Değişken parametreli bir akıllı kiriş için düşük dereceli H∞ kontrolcü tasarımı

Year 2020, Volume: 11 Issue: 2, 457 - 469, 15.06.2020

Cem Onat , Melin Şahin

https://doi.org/10.24012/dumf.459979

Abstract

Bu çalışmada PZT (kurşun-zirkonyum-titanyum) yamalar ile donatılmış değişken parametreli bir akıllı kirişin düzleme dik birinci eğilme titreşim biçimlerini bastırmak için düşük dereceli bir H∞ kontrolcü tasarlanmış ve uygulanmıştır. Kontrolcü tasarımı birbirini izleyen üç farklı adımda gerçekleştirilmiştir. Birinci adımda, serbest ucuna bir servo motor aracılığıyla dönebilecek şekilde bir kütle eklenmiş kirişin değişken parametreli modeli deneysel olarak elde edilmiştir. İkinci adımda değişken parametreli modeli tüm durumlarda içine alan sarsımlanmış (pertürbe edilmiş) model elde edilmiştir. Son adımda ise sarsımlanmış model üzerinden H∞ kontrolcü hesaplanmıştır. Elde edilen kontrolcü hem benzetimsel hem de deneysel olarak uygulanmıştır. Sistemdeki parametre değişimlerine karşılık önerilen kontrolcünün kiriş titreşimlerini çok iyi bir şekilde bastırabildiği ve böylece gürbüz (robust) bir performans sergilediği ortaya konmuştur.

Keywords

Akıllı kiriş, Robust kontrol, H∞ kontrolcü, Parametre belirsizliği, Titreşim

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