Muhammed Arif ŞEN, Hasan Hüseyin BİLGİÇ, Mete KALYONCU

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ÇİFT TERS SARKAÇ SİSTEMİNİN DENGE VE KONUM KONTROLÜ İÇİN ARI ALGORİTMASI İLE LQR KONTROLCÜ PARAMETRELERİNİN TAYİNİ

Ters sarkacın sisteminin dengelenmesine yönelik kontrol teorileri geliştirmek, bu alanda çalışan araştırmacılar arasında oldukça popüler bir konudur. Ters sarkaç sistemi, kararsız ve doğrusal olmayan yapısı sayesinde mevcut kontrolcülerin performansının belirlenmesinde ve yeni kontrolcülerin tasarımında sıklıkla kullanılan bir sistemdir. Bu çalışmada, üç serbestlik dereceli çift ters sarkaç sisteminin denge ve konum kontrolü için Arı Algoritması (AA) kullanılarak LQR kontrolcü tasarımı yapılmıştır. Ön tasarımı yapılan LQR kontrolcüye ait parametreler (Q ve R matrisleri) Arı Algoritması ile optimize edilerek LQR kontrolcü kazanç matrisi (K) elde edilmiştir. Sistemin modellenmesi, kontrol sisteminin tasarımı ve optimizasyon işlemleri MATLAB/Simulink programında gerçekleştirilmiştir. Çalışma kapsamında sunulan yöntemin etkinliğini araştırmak amacıyla, Arı Algoritması parametreleri farklı konfigürasyonlarda seçilerek üç ayrı optimizasyon işlemi gerçekleştirilmiştir. Elde edilen LQR kontrolcü kazanç matrislerinin sistem cevabı üzerindeki etkileri simüle edilmiş ve karşılaştırmalı sonuçlar grafiksel olarak sunulmuştur
Anahtar Kelimeler:

LQR kontrolcü, çift ters sarkaç, arı algoritması, optimizasyon

DETERMINATION OF LQR CONTROLLER PARAMETERS FOR STABILIZATION AND POSITION CONTROL OF DOUBLE INVERTED PENDULUM USING THE BEES ALGORITHM

Control theory for stabilization of the inverted pendulum is quite popular among researchers working in this field. The inverted pendulum with unstable and non-linear structure is system which commonly used for determining the performance of the current controller and designing new control theories. In this study, LQR controller has been designed with The Bees Algorithm (BA) for stabilization and position control of double inverted pendulum which is of three degrees of freedom. LQR controller parameters (Q and R) which are predesigned, optimised with The Bees Algorithm and obtained LQR gain matrix. Modelling of system, controller design and optimisation process has been carried out with MATLAB and MATLAB/Simulink program. Three different configurations were made selecting different The Bees Algorithm parameters for examining the effectiveness of the presented method which is scope of this study. Effect of the system response of LQR gain matrices have been simulated and results are presented graphically
Keywords:

LQR controller, double inverted pendulum, the bees algorithm, optimisation,

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Mühendis ve Makina-Cover
  • ISSN: 1300-3402
  • Yayın Aralığı: Yılda 4 Sayı
  • Başlangıç: 1957
  • Yayıncı: TMMOB MAKİNA MÜHENDİSLERİ ODASI
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Sayıdaki Diğer Makaleler

ÇİFT TERS SARKAÇ SİSTEMİNİN DENGE VE KONUM KONTROLÜ İÇİN ARI ALGORİTMASI İLE LQR KONTROLCÜ PARAMETRELERİNİN TAYİNİ

Muhammed Arif ŞEN, Hasan Hüseyin BİLGİÇ, Mete KALYONCU

HİBRİT YAPIŞTIRMA-DÜZENİNİN BİNDİRME BAĞLANTI MUKAVEMETİNE ETKİLERİ

Özkan ÖZ, Halil ÖZER

UÇAK MOTORU UYGULAMALARINDA ALTERNATİF ÇÖZÜMLER: MoSi2 ESASLI MALZEMELERİN YAPISAL ELEMAN OLARAK KULLANIMI

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