Akif YAVUZSOY, Hüseyin SARGIN, Tuğçe YAREN, Selçuk KİZİR

MODEL REFERANS UYARLAMALI PID DENETLEYİCİ TASARIMI VE DENETLEYİCİ PARAMETRELERİNİN SİSTEM DAVRANIŞINA ETKİ ANALİZİ: DC MOTOR KONUM KONTROLÜ

Oransal-integral-türev (PID) kontrol yöntemi, basit mimarisi, kolay tasarım ve otomatik kazanç ayarlama gibi çekici özellikleri nedeniyle endüstride yaygın olarak uygulanmaktadır. Bununla birlikte, PID denetleyicisiyle başarılı bir endüstriyel uygulama yapabilmek için genellikle denetleyicinin önceden manuel olarak yeniden ayarlanması gerekmektedir. Bu sorunu çözmek için çalışma kapsamında, düşük maliyetli STM32F4 uygulama geliştirme kiti ve Waijung blok seti kullanılarak uyarlamalı kontrol yöntemlerinden biri olan Model Referans Uyarlamalı PID Denetleyici (MRUPIDD) tasarımı gerçekleştirilmiştir. Uyarlanabilir PID denetleyicisi, sistem parametreleri zamanla değişse bile istenen kontrol performansını sağlamak için parametre ayarlama mekanizmasına sahiptir. Parametre ayarlama mekanizması ve denetleyici tasarımı için Massachusetts Teknoloji Enstitüsü (Massachusetts Institute of Technology-MIT) kuralı kullanılmıştır. Çalışma kapsamında tasarlanan denetleyicinin DC motor üzerinde konum kontrol uygulaması gerçekleştirilmiş ve PID denetleyicisi ile karşılaştırılarak hata maliyetleri hesaplanmıştır. Uyarlama kazanç parametrelerinin sistem davranışına etkisinin incelenmesi için ise farklı gama kazanç değerleri sisteme uygulanmış ve kararlılığı bozan durumlar incelenmiştir.

Anahtar Kelimeler:

Uyarlamalı PID, Model Referans Uyarlamalı PID Denetleyici, STM32F4, Waijung Blok Seti, DC Motor

Model Reference Adaptive PID Controller Design and Analysis of the Impact of Controller Parameters on System Behavior: DC Motor Position Control

The proportional-integral-derivative (PID) control method is widely applied in the industry due to its attractive features such as simple architecture, easy design, and automatic gain adjustment. However, in order to have a successful industrial application with the PID controller, the controller has to be manually reconfigured. In order to solve this problem, the Model Reference Adaptive PID Controller (MRUPIDD), which is one of the adaptive control methods, was designed by using a low-cost STM32F4 application development kit and Waijung block set. The adaptive PID controller has a parameter adjustment mechanism to provide the desired control performance even if the system parameters change over time. Massachusetts Institute of Technology (MIT) rule is used for the parameter setting mechanism and controller design. Position control application of the controller designed within the scope of the study was carried out on the DC motor and error costs were calculated by comparing it with the PID controller. In order to examine the effects of the adaptive gain parameters on the system behavior, different gamma gain values were applied to the system and the unstable conditions were examined.

Keywords:

Adaptive PID, Model Reference Adaptive Controller, STM32F4, Waijung Block Set, DC Motor,

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