MOPSO TABANLI LQG SERVO KONTROL YAKLAŞIMI İLE ARAÇ ÜZERİNDE KONUMLU TERS SARKACIN KONTROLÜ

Ali Fazıl Uygur

doi:10.17780/ksujes.1133786

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MOPSO TABANLI LQG SERVO KONTROL YAKLAŞIMI İLE ARAÇ ÜZERİNDE KONUMLU TERS SARKACIN KONTROLÜ

Öz

Araç üzerinde konumlu Ters Sarkaç, çeşitli kontrol yöntemlerinin uygulanması ve performanslarının karşılaştırılması adına, akademik anlamda yaygın olarak kullanılmaktadır. Kararsız ve lineer olmayan yapıdaki Ters Sarkaç, sistem bozucuları ve ölçüm gürültüleri karşısında, duyarlı ve kırılgan yapıdadır. Bozuculara ve sensör ölçüm gürültüsüne maruz kalmak, kontrol sistemlerinin performansını olumsuz anlamda etkilemekte ve kontrol kalitesinin düşmesine sebep olmaktadır. Bahsedilen problem karşısında, çözüm olarak başvurulan yöntemlerden biri de Kalman Filtresi ile LQR kontrolün kombinasyonu olan ve Lineer Quadratic Gaussian (LQG) olarak bilinen kontrol tasarım yöntemidir. Bu çalışmada, sistem bozucularına ve sensör gürültüsüne maruz kalan, araç üzerinde konumlu Ters Sarkaç için, sarkacı üzerinde taşıyan araç, verilen bir referansı takip ederken, sarkacın da bu esnada kararsız olan dik denge konumunu koruması istenmektedir. Sistem bozucuları ve sensör gürültüleri Gaussian Beyaz Gürültü olarak seçilmişlerdir, Referans takibi sağlamak ve denge noktası civarında kararlılığı sürdürmek adına, LQG servo kontrol yaklaşımı benimsenmiştir. Kullanılacak olan kontrolcünün, kontrol gereksinimlerini en iyi şekilde karşılaması bakımından, performansının optimize edilmesi icap eder. Bu maksatla, LQG servo kontrolcü bünyesindeki LQI bloğu için performans ölçütü ağırlık matrislerinin, Çok Amaçlı Parçacık Sürü Optimizasyonu Algoritması (MOPSO) yardımıyla optimizasyonu gerçekleştirilmiştir.

Anahtar Kelimeler

CONTROL OF THE INVERTED PENDULUM ON A CART WITH THE MOPSO-BASED LQG SERVO CONTROL APPROACH

Abstract

The Inverted Pendulum, located on the vehicle, is widely used in the academic sense for the application of various control methods and comparison of their performance. An unstable and non-linear Inverted Pendulum is sensitive and fragile to system disturbances and measurement noises. Exposure to disturbances and sensor measurement noise adversely affects the performance of control systems and causes a decrease in control quality. One of the methods used as a solution to the mentioned problem is the control design method known as Linear Quadratic Gaussian (LQG), which is a combination of Kalman Filter and LQR control. In this study, for the Inverted Pendulum located on the vehicle, which is exposed to system disturbances and sensor noise, while the vehicle carrying the pendulum follows a given reference, the pendulum is required to maintain its unstable vertical equilibrium position. System disturbances and sensor noises are chosen as Gaussian White Noise. LQG servo control approach is adopted to provide reference tracking and maintain stability around the balance point. It is necessary to optimize the performance of the controller to be used in order to best meet the control requirements. For this purpose, the performance criterion weight matrices for the LQI block within the LQG servo controller have been optimized with the help of the Multi-Objective Particle Swarm Optimization Algorithm (MOPSO).

Keywords

References

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Details

Primary Language

Turkish

Subjects

Electrical Engineering

Journal Section

Research Article

Authors

Ali Fazıl Uygur ^*
0000-0002-1049-4927
Türkiye

Publication Date

September 3, 2022

Submission Date

June 21, 2022

Acceptance Date

July 1, 2022

Published in Issue

Year 2022 Volume: 25 Number: 3

DOI

https://doi.org/10.17780/ksujes.1133786

IZ

https://izlik.org/JA64WX43FP

Cite

RIS / Bibtex

APA

Uygur, A. F. (2022). MOPSO TABANLI LQG SERVO KONTROL YAKLAŞIMI İLE ARAÇ ÜZERİNDE KONUMLU TERS SARKACIN KONTROLÜ. Kahramanmaraş Sütçü İmam Üniversitesi Mühendislik Bilimleri Dergisi, 25(3), 418-433. https://doi.org/10.17780/ksujes.1133786