Radyal hareket optimizasyonu ile ayarlanmış OİT denetleyicisi için çok değişkenli amaç fonksiyonlarının analizi

Bu çalışmada, çok değişkenli amaç fonksiyonlarının (ÇDAF) performans analizi için MATLAB/Simulink ortamında ikinci dereceden zaman gecikmeli bir test sistemi oluşturulmuştur. Analiz edilen amaç fonksiyonları, zaman ağırlıklı mutlak hatanın integrali, hatanın karesinin integrali, mutlak hatanın integrali ve zaman ağırlıklı hatanın karesinin integrali gibi klasik hata tabanlı amaç fonksiyonlarının (KHTAF), geçici durum parametreleri yüzde aşma ve yerleşme zamanı ile toplamından elde edilmiştir. Fonksiyonlarda yüzde aşma ve yerleşme zamanı sırasıyla ?1 ve ?2 katsayıları ile ağırlıklandırılmıştır. Sistemin kontrolü oransal integral türev (OİT) denetleyici ile yapılmıştır. OİT denetleyicinin parametreleri radyal hareket optimizasyonu (RHO) kullanılarak ayarlanmıştır. Çalışmada ÇDAF’lerin performansını göstermek için yerleşme süresi, maksimum yüzde aşma, yükselme süresi, tepe süresi ve kalıcı durum hatası bilgileri sayısal ve görsel olarak sunulmuştur. Elde edilen sonuçlar ÇDAF’lerin yerleşme süresi ve aşma değeri bakımından KHTAF’lere göre daha iyi performansa sahip olduğunu açıkça göstermektedir. Aynı zamanda RHO algoritması ilk yedi yinelemede optimal çözüme ulaşarak sağlam yakınsama oranı ve hızına sahip olduğunu kanıtlamıştır.

Anahtar Kelimeler:

OİT denetleyici, RHO algoritması, Çok değişkenli amaç fonksiyonları, Hata tabanlı amaç fonksiyonları

Analysis of multivariable objective functions for the PID controller tuned by a radial movement optimization

In this study, a second order plus dead time (SOPDT) test system was designed in MATLAB/Simulink platform to analyze the performance of multivariable objective functions (MOFs). These functions consisted of classical error-based objective functions (CEBOFs): integral of timeweighted absolute error, integral of squared error, integral of absolute error, integral of time-weighted squared error, and transient state parameters: maximum percentage overshoot and settling time which has ?1 and ?2 coefficients, respectively. A proportional integral derivative (PID) controller was employed to control the SOPDT system. In the optimization process, the radial movement optimization (RMO) algorithm was used to tune PID controller parameters. To demonstrate the performance of MOFs, numerical and graphical results were presented in the study, where settling time, maximum percentage overshoot, rise time, peak time and steady state error were given. The obtained results clearly showed that MOFs had a better performance than all CEBOFs in settling time and overshoot value. RMO algorithm also had a robust convergence rate and speed, proving the best optimal solution for all MOFs in the first seven iterations.

Keywords:

PID controller, RMO algorithm, Multivariable objective functions, Error-based objective functions,

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