Yazar "Aslan, Yilmaz" seçeneğine göre listele

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    PARTICLE SWARM OPTIMIZATION-BASED OPTIMAL PID CONTROL OF AN AGRICULTURAL MOBILE ROBOT
    (Publ House Bulgarian Acad Sci, 2021) Gokce, Baris; Koca, Yavuz Bahadir; Aslan, Yilmaz; Gokce, Celal Onur
    This study involved the motion control of a four-wheel drive robot for use in agriculture. A mathematical model was used to perform a systematic kinematic and dynamic analysis of a four-wheel skid-steer agrobot. The dynamic model of the agrobot was based on a kinematic analysis of its non-holonomic structure. Polar space kinematic and dynamic control methods were proposed for both trajectory tracking and stabilization of the mobile agrobot, which incorporated four equally-spaced skid-steer wheels. Particle swarm optimization (PSO) was used to optimize the parameters of a proportional-integral-derivative (PID) controller. The aim of the control strategy was to solve the problem using control elements. The system was implemented in a simulation program, and a system performance analysis was performed. Simulation results demonstrated the robustness and stability of the motion control system under various conditions. The proposed routing control strategy was found to possess the advantage of smooth path-tracking.
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    Speed Control Based PID Configuration of a DC Motor for An Unmanned Agricultural Vehicle
    (IEEE, 2021) Koca, Yavuz Bahadir; Aslan, Yilmaz; Gokce, Baris
    DC motors are used in many areas with their high starting torques and speed regulation features. In particular, the operation of DC motors must control their speed accurately in order to obtain the desired efficiency. Traditional PID control algorithm is preferred for its simplicity and usability in most industrial applications. This article describes the design and implementation of a PID control strategy using a simulation software to control the speed of a DC motor whose parameters are unknown. The mathematical model of the control system is obtained through a system identification by applying an input signal. Using obtained the mathematical model and Bode diagram techniques, a single input / single output configurator was designed. The PID control algorithm parameters P, I and D values are obtained by auto tuning methods. Here, an online identification system is used to set new control parameters. This study, PID controller is implemented using a simulation software and microcontroller integrated control board. The accuracy of the work is verified by the results of the experiments made with motor parameters.