Akademik Veri Yönetim Sistemi
Konya Journal of Engineering Sciences, cilt.11, sa.3, ss.730-747, 2023 (ESCI)
The proportional-integral-derivative (PID) control method is widely applied in the industry due to its attractive features such as simple architecture, easy design, and automatic gain adjustment. However, in order to have a successful industrial application with the PID controller, the controller has to be manually reconfigured. In order to solve this problem, the Model Reference Adaptive PID Controller (MRUPIDD), which is one of the adaptive control methods, was designed by using a low-cost STM32F4 application development kit and Waijung block set. The adaptive PID controller has a parameter adjustment mechanism to provide the desired control performance even if the system parameters change over time. Massachusetts Institute of Technology (MIT) rule is used for the parameter setting mechanism and controller design. Position control application of the controller designed within the scope of the study was carried out on the DC motor and error costs were calculated by comparing it with the PID controller. In order to examine the effects of the adaptive gain parameters on the system behavior, different gamma gain values were applied to the system and the unstable conditions were examined.