Ters Sarkaç Sisteminde Referans Model Kullanarak Kesir Dereceli PID Denetleyici Tasarımı

Abstract

The proportional Integral Derivative (PID) controller has three basic parameters: Proportional gain (Kp), Integral gain (Ki) and Derivative gain (Kd). In a conventional PID controller, integral and derivative operators are integer order. The researchers proposed a fractional order PID (PIλDµ) controller by using the fractional integral and derivative operators instead of the integer order integral and derivative operators in the traditional PID controller because it improves the control performance. The PIλDµ controller has an additional fractional integrator degree (λ) and fractional derivative degree (µ). In this study, the focus is on the design of a fractional-order PID controller according to a reference model in the time domain. Bode's ideal transfer function was used as the reference model. It is aimed to obtain PIλDµ parameters by minimizing the error between the time domain response of Bode's ideal transfer function model and the output of the system to be controlled by using the optimization method. Genetic Algorithm (GA) optimization was used as the optimization method. The study was carried out as a simulation study on an inverted pendulum system with a single-input multiple-output (SIMO) structure.