İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü
Yıl: 2023 Cilt: 38 Sayı: 1 Sayfa Aralığı: 605 - 616 Metin Dili: Türkçe DOI: 10.17341/gazimmfd.947168 İndeks Tarihi: 23-03-2023
İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü
Öz: Helikoptere benzeyen ikiz pervaneli çoklu girişli ve çoklu çıkışlı iki serbestlik dereceli (TRMS) doğrusal olmayan bir sistemin kontrol tasarımı çok karmaşık bir iştir. TRMS sistemi, bir kiriş ile birbirlerine bağlantılı olan ana ve kuyruk pervanelerinden oluşmaktadır. TRMS sisteminin dengesinin sağlanması için her iki pervane açıları, pervanelerin bağlı bulunduğu DC motorların hızları değiştirilerek yapılır. TRMS sisteminin dengede çalışmasını sağlamak amacıyla oransal-integral-türev (PID), kesir dereceli PID (FOPID), kayan kip (SMC), Süper bükümlü kayan kip (STSMC) ve Kesirli dereceli süper bükümlü kayan kip (FOSTSMC) kontrol yöntemleri kullanılmıştır. Kontrol parametrelerinin belirlenmesi için MATLAB/Simulink programında benzetim çalışmaları yapılmıştır. Benzetim çalışmalarında bulunan en başarılı yöntemler kullanılarak, deneysel çalışmalar gerçekleştirilmiştir. Benzetim ve deneysel çalışmalarının her ikisinde de ana pervane FOPID ve kuyruk pervanesi FOSTSMC yöntemi ile kontrolü diğer kontrol yöntemlerine göre en iyi sonucu vermiştir.
Anahtar Kelime: Control of 2-Dof TRMS MIMO system using FOPID & FOSTSMC method
Öz: The control design of a helicopter twin rotor multiple-input and multiple-output (TRMS) nonlinear System with two degree freedom is a very complex work. The TRMS system consists of the main and tail rotors connected by a beam. In order to balance the TRMS system, both rotors angles are made by changing the speeds of the DC motors to which the rotors are connected.In order to ensure that the TRMS system works in balance, Proportional-integral-derivative (PID), Fractional order PID (FOPID), Sliding mode (SMC), Super twisting sliding mode (STSMC) and Fractional order super twisting sliding mode (FOSTSMC) control methods was used. Simulation studies were carried out in the MATLAB/Simulink program to determine the control parameters. Experimental studies were carried out using the most successful methods found in simulation studies. In both simulation and experimental studies, the main propeller FOPID and tail propeller FOSTSMC method gave the best results compared to other control methods.
Anahtar Kelime: Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
- M. Twin Rotor, System Manual, Feedback Instruments, Crowborough, UK, 2002.
- Rahideh, A., & Shaheed, M. H. Robust model predictive control of a twin rotor MIMO system. In 2009 IEEE International Conference on Mechatronics, Malaga-Spain, 1-6, April 2009.
- Bajodah, A.H., Rahideh, A., Shaheed, M.H., Real time adaptive nonlinear model inversion control of a twin rotor MIMO system using neural networks, Engineering Applications of Artificial Intelligence, 25 (6), 1289–1297, 2012.
- Pandey, S. K., Laxmi, V., Control of Twin Rotor MIMO System using PID controller with derivative filter coefficient, IEEE Students' Conference on Electrical, Electronics and Computer Science, Bhopal, India, 1-6, 1-2 Mart 2014.
- Cajo, R., Agila, W., Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System, Asia-Pacific Conference on Computer Aided System Engineering, Quito-Ecuador. 214-219, 14-16 July 2015.
- Sahu, P., Pradhan, S. K., Multi Variable Self Tuning PID Control of a Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communications, Control and Computing Technologies, Ramanathapuram-India, 381-385, 8-10 May 2014.
- Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), Ramanathapuram-India. 366-369, 23-25 August 2012.
- Huang, Y. J., Wu, H. W., Kuo, T. C., PID-based fuzzy sliding mode control for twin rotor multi-input multi-output systems, IEEE Tencon – Spring, Sidney- Australia. 204-207, 17-19 April 2013.
- Prasad, G.D., Manoharan, P.S., Ramalakshmi, A.P.S., PID Control Scheme for Twin Rotor MIMO System using a Real Valued Genetic Algorithm with a Predetermined Search Range, International Conference on Power, Energy and Control (ICPEC), Sri Rangalatchum Dindigul-India. 443-448, 6-8 February 2013.
- Ekinci, S., & Hekimoglu, B. Multi-machine power system stabilizer design via HPA algorithm. Journal of the Faculty of Engineering and Architecture of Gazi University, 32 (4), 1271-1285, 2017.
- Ekinci, S. Optimal design of power system stabilizer using sine cosine algorithm. Journal of the Faculty of Engineering and Architecture of Gazi University, 34 (3), 1329-1350, 2019.
- Bertsias, P., Kamilaris, T., Psychalinos, C., Baranowskiy, J., Bauery, W., Piateky, P., Tutajy, A., Design of Operational Amplifier Based Fractional-Order Controller for a MAGLEV System, IEEE 43rd International Conference on Telecommunications and Signal Processing (TSP), Milano- Italy, 221-224, 7-9 July 2020.
- Zhao, D., Li, F., Ma, R., Zhao, G., Huangfu, Y., An Unknown Input Nonlinear Observer Based Fractional Order PID Control of FuelCell Air Supply System, IEEE Transactions on Industry Applications, 56 (5), 5523–5532, 2020.
- 14 Zhao, X., Wang, T., Jin, H., Intelligent second-order sliding mode control for permanent magnet linear synchronous motor servo systems with robust compensator, IET Electr. Power Appl., 14 (9), 1661-1671, 2020.
- Rayguru, M.M., Elara, M.R., Gómez, B.F., Ramalıngam, B., A Time Delay Estimation Based Adaptive Sliding Mode Strategy for Hybrid Impedance Control, IEEE Access, 8, 155352-155361, 2020.
- Zhang, X., Xıao, L., Li, H., Robust Control for Switched Systems with Unmatched Uncertainties Based on Switched Robust Integral Sliding Mode, IEEE Access, 8, 138396 – 138405, 2020.
- Rawi A.A., Ahmad R.,B., Tahir H.,H., Chatter-less Sliding-Mode Controller for DC Motor, IEEE Student Conference on Research and Developement Electronic, Putrajaya-Malaysia, 54-59, December 2013.
- Castillo, Oscar, Kutlu, F., Atan, Ö., Intuitionistic fuzzy control of twin rotor multiple input multiple output systems, Journal of Intelligent & Fuzzy Systems, 38 (1), 821-833, 2020.
- Tang, Y., Zhang, Y., Hasankhani, A., Vanzwieten, J., Adaptive Super- Twisting Sliding Mode Control for Ocean Current Turbine-Driven Permanent Magnet Synchronous Generator, American Control Conference (ACC), Denver-USA. 211- 217, 1-3 July 2020.
- Amin, M.M., El-sousy, F.F.M., Abdelaziz, G.A., Mohammed, O.A., Robust Adaptive Neural-Network Super-Twisting Sliding-Mode Control for PMSM Driven Linear Stage with Uncertain Nonlinear Dynamics, IEEE Transportation Electrification Conference & Expo (ITEC), Chicago-USA. 87-92, 23-26 June 2020.
- Wang, W., Ma, J., Li, X., Zhu, H., Teo, C.S., Lee, T.H., Iterative Super- Twisting Sliding Mode Control: A Case Study on Tray Indexing, 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston-USA. 1811-1815, 6-9 July 2020.
- Issac, T., Thomas, F., Mija, S.J., Trajectory Tracking of Unmanned Helicopter Using Super Twisting Control, International Conference for Emerging Technology (INCET), Belgaum-India, 1-4, 5-7 June 2020.
- Zhao, K., Leng, A., She, J., Zhang, C., He, J., Li, T., Closed-loop Torque Control for Permanent Magnet Synchronous Motor by Super Twisting Algorithm Based Sliding-Mode Observer Considering Demagnetization, IEEE 29th International Symposium on Industrial Electronics (ISIE), Delft-Holland. 1566-1571, 17-19 June 2020.
- Chalanga, A., Kamal, S., Fridman, L.M., Bandyopadhyay, B., Moreno, J.A., Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches, IEEE Transactions on Industrial Electronics, 63 (6), 3677-3685, 2016.
- Mat-noh, M., Arshad, M.R., Mohd-mokhtar, R., Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC), 7th IEEE International Conference on System Engineering and Technology (ICSET), Shah Alam-Malaysia. 71-76, 17- 19 June 2017.
- Xuehui, G., Yingjian, L., Xuemei, R., Changsheng, Z., Variable Gain Super-Twisting Sliding Mode Control for Hammerstein System with Bouc-Wen Hysteresis Nonlinearity, 35th Chinese Control Conference (CCC), Chengdu-China. 3369-3372, 27-29 July 2016.
- Jena, C., Pahadasingh, S., Panigrahi, C.K.,Incorporation of Distributed Generation Resources for Three Area Load Frequency Control Using Fractional Order PID Controller, 2020 International Conference on Renewable Energy Integration into Smart Grids: A Multidisciplinary Approach to Technology Modelling and Simulation (ICREISG), Bhubaneswar-India. 186-191, 14-15 February 2020.
- Venu, G., Kalyani, S.T., Design of Fractional Order based Super Twisting Algorithm for BLDC motor, 3rd International Conference on Trends in Electronics and Informatics (ICOEI), Tirunelveli-India, 271- 277, 23-25 April 2019.
- Li, W., Du, Z., Wang, W., Wu, W., Composite Fractional Order Sliding Mode Control of Permanent Magnet Synchronous Motor Based on Disturbance Observer, Chinese Automation Congress (CAC), Hangzhou-China, 4012-4016, 22-24 November 2019.
- Fei, J., Feng, Z., Fractional-Order Finite-Time Super-Twisting Sliding Mode Control of Micro Gyroscope Based on Double-Loop Fuzzy Neural Network, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 51 (12), 7692-7706, 2020.
- Alharbi, Y.M., Al-ahmadi, A.A., Ulla, N., Abeida, H., Soliman, M., Khraisat, Y.S.H., Super Twisting Fractional Order Energy Management Control for a Smart University System Integrated DC Micro-Grid, IEEE Access, 8, 128692 – 128704, 2020.
- Gao, P., Zhang, G., Ouyang, H., Mei, L., An Adaptive Super Twisting Nonlinear Fractional Order PID Sliding Mode Control of Permanent Magnet Synchronous Motor Speed Regulation System Based on Extended State Observer, IEEE Access, 8, 53498 – 53510, 2020.
- Chaudhary, S., Kumar, A., Control of Twin Rotor MIMO System Using 1-Degree-of-Freedom PID, 2-Degree-of Freedom PID and Fractional order PID Controller, 2019 3rd International conference on Electronics, Communication and Aerospace Technology (ICECA), Coimbatore- India, 746-751, 12-14 June 2019.
- Ramalakshmi, AP.S., Manoharan, P.S., Non-linear Modeling and PID Control of Twin Rotor MIMO System, In: IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), Ramanathapuram- India, 366-369, 23-25 August 2012.
- Utkin V.I., Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control, 22 (2), 212–222, 1977.
- Shtessel, Y.B., Moreno, J.A., Plestan, F., Fridman, L.M., Poznyak, A.S., Super-twisting Adaptive Sliding Mode Control: a Lyapunov Design, 49th IEEE Conference on Decision and Control (CDC), Atlanta-USA. 5109-5113, 15-17 December 2010.
- Levant, A., Sliding order and sliding accuracy in sliding mode control, International journal of control, 58 (6), 1247-1263, 1993.
- Sheng, S., Xu, D., Super-Twisting-Algorithm-Based Terminal Sliding Mode Control for a Bioreactor System, Hindawi Publishing Corporation Abstract and Applied Analysis, 2014, 1-9, 2014.
- Zhengguang, S., Changliang, X., Zhiqiang, W., Tingna, S., Direct Torque Control of Permanent Magnet Synchronous Motor Based on Super-Twist Algorithm, Transactions of China Electrotechnical Society, 32 (15), 89-99, 2017.
| APA | Abukan Y, ALMALI M (2023). İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. , 605 - 616. 10.17341/gazimmfd.947168 |
| Chicago | Abukan Yusuf,ALMALI Mehmet Nuri İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. (2023): 605 - 616. 10.17341/gazimmfd.947168 |
| MLA | Abukan Yusuf,ALMALI Mehmet Nuri İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. , 2023, ss.605 - 616. 10.17341/gazimmfd.947168 |
| AMA | Abukan Y,ALMALI M İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. . 2023; 605 - 616. 10.17341/gazimmfd.947168 |
| Vancouver | Abukan Y,ALMALI M İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. . 2023; 605 - 616. 10.17341/gazimmfd.947168 |
| IEEE | Abukan Y,ALMALI M "İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü." , ss.605 - 616, 2023. 10.17341/gazimmfd.947168 |
| ISNAD | Abukan, Yusuf - ALMALI, Mehmet Nuri. "İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü". (2023), 605-616. https://doi.org/10.17341/gazimmfd.947168 |
| APA | Abukan Y, ALMALI M (2023). İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, 38(1), 605 - 616. 10.17341/gazimmfd.947168 |
| Chicago | Abukan Yusuf,ALMALI Mehmet Nuri İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 38, no.1 (2023): 605 - 616. 10.17341/gazimmfd.947168 |
| MLA | Abukan Yusuf,ALMALI Mehmet Nuri İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, vol.38, no.1, 2023, ss.605 - 616. 10.17341/gazimmfd.947168 |
| AMA | Abukan Y,ALMALI M İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi. 2023; 38(1): 605 - 616. 10.17341/gazimmfd.947168 |
| Vancouver | Abukan Y,ALMALI M İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi. 2023; 38(1): 605 - 616. 10.17341/gazimmfd.947168 |
| IEEE | Abukan Y,ALMALI M "İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü." Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, 38, ss.605 - 616, 2023. 10.17341/gazimmfd.947168 |
| ISNAD | Abukan, Yusuf - ALMALI, Mehmet Nuri. "İki serbestlik dereceli TRMS MIMO sistemin FOPID ve FOSTSMC yöntemi kullanılarak kontrolü". Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 38/1 (2023), 605-616. https://doi.org/10.17341/gazimmfd.947168 |
