Belirsizlik ve Bozuculara Sahip Bir Servo Sistemin Konum Kontrolü İçin Gözlemci Tabanlı Kayan Kipli Kontrolcü Tasarımı

Servo sistemler, hassas konum kontrolü gerektiren birçok endüstriyel uygulamada yoğun olarak kullanılmaktadır. Ancak bu uygulamaların çoğunda karşılaşılan parametre belirsizlikleri, eşleşen ve eşleşmeyen bozucu etkenler, kontrolcü performansını olumsuz yönde etkilemektedir. Dolayısıyla endüstriyel kontrol uygulamalarında gürbüzlükte en az hassasiyet kadar önem taşımaktadır. Bu çalışmada, parametre belirsizlikleri ve bozucu girişe sahip bir döner servo sistemin hassas pozisyon kontrolü için Genişletilmiş Durum Gözlemcisine dayalı Kayan Kipli Kontrolcü (GDGKKK) tasarımı sunulmuştur. Önerilen kontrolcünün performansı, beş farklı belirsizlik ve bozucu giriş senaryosu için benzetim çalışmaları yapılarak test edilmiş ve etkinliğinin değerlendirilebilmesi için klasik Kayan Kipli Kontrol (SMC) ve Oransal Türevsel (PD) kontrol ile kıyaslanmıştır. MATLAB/Simulink yazılımında benzetim çalışmalarında Quanser SRV02 döner servo ünitesine ait matematiksel model kullanılmıştır. Benzetim sonuçları, PD kontrolün yük değişimlerine ve bozucu girişlere karşı oldukça duyarlı olduğunu, klasik SMC kontrolün ise yük değişimleri ve eşleşen bozuculara karşı dayanıklı olmakla birlikte eşleşmeyen bozuculara karşı duyarlı olduğunu göstermiştir. Diğer yandan sonuçlar, önerilen GDGKKK kontrolcünün hem yük değişimlerine hem de eşleşen ve eşleşmeyen bozuculara karşı son derece başarılı bir bozucu reddetme performansı sunduğunu açıkça göstermiştir.

Anahtar Kelimeler:

Gözlemci, Gürbüz Kontrol, Kayan Kipli Kontrol (KKK), Konum kontrolü, Servomotor

OBSERVER BASED SLIDING MODE CONTROLLER DESIGN FOR POSITION CONTROL OF A SERVO SYSTEM HAVING UNCERTAINTIES AND DISTURBANCES

Servo systems are used extensively in many industrial applications that require precise position control. However, parameter uncertainties, matched and unmatched disturbances encountered in most of these applications adversely affect the controller performance. Therefore, in industrial control applications, robustness is at least as important as precision. In this study, an Extended State Observer-based Sliding Mode Controller (GDGKKK) design is presented for precise position control of a rotary servo system having parameter uncertainties and disturbance input. The performance of the proposed controller has been tested by performing simulation studies for five different uncertainty and disturbance input scenarios and compared with the traditional Sliding Mode Control (SMC) and Proportional Derivative (PD) control to evaluate its effectiveness. The mathematical model of the Quanser SRV02 rotary servo unit was used in the simulation studies in MATLAB/Simulink software. The simulation results show that the PD control is very sensitive to load changes and disturbances and while the traditional SMC control is insensitive to load changes and matched disturbances, it is sensitive to mismatched disturbances. On the other hand, the results clearly showed that the proposed GDGKKK controller offers extremely successful disturbance rejection performance against both load changes and matched and unmatched disturbances.

Keywords:

Observer, Robust Control, Sliding Mode Control (SMC), Position Control, Servomotor,

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