GELİŞTİRİLMİŞ İKİNCİ DERECE KAYAN KİPLİ KONTROL: TEORİ VE DENEYSEL UYGULAMA
Bu çalışmada, klasik yöntemle kontrol sinyalinin elde edilmesine dayanan ikinci derece kayan kipli
kontrol yöntemi geliştirilmiş, sistemdeki belirsizliklere karşı daha etkin kontrol sinyali elde etmek
üzere kontrol sinyaline yeni bir parametre eklenmiştir. Kararlılığı teorik olarak ispat edilen yöntem,
gerçek bir elektromekanik sisteme uygulanmıştır. Literatürde önerilen başka bir ikinci derece yöntem
de aynı sisteme uygulanmış ve başarımları karşılaştırılmıştır. Elde edilen geçici durum ve kararlı durum yanıtları grafiklerle verilmiş ve çeşitli başarım indeksleri ile ölçülmüştür.
IMPROVED SECOND-ORDER SLIDING-MODE CONTROLLER: THEORY AND EXPERIMENTAL APPLICATION
In the present study, a second-order sliding-mode control method is improved by introducing a new
parameter with the purpose of obtaining more effective controller against the system uncertainties.
The control input is obtained with conventional solution method. The stability of the method is proved
theoretically and is applied to a real electromechanical system. Another second-order sliding-mode
control method proposed in literature is also applied to the system and performance of the methods
is compared. Both transient-state and steady-state responses are given graphically and performance
indices are measured.
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