loop is being proposed. Optimal parameters of controllers in the proposed improved cascade control scheme has been obtained simultaneously using Genetic Algorithm (GA). The superiority of the proposed improved cascade control structure over some cascade control schemes suggested in the literature has been shown by simulation examples. Also, real-time application on DIGIAC 1750 process control set has been performed to illustrate the validity of the proposed improved cascade control structure.

Keywords:

Cascade control, Optimal control, PID, PI-Pd, Performance criteria,

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