Bozucu Torklar Altında İzdüşümsel Doğru Akım Motoru Kontrolü

Özgür R. Doruk, Ismail Zuglam
70 27

Öz


Bu çalışmada, izdüşümsel doğrusal karesel servo geri beslemesi (P-LQSF) yöntemiyle tasarlanmış bir bir doğru akım (DC) motoru denetim yaklaşımı sunulmaktadır. Tasarlanan denetleyicinin kararlılığı girdiden-hale-kararlılık yaklaşımından yola çıkarak incelenmektedir. İzdüşümsel kontrol yöntemi, tam hal değişkeni geri beslemeli bir denetleyicinin özdeğer spektrumunu çıktı geri beslemesi kullanarak yaklaşık olarak elde etmeyi amaçlar. Tasarlanan denetleyicilerin kararlılık analizi hem teorik hem de numerik benzetim yoluyla incelenecektir. Temel doğrusal kararlılığın yanı sıra, bozucu etkilerin kapalı döngüyü bir dış girdi olarak etkilemesinden yola çıkarak girdiden-çıktıya-kararlılık kavramından yararlanılması olanaklı olabilmektedir. Sonuç olarak bir bozucu etkiden-hale-kararlılık yaklaşımı ortaya çıkmaktadır. Tasarımlar, elde edilen bu yaklaşımla incelenecektir. Performanslar ise sayısal benzetimler yoluyla görülecektir.

Anahtar kelimeler


Doğru Akım Motoru, Doğrusal Karesel İzdüşümsel Denetim, Hız ve Konum Denetimi, Girdiden-Hale-Kararlılık, Bozucu Tork

Tam metin:

PDF


Referanslar


Alexandridis AT, Konstantopoulos GC. Modified PI speed controllers for series-

excited dc motors fed by dc/dc boost converters. Control Engineering Practice

;23:14–21.

Huang G, Lee S. PC-based PID speed control in DC motor. In Audio, Language

and Image Processing, 2008. ICALIP 2008. International Conference on. IEEE,

(pp. 400–407).

Kanojiya RG, Meshram P. Optimal tuning of PI controller for speed control

of DC motor drive using particle swarm optimization. In Advances in Power

Conversion and Energy Technologies (APCET), 2012 International Conference

on. IEEE, (pp. 1–6).

Lin PIH, Hwang S, Chou J. Comparison on fuzzy logic and PID controls

for a DC motor position controller. In Industry Applications Society Annual

Meeting, 1994., Conference Record of the 1994 IEEE. IEEE, (pp. 1930–1935).

Liu J, Zhang P, Wang F. Real-time dc servo motor position control by PID

controller using LabVIEW. In 2009 International Conference on Intelligent

Human-Machine Systems and Cybernetics. IEEE, (pp. 206–209).

Meshram P, Kanojiya RG. Tuning of PID controller using Ziegler-Nichols met-

hod for speed control of DC motor. In Advances in Engineering, Science and

Management (ICAESM), 2012 International Conference on. IEEE, (pp. 117–

.

Rao D, Kamat H. A neuro-PID speed controller for DC drives. In Power Elect-

ronics, Drives and Energy Systems for Industrial Growth, 1996., Proceedings

of the 1996 International Conference on, volume 2. IEEE, (pp. 757–763).

Yu GR, Hwang RC. Optimal PID speed control of brush less DC motors using

LQR approach. In Systems, Man and Cybernetics, 2004 IEEE International

Conference on, volume 1. IEEE, (pp. 473–478).

Zhou H. DC servo motor PID control in mobile robots with embedded DSP. In

Intelligent Computation Technology and Automation (ICICTA), 2008 Interna-

tional Conference on, volume 1. IEEE, (pp. 332–336).

Praesomboon S, Athaphaisal S, Yimman S, Boontawan R, Dejhan K. Sen-

sorless speed control of DC servo motor using Kalman filter. In Information,

Communications and Signal Processing, 2009. ICICS 2009. 7th International

Conference on. IEEE, (pp. 1–5).

Ruderman M, Krettek J, Hoffmann F, Bertram T. Optimal state space control

of DC motor. In Proc. of the 17th World Congress, IFAC, Korea. (pp. 6–11).

Afjei E, Ghomsheh AN, Karami A. Sensorless speed/position control of brushed

DC motor. In Electrical Machines and Power Electronics, 2007. ACEMP’07.

International Aegean Conference on. IEEE, (pp. 730–732).

Montanari M, Peresada S, Tilli A, Tonielli A. Speed sensorless control of in-

duction motor based on indirect field-orientation. In Industry Applications

Conference, 2000. Conference Record of the 2000 IEEE, volume 3. IEEE, (pp.

–1865).

Kalman RE. A new approach to linear filtering and prediction problems. Jo-

urnal of basic Engineering 1960;82:35–45.

Julier SJ, Uhlmann JK. New extension of the Kalman filter to nonlinear sys-

tems. In AeroSense’97. International Society for Optics and Photonics, (pp.

–193).

Van Der Merwe R, Wan EA. The square-root unscented Kalman filter for state

and parameter-estimation. In Acoustics, Speech, and Signal Processing, 2001.

Proceedings.(ICASSP’01). 2001 IEEE International Conference on, volume 6.

IEEE, (pp. 3461–3464).

Wan EA, Van Der Merwe R. The unscented Kalman filter for nonlinear estima-

tion. In Adaptive Systems for Signal Processing, Communications, and Control

Symposium 2000. AS-SPCC. The IEEE 2000. Ieee, (pp. 153–158).

MEDANIĆ J, USKOKOVIĆ Z. The design of optimal output regulators for

linear multivariable systems with constant disturbances. International Journal

of Control 1983;37:809–830.

Medanić J, Petranović D, Gluhajić N. The design of output regulators for

discrete-time linear systems by projective controls. International Journal of

Control 1985;41:615–639.

MEDANIC J, USKOKOVIC Z. Design of coupled decentralized output regu-

lators. International Journal of Control 1988;47:1771–1794.

WISE K, Deylami F. Approximating a linear quadratic missile autopilot design

using an output feedback projective control. In AIAA Guidance, Navigation

and Control Conference, New Orleans, LA. (pp. 114–122).

Wise KA, Nguyen T. Optimal disturbance rejection in missile autopilot design

using projective controls. Control Systems, IEEE 1992;12:43–49.

Saif M. Suboptimal projective control of a pressurized water reactor. Nuclear

Science, IEEE Transactions on 1989;36:2459–2465.

Srinivasan A, Batur C, Veillette R, Rosenthal BN, Duval W. Projective control

design for multi-zone crystal growth furnace. Control Systems Technology,

IEEE Transactions on 1994;2:142–147.

Meo J, Medanic J, Perkins W. Design of digital PI+ dynamic controllers using

projective controls. International Journal of Control 1986;43:539–559.

Sontag ED, Wang Y. On characterizations of the input-to-state stability pro-

perty. Systems & Control Letters 1995;24:351–359.

Sontag ED. On the input-to-state stability property. European Journal of

Control 1995;1:24–36.

Willems JC, Commault C. Disturbance decoupling by measurement feedback

with stability or pole placement. SIAM Journal on Control and Optimization

;19:490–504.

Weiland S, Willems JC. Almost disturbance decoupling with internal stability.

Automatic Control, IEEE Transactions on 1989;34:277–286.

Saberi A. Output-feedback control with almost-disturbance decoupling pro-

perty:a singular perturbation approach. International Journal of Control 1987;

:1705–1722.

Ogata K. Modern Control Engineering. Prentice Hall PTR, Upper Saddle

River, NJ, USA, 4th edition, 2001.




Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 License.