ÇİFT MOTORLU İKİ GİRİŞ İKİ ÇIKIŞLI SİSTEMİN PID VE KESİR DERECELİ PID KONTROLÖR İLE GERÇEK ZAMANLI KONTROLÜ

Bu makalede, TRMS sistemi için gerçek zamanlı kontrol uygulamaları sunulmaktadır. Çift motorlu helikopter modeli bazı karmaşık özelliklere sahip olduğu için kontrolü zordur ve kontrol uygulamaları için ideal bir deney düzeneğidir. Bu çalışmada, ilk olarak çift motorlu helikopter modeli gerçek zamanlı çalıştırılarak, matematiksel modelleri belirlenmiştir. Belirlenen matematiksel modellere göre kesir dereceli PID kontrolör tasarımları Genetik algoritma kullanılarak gerçekleştirilmiş ve çift motorlu helikopter modelinin gerçek zamanlı dikey ve yatay eksen kontrolü sağlanmıştır. Optimizasyon algoritmasında, dört farklı integral performans kriterlerine göre kesir dereceli PID kontrolör parametreleri belirlenmiştir. TRMS'nin gerçek zamanlı kontrolünde, integral performans kriterleri birbirleriyle karşılaştırılarak, elde edilen sonuçlar şekiller ile sunulmuştur. Sonuçlar, doğrusal olmayan iki girişi ve iki çıkışı olan bir sistemin gerçek zamanlı kontrolünün kesir dereceli PID kontrolör kullanılarak başarıyla gerçekleştirildiğini göstermektedir.

REAL TIME CONTROL OF TWIN ROTOR MIMO SYSTEM WITH PID AND FRACTIONAL ORDER PID CONTROLLER

This paper presents real-time control applications for the TRMS system. The twin rotor helicopter model has some complex features which make it difficult to control and therefore it can be used an ideal test setup for control applications. In this study, firstly, twin rotor helicopter model is run in real time and mathematical models are determined. According to the mathematical models, fractional order PID controller designs are realized by using Genetic Algorithm and real time pitch and yaw position control of the twin rotor helicopter model is provided. In the optimization algorithm, fractional order PID controller parameters were determined according to four different integral performance criteria. In real-time control of TRMS, integral performance criteria are compared with each other and the results are presented in figures. The results show that the real-time control of the system has been successfully performed using fractional order PID controller.

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