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Zaman gecikmeli kontrolcü sinyalleri bozucu etkilere maruz kalan bir DC servomotorun geribeslemeli kontrolü

Year 2017, Volume: 21 Issue: 4, 654 - 660, 01.08.2017

Arif Ankaralı Hüseyin Arslan Hamza Diken

https://doi.org/10.16984/saufenbilder.289938

Abstract

Kablosuz kontrolde,
kontrolcü sinyalleri zaman gecikmesine bağlı olarak sistemin kararlı bir
davranış göstermesini çoğu zaman garantileyememektedir. Özellikle ileri doğru
hattaki zaman gecikmesi etkileri ile geri besleme hattındaki gecikme zamanı
etkileri birleştiği zaman, kontrol edilen sistemin cevabı kararlılıkla ilgili
problemler içerecek şekilde elde edilebilir. İnsansız hava ve sualtı araçları,
insansı robotlar, uzay manipülatörleri ve diğer uzaktan kontrol ihtiyacı duyulan
elektromekanik sistemler üzerinde kullanılan servomotorlar dikkate alındığında,
zaman gecikmeli kontrolün bu sistemlerin gerçek zamanlı kontrolünde oldukça
önemli olduğu görülür. İleri doğru hat üzerindeki zaman gecikmeleri
yazılımların işlem zamanları, çıktıların arayüze aktarılması ve antenle ortama
verilmesinden sonra, havada ilerlemesi, motor tarafındaki anten tarafından
alınması ve motora verilmesine kadar geçen süreden kaynaklanmaktadır. Benzer
bir işlem de algılayıcı sinyallerinin kontrolcü birime kablosuz bir şekilde
aktarılması esnasında gerçekleşeceğinden yine geri besleme yönünde de zaman
gecikmeleri söz konusudur. Bu çalışmada, bir servomotorun PID ile sabit zaman
gecikmeleri etkileri altında kontrol edilmesi esnasında, bozucu etkilerinde
devreye girmesi durumunda sistemin kararlılığı detaylı bir şekilde ele
alınacaktır. Kablosuz kontrolde, gecikme zamanlarının ve bozucu etkilerin motor
cevabı üzerindeki etkileri incelendikten sonra, sistemin kararlı bir cevap
üretebilmesi için Modifiye Smith Prediktör Algoritması yaklaşımı uygulanacak ve
sonuçları benzetimler eşliğinde tartışılacaktır.

Keywords

Kablosuz kontrol Modifiye Smith Prediktörü Servomotor

References

  • [1] Ki-Won Song, Gi-Sang Choi, and Gi-Heung Choi, Tracking Position Control of DC Servo Motor in LonWorks/IP Network , International Journal of Control, Automation, and Systems, vol. 6, no. 2, pp. 186- 193, 2008.
  • [2] Qing Zhao and Chuwang Cheng, State Feedback Control for Time Delayed Systems with Actuator Failures, Proceedings 01 the American Control Conference, Denver, Colorado June 4-6, 2003.
  • [3] Qing-Chang Zhong, Robust Control of Time-delay Systems, Springer Verlag London Limited 2006
  • [4] Katsuhiko Ogata, Modern Control Engineering, Prentice Hall, 2010
  • [5] Rogelio Luck and Asok Ray, Experimental verification of a delay compensation algorithm for integrated communication and control systems,Int. J. Control, Vol. 59, No.6, 1357-1372, 1994
  • [6] Toshio Furukawa and Etsujiro Shimemura, Predictive control for systems with time delay, Prentice Hall, 2010
  • [7] Milena Anguelova and Bernt Wennberg, State elimination and identifiability of the delay parameter for nonlinear time-delay systems, Automatica 44, 1373-1378, 2008
  • [8] http://www.maxonmotorusa.com/maxon/view/catalog/
  • [9] Han-Qin Zhou, Qing-Guo Wang and Liu Min, Modified Smith predictor design for periodic disturbance rejection, ISA Transactions, V. 46, 493- 503, 2007
  • [10] Chien-Liang Lai and Pau-Lo Hsu, Design the Remote Control System With the Time-Delay Estimator and the Adaptive Smith Predictor, IEEE Transactions on Industrial Informatics, Vol. 6, No. 1, 2010
  • [11] A. Terry Bahill, A Simple Adaptive Smith-Predictor for Controlling Time-Delay Systems, Control systems magazine, 16-22, 1983
  • [12] Joao P. Hespanha, Payam Naghshtabrizi, and Yonggang Xu,A Survey of Recent Results in Networked Control Systems, Proceedings of the IEEE, Vol. 95, No. 1, January 2007
  • [13] K.S. Fu, R.C. Gonzales and C.S.G. Lee, Robotics: Control, Sensing and Vision, McGraw Hill Book Company, 1987
  • [14] Arif Ankarali, Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation, Int J Adv Robotic Sys., 2012, Vol. 9, 1-10,2012
  • [15] Katsuhiko Ogata, System Dynamics and Control, Prentice Hall, 2010
  • [16] Arif Ankarali and Hüseyin Arslan, "Smith Predictor Application on Wireless Dc Servomotor Control", 16. National Machine Theory Symposium, Atatürk University, Engineering Faculty, 12-13 June, 2013, Erzurum, TURKEY

Feedback control of a dc servomotor with time delays subjected to disturbance signals

Year 2017, Volume: 21 Issue: 4, 654 - 660, 01.08.2017

Arif Ankaralı Hüseyin Arslan Hamza Diken

https://doi.org/10.16984/saufenbilder.289938

Abstract

The time delay
imposed in the wireless control systems makes it difficult to guarantee stable
response in many cases. Especially, delays in feedforward path combined with
feedback path may result in some stability problems of the controlled system
response. For the remote control of servomotors used on unmanned aerial or
underwater vehicles, space manipulators and humanoid robots time delays has got
great importance in real time remote control of those systems. The time delay
in the feedforward path may be caused by computer control algorithm processing,
buffering, transmitting process of control signals through antenna, receiving
process of control signals through antenna on the vehicle and the complementary
hardware processing. Similarly, on the feedback path, position feedback signal
measured by encoder is transmitted in reverse order of the control signal with
some delay time. In this paper, the PID control of a DC servomotor with
constant time delays will be discussed in detail. After specifying the effects
of the delays in the system, Smith predictor will be added to the model to
minimize the undesired effects on the output response of the servomotor. For
the wireless control of the servomotors actuating some mechanical systems, a
modified Smith predictor is designed to drive the system efficiently to take
care of the disturbance effects coming from the dynamics of the driven parts.
The success of the calculated predictors together with the tuned PID controller
and the controllable range for disturbance to controller signal ratio are shown
on a low power DC servomotor by simulations.

Keywords

Wireless control Modified Smith predictor Servomotor Delay

References

  • [1] Ki-Won Song, Gi-Sang Choi, and Gi-Heung Choi, Tracking Position Control of DC Servo Motor in LonWorks/IP Network , International Journal of Control, Automation, and Systems, vol. 6, no. 2, pp. 186- 193, 2008.
  • [2] Qing Zhao and Chuwang Cheng, State Feedback Control for Time Delayed Systems with Actuator Failures, Proceedings 01 the American Control Conference, Denver, Colorado June 4-6, 2003.
  • [3] Qing-Chang Zhong, Robust Control of Time-delay Systems, Springer Verlag London Limited 2006
  • [4] Katsuhiko Ogata, Modern Control Engineering, Prentice Hall, 2010
  • [5] Rogelio Luck and Asok Ray, Experimental verification of a delay compensation algorithm for integrated communication and control systems,Int. J. Control, Vol. 59, No.6, 1357-1372, 1994
  • [6] Toshio Furukawa and Etsujiro Shimemura, Predictive control for systems with time delay, Prentice Hall, 2010
  • [7] Milena Anguelova and Bernt Wennberg, State elimination and identifiability of the delay parameter for nonlinear time-delay systems, Automatica 44, 1373-1378, 2008
  • [8] http://www.maxonmotorusa.com/maxon/view/catalog/
  • [9] Han-Qin Zhou, Qing-Guo Wang and Liu Min, Modified Smith predictor design for periodic disturbance rejection, ISA Transactions, V. 46, 493- 503, 2007
  • [10] Chien-Liang Lai and Pau-Lo Hsu, Design the Remote Control System With the Time-Delay Estimator and the Adaptive Smith Predictor, IEEE Transactions on Industrial Informatics, Vol. 6, No. 1, 2010
  • [11] A. Terry Bahill, A Simple Adaptive Smith-Predictor for Controlling Time-Delay Systems, Control systems magazine, 16-22, 1983
  • [12] Joao P. Hespanha, Payam Naghshtabrizi, and Yonggang Xu,A Survey of Recent Results in Networked Control Systems, Proceedings of the IEEE, Vol. 95, No. 1, January 2007
  • [13] K.S. Fu, R.C. Gonzales and C.S.G. Lee, Robotics: Control, Sensing and Vision, McGraw Hill Book Company, 1987
  • [14] Arif Ankarali, Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation, Int J Adv Robotic Sys., 2012, Vol. 9, 1-10,2012
  • [15] Katsuhiko Ogata, System Dynamics and Control, Prentice Hall, 2010
  • [16] Arif Ankarali and Hüseyin Arslan, "Smith Predictor Application on Wireless Dc Servomotor Control", 16. National Machine Theory Symposium, Atatürk University, Engineering Faculty, 12-13 June, 2013, Erzurum, TURKEY
There are 16 citations in total.

Details

Journal Section Research Articles
Authors

Arif Ankaralı

Hüseyin Arslan This is me

Hamza Diken This is me

Publication Date August 1, 2017
Submission Date February 5, 2017
Acceptance Date April 26, 2017
Published in Issue Year 2017 Volume: 21 Issue: 4

Cite

APA Ankaralı, A., Arslan, H., & Diken, H. (2017). Feedback control of a dc servomotor with time delays subjected to disturbance signals. Sakarya University Journal of Science, 21(4), 654-660. https://doi.org/10.16984/saufenbilder.289938
AMA Ankaralı A, Arslan H, Diken H. Feedback control of a dc servomotor with time delays subjected to disturbance signals. SAUJS. August 2017;21(4):654-660. doi:10.16984/saufenbilder.289938
Chicago Ankaralı, Arif, Hüseyin Arslan, and Hamza Diken. “Feedback Control of a Dc Servomotor With Time Delays Subjected to Disturbance Signals”. Sakarya University Journal of Science 21, no. 4 (August 2017): 654-60. https://doi.org/10.16984/saufenbilder.289938.
EndNote Ankaralı A, Arslan H, Diken H (August 1, 2017) Feedback control of a dc servomotor with time delays subjected to disturbance signals. Sakarya University Journal of Science 21 4 654–660.
IEEE A. Ankaralı, H. Arslan, and H. Diken, “Feedback control of a dc servomotor with time delays subjected to disturbance signals”, SAUJS, vol. 21, no. 4, pp. 654–660, 2017, doi: 10.16984/saufenbilder.289938.
ISNAD Ankaralı, Arif et al. “Feedback Control of a Dc Servomotor With Time Delays Subjected to Disturbance Signals”. Sakarya University Journal of Science 21/4 (August 2017), 654-660. https://doi.org/10.16984/saufenbilder.289938.
JAMA Ankaralı A, Arslan H, Diken H. Feedback control of a dc servomotor with time delays subjected to disturbance signals. SAUJS. 2017;21:654–660.
MLA Ankaralı, Arif et al. “Feedback Control of a Dc Servomotor With Time Delays Subjected to Disturbance Signals”. Sakarya University Journal of Science, vol. 21, no. 4, 2017, pp. 654-60, doi:10.16984/saufenbilder.289938.
Vancouver Ankaralı A, Arslan H, Diken H. Feedback control of a dc servomotor with time delays subjected to disturbance signals. SAUJS. 2017;21(4):654-60.
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