Ayşe DUMAN MAMMADOV, Emre DİNCEL, Mehmet Turan SÖYLEMEZ

İki Girişli İki Çıkışlı Sistemlerde Ayrık Zamanda PI-PR2 Kontrolör Tasarımı

Bu çalışmada, iki giriş iki çıkışlı sistemler için ayrık zaman düzleminde oransal-integral oransal-çift gecikmeli (PI-PR2) kontrolör yapısı önerilmiştir. Tasarım yöntemi olarak kontrol sistemlerinde sıkça karşılaşılan baskın kutup atama yaklaşımı kullanılmıştır. İki giriş iki çıkışlı sistem bir ayrıştırıcı ile iki alt sisteme bölünmüş ve her bir alt sistem için PIR2 kontrolör tasarlanmıştır. Baskın kutuplar istenilen kapalı çevrim sistemin performans özelliklerine göre yerleştirilmiş ve kalan kutupların sınırı baskınlık katsayısı yardımıyla bir çember bölgesi olarak belirlenmiştir. Bu sınır bölgesi, parametre düzlemine aktarılmış ve ilgili kontrolör çözüm kümesi elde edilmiştir. Kontrolör sıfırının konumunun belirlenmesi avantajından yararlanmak için elde edilen PIR2 kontrolör PI-PR2 kontrolör yapısına çevrilmiştir. Önerilen tasarım yöntemi, bir benzetim çalışması üzerinden anlatılmış ve literatürdeki bazı kontrol yöntemleriyle karşılaştırılmıştır.

Anahtar Kelimeler:

PI-PR2 kontrolör tasarımı, PIR kontrolör, PID kontrolör, baskın kutup atama, ayrık zaman düzlemi

Discrete PI-PR2 Controller Design for Two Input Two Output Systems

In this study, a proportional integral double retarded (PI-PR2) controller structure is proposed for two-inputs two-outputs systems in discrete time domain. The dominant pole assignment approach, which is frequently encountered in control systems, is used as the primary design method. The two input two output system is divided into two subsystems by a decoupler and the PIR2 controller is designed for each subsystem. Dominant poles are placed according to the desired performance characteristics of the closed-loop system and the boundary of the remaining poles is determined as a circle with the help of the dominance coefficient. This boundary is transferred to the parameter plane and the corresponding controller solution set is obtained. In order to take advantage of determining the location of the controller zero, the obtained PIR2 controller is converted to the PI-PR2 controller structure. The proposed design method is explained through a simulation study and compared with some control methods in the literature.

Keywords:

PI-PR2 controller design, PIR controller, PID controller, dominant pole placement, discrete time domain,

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