طراحی و پیاده‌سازی یک کنترل‌کننده بهینه‌شده به روش TLBO بر روی سامانه روتور دوقلو
الموضوعات :مصطفی یزدانی 1 , خسرو خانداني 2
1 - دانشکده فنی- مهندسی، دانشگاه اراک
2 - دانشکده فنی- مهندسی، دانشگاه اراک
الکلمات المفتاحية: الگوریتم آموزش و یادگیری, PID, روتور دوقلو,
ملخص المقالة :
در این مقاله، نحوه طراحی و پیاده‌سازییک کنترل‌کننده PID جهت پایدارسازییک سامانه روتور دوقلوییک درجه آزادی ارائه می‌گردد. با بهره‌گیری از الگوریتم آموزش و یادگیری (TLBO)، ضرایب کنترل‌کننده PID به‌صورت بهینه تنظیم می‌شوند و سپس این کنترل‌کننده بر روی سامانه روتور دوقلویی که در آزمایشگاه کنترل دانشگاه اراک ساخته شده است، پیاده‌سازی می‌گردد. هدف از کنترل سامانه روتور دوقلو، پایدارسازی سامانه در حالت صفر درجه افقی است. مدل‌سازی سامانه غیرخطی روتور دوقلو در فضای حالت انجام می‌شود و از مدل به‌دست‌آمده جهت تنظیم بهینه ضرایب کنترل‌کننده PID با روش آموزش و یادگیری استفاده می‌شود. نتایج به‌دست‌آمده با روش آموزش و یادگیری با چند روش فراابتکاری دیگر شامل الگوریتم ازدحام ذرات، الگوریتم ژنتیک، الگوریتم رقابت استعماری و الگوریتم تکامل تفاضلی مقایسه می‌گردد.با استفاده از همه روش‌ها، سامانه با اندکی خطا به پایداری قابل قبولی رسیده است. با وجود این با بهینه‌سازی توسط الگوریتم آموزش و یادگیری، پایدارسازی و عملکرد سریع‌تر سامانه کنترل در مقایسه با روش‌های فراابتکاری دیگر قابل مشاهده است. مزیت عمده استفاده از روش آموزش و یادگیری، عدم وجود پارامترهای کنترلی است که استفاده از آن را راحت می‌کند. نتایج پیاده‌سازی آزمایشگاهی نیز اثربخشی و کارایی نتایج به‌دست‌آمده از شبیه‌سازی را تأیید می‌کنند.
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