Control of Twin Rotor System With Different Methods
Abstract
Helikoptere benzeyen ikinci dereceden ikiz pervaneli çoklu girişli ve çoklu çıkışlı (MIMO) doğrusal olmayan bir sistemin (TRMS) kontrol tasarımı çok karmaşık bir iştir. TRMS sistemi, bir kiriş ile birbirlerine bağlantılı olan ana ve kuyruk pervanesinden oluşmaktadır. TRMS sisteminin dengesinin sağlanması için her iki pervane açıları, pervanelerin bağlı bulunduğu DC motorların hızları değiştirilerek yapılır. TRMS sisteminin dengede çalışması sağlamak amacıyla oransal-integral-türev (PID), kesir dereceli PID (KDPID), kayan mod (KM), Süper bükümlü kayan mod (SBKM) ve Kesir dereceli süper bükümlü kayan mod (KDSBKM) kontrol yöntemleri kullanılmıştır. TRMS'de kararlı bir kontrol sağlamak için MATLAB/Simulink programında benzetim çalışmaları yapılmıştır. Benzetim çalışmalarında bulunan en başarılı yöntemler kullanılarak, deneysel çalışmalar yapılmıştır. Benzetim ve deneysel çalışmalarının her ikisinde de ana pervane KDPID ve kuyruk pervanesi KDSBKM yöntemi ile kontrolü diğer kontrol yöntemlerine göre en iyi sonucu verdiği görülmüştür.
The control design of a helicopter-like second-order twin-propeller multiple-input and multiple-output (MIMO) nonlinear system (TRMS) is a very complex task. The TRMS system consists of a main and tail propeller, which are interconnected by a beam. In order to balance the TRMS system, both propeller angles are made by changing the speed of the DC motors to which the propellers are connected. Proportional-integral-derivative (PID), fractional order PID (KDPID), sliding mode (KM), super twisting sliding mode (SBKM) and fractional order super twisting sliding mode (KDSBKM) control methods are used to ensure that the TRMS system operates in balance. Simulation studies have been made in MATLAB / Simulink program to ensure a stable control in TRMS. Experimental studies have been conducted using the most successful methods found in simulation studies. In both simulation and experimental studies, it was observed that the control of the main propeller KDPID and the tail propeller KDSBKM method gave the best results compared to other control methods.
The control design of a helicopter-like second-order twin-propeller multiple-input and multiple-output (MIMO) nonlinear system (TRMS) is a very complex task. The TRMS system consists of a main and tail propeller, which are interconnected by a beam. In order to balance the TRMS system, both propeller angles are made by changing the speed of the DC motors to which the propellers are connected. Proportional-integral-derivative (PID), fractional order PID (KDPID), sliding mode (KM), super twisting sliding mode (SBKM) and fractional order super twisting sliding mode (KDSBKM) control methods are used to ensure that the TRMS system operates in balance. Simulation studies have been made in MATLAB / Simulink program to ensure a stable control in TRMS. Experimental studies have been conducted using the most successful methods found in simulation studies. In both simulation and experimental studies, it was observed that the control of the main propeller KDPID and the tail propeller KDSBKM method gave the best results compared to other control methods.
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Elektrik ve Elektronik Mühendisliği, Electrical and Electronics Engineering
Turkish CoHE Thesis Center URL
WoS Q
Scopus Q
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86