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Control Multivariable System Using A Full Decoupled Active Distrubance Rejection Controller

Oluşturulma Tarihi: 07-02-2019

Niteleme Bilgileri

Tür: Tez

Alt Tür: Doktora (Mühendislik)

Yayınlanma Durumu: Yayınlanmamış

Dosya Biçimi: PDF

Dil: İngilizce

Konu(lar): TEKNOLOJİ,

Yazar(lar): Askir, Alyaseh Nagi M. (Yazar),

Emeği Geçen(ler): İrfanoğlu, Bülent (Danışman),

Anahtar Kelimeler

feedback linearization controller; linear active disturbance rejection control (LADRC); non-linear active disturbance rejection control (NLADRC); nonlinear extended state observer (NLESO); proportional controller (P); quadruple tank (QT) system; robust tracking control system; sliding mode control (SMC).


Özet

The research presented in this thesis concern a new application for the linear and nonlinear Active Disturbance Rejection Control (LADRC, NLADRC) strategies, in which the control of the non-linear quadruple-tank system (QTS) in its minimum phase mode. It is a nonlinear multi-input-multi-output (MIMO) system utilize as a platform to verify the effectiveness of the nonlinear multivariable control strategies. Firstly, the structure of the quadruple-tank process has arranged in terms of hierarchy, a nonlinear mathematical model was used that properly represented the dynamic behaviour of the process. Then, the linear active disturbance rejection control (LADRC) strategy is proposed to control the quadruple-tank process (QTP). The control law of the LADRC technique has designed through the combination between linear state feedback (LSF) controller and the linear extended state observer (LESO) which plays an important role in the estimate of the overall disturbances and compensation of model uncertainty, to be subsequently rejected by the control law. The control loop of the quadruple-tank system (QTS) is usually vulnerable to the issues of the system uncertainties and external disturbances that affect the stabilization of the process negatively. Therefore, the non-linear active disturbance rejection control strategy is also designed for aiiiquadruple-tank system to increase system robustness. The state feedback controller that is the sliding mode controller has combined with nonlinear extended state observer (NLESO). For the purpose increasing the accuracy of the estimation process, the nonlinear integrated optimal control function has included in the structure of the nonlinear active disturbance rejection controller (NLADRC). Finally, In order to assess the performance of the suggested control schemes, the proposed methods are compared with a nonlinear feedback linearization with proportional (NLFL-P) controller. It is worth mentioning that the controllers have carried out straightforwardly on the non-linear differential equations of the quadruple-tank process (QTP) in Matlab®Simulink® environment. The simulation results have shown that despite the presence of the parameters' uncertainties as well as external disturbances, however, the proposed NLADRC technique in this thesis possessed a high degree of efficiency to achieve the main objective of the control process which is, keeping up of the liquid level within bottom tanks of the quadruple-tank system at desired operating points compared to the other strategies.


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