Ters sarkacın uyarlamalı kazançlı bağımsız yüzeyli kayan kip yöntemi ile denetimi

Fuat Kılıç, Sabri Bicakcı, Hüseyin Güneş

Öz


Bu çalışmada gerçek bir ters sarkaç sistemi için yeni bir uyarlamalı kazançlı, bağımsız yüzeyli kayan kip denetim tekniği (UKKKD) önerilmektedir. Böylece modellenemeyen ve üst sınır değerleri belirli olmayan bozucu etkilere karşı dayanıklı bir denetim yapısı elde edilmektedir. Önerilen denetim yöntemi ile dayanıklılık özelliği en küçük kazanç değerlerinde dahi korunmakta ve böylece kayan kip denetimin temel problemi olan çatırtı etkisi de azaltılmaktadır. Çalışmada, ters sarkaç ve denetim sisteminin MATLAB/SIMULINK benzetim ile uygulama grafikleri karşılaştırmalı olarak verilmiş ve denetimin olumlu etkisi doğrulanmıştır.624432


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