Year 2017, Volume 21 , Issue 4, Pages 654 - 660 2017-08-01

Feedback control of a dc servomotor with time delays subjected to disturbance signals
Zaman gecikmeli kontrolcü sinyalleri bozucu etkilere maruz kalan bir DC servomotorun geribeslemeli kontrolü

Arif ANKARALI [1] , Hüseyin ARSLAN [2] , Hamza Diken [3]


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.

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.

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Subjects Engineering, Multidisciplinary
Published Date Ağustos 2017
Journal Section Research Articles
Authors

Author: Arif ANKARALI
Institution: YILDIRIM BEYAZIT ÜNİVERSİTESİ
Country: Turkey


Author: Hüseyin ARSLAN
Institution: University of South Florida
Country: United States


Author: Hamza Diken
Institution: King Abdulaziz Üniversitesi (KAU
Country: Saudi Arabia


Dates

Application Date : February 5, 2017
Acceptance Date : April 26, 2017
Publication Date : August 1, 2017

Bibtex @research article { saufenbilder289938, journal = {Sakarya University Journal of Science}, issn = {1301-4048}, eissn = {2147-835X}, address = {}, publisher = {Sakarya University}, year = {2017}, volume = {21}, pages = {654 - 660}, doi = {10.16984/saufenbilder.289938}, title = {Feedback control of a dc servomotor with time delays subjected to disturbance signals}, key = {cite}, author = {ANKARALI, Arif and ARSLAN, Hüseyin and Diken, Hamza} }
APA ANKARALI, 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 . DOI: 10.16984/saufenbilder.289938
MLA ANKARALI, A , ARSLAN, H , Diken, H . "Feedback control of a dc servomotor with time delays subjected to disturbance signals". Sakarya University Journal of Science 21 (2017 ): 654-660 <http://www.saujs.sakarya.edu.tr/en/issue/26997/289938>
Chicago ANKARALI, A , ARSLAN, H , Diken, H . "Feedback control of a dc servomotor with time delays subjected to disturbance signals". Sakarya University Journal of Science 21 (2017 ): 654-660
RIS TY - JOUR T1 - Feedback control of a dc servomotor with time delays subjected to disturbance signals AU - Arif ANKARALI , Hüseyin ARSLAN , Hamza Diken Y1 - 2017 PY - 2017 N1 - doi: 10.16984/saufenbilder.289938 DO - 10.16984/saufenbilder.289938 T2 - Sakarya University Journal of Science JF - Journal JO - JOR SP - 654 EP - 660 VL - 21 IS - 4 SN - 1301-4048-2147-835X M3 - doi: 10.16984/saufenbilder.289938 UR - https://doi.org/10.16984/saufenbilder.289938 Y2 - 2017 ER -
EndNote %0 Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi Feedback control of a dc servomotor with time delays subjected to disturbance signals %A Arif ANKARALI , Hüseyin ARSLAN , Hamza Diken %T Feedback control of a dc servomotor with time delays subjected to disturbance signals %D 2017 %J Sakarya University Journal of Science %P 1301-4048-2147-835X %V 21 %N 4 %R doi: 10.16984/saufenbilder.289938 %U 10.16984/saufenbilder.289938
ISNAD ANKARALI, Arif , ARSLAN, Hüseyin , Diken, Hamza . "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
AMA ANKARALI A , ARSLAN H , Diken H . Feedback control of a dc servomotor with time delays subjected to disturbance signals. SAUJS. 2017; 21(4): 654-660.
Vancouver ANKARALI A , ARSLAN H , Diken H . Feedback control of a dc servomotor with time delays subjected to disturbance signals. Sakarya University Journal of Science. 2017; 21(4): 660-654.