Bu çalışmada ters sarkaç sistem türlerinden biri olan doğrusal tahrikli çift çubuklu ters sarkaç sisteminin doğrusal karesel regülatör (LQR) yöntemine dayanan durum geri besleme yöntemi ile kontrolüne yönelik benzetim sonuçları sunulmuştur. Tek çubuklu ters sarkaç sistemine göre çift çubuklu ters sarkaç sisteminin kontrolü kararsızlık, eksik tahrik ve doğrusalsızlık özellikleri nedeniyle daha zor bir problemdir. Dolayısıyla sistemin denge kontrolünü sağlamaya yönelik tasarımı yapılan LQR kontrolcü parametrelerinin sistem davranışına etkileri ayrıntılı olarak ele alınarak kontrol algoritması tasarım süreci iyileştirilmiştir.
This study presented the comparison results for the control of linear twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twisted twist In comparison with the one-band reverse scratch system, the control of the double-band reverse scratch system is a more difficult problem due to the characteristics of instability, lack of drainage and inexactitude. Therefore, the design process of the control algorithm has been improved by detailing the effects of the LQR control parameters on the system behavior designed to ensure the system's balance control.
In this study, simulation results for the control of the cart – pole double inverted pendulum system which is an type of inverted pendulum system by the state feedback method using linear quadratic regulator (LQR) are presented. The control problem of the double inverted pendulum is more difficult than the control problem of the single inverted pendulum because of instability, nonlinearity characteristics. Therefore, the control algorithm design process has been improved by considering the effects of LQR controller parameters designed to provide stability control of the system on system dynamic in detail.
Alan : Fen Bilimleri ve Matematik; Sağlık Bilimleri; Ziraat, Orman ve Su Ürünleri
Dergi Türü : Ulusal
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