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Öğe An FPGA based robot controller design and implementation(Kaunas University of Technology, 2015) Erkol, H.O.; Demirel, H.In this study, a co-processor for six-legged robot is designed and implemented. Kinematic calculations are complicated and many times we need a separate computation unit when we need high accuracy and precision. Co-processor usage is widespread for decreasing the load on the main computation unit. The co-processor designed in this study is specialized for servo motors controlled via serial port. The co-processor takes and sends the command via serial port. It cancompute the joint angels of an 18 degree of freedom (DOF) six-legged robot in real time. The experimental studies are made by computer and on a robot prototype and taken good results.Öğe Linear quadratic regulator design for position control of an inverted pendulum by grey wolf optimizer(Science and Information Organization, 2018) Erkol, H.O.In this study, a linear quadratic regulator (LQR) based position controller is designed and optimized for an inverted pendulum system. Two parameters, vertical pendulum angle and horizontal cart position, must be controlled together to move a pendulum to desired position. PID controllers are conventionally used for this purpose and two different PID controllers must be used to move the pendulum. LQR is an alternative method. Angle and position of inverted pendulum can be controlled using only one LQR. Determination of Q and R matrices is the main problem when designing an LQR and they must be minimized a defined performance index. Determination of the Q and R matrices is generally made by trial and error method but finding the optimum parameters using this method is difficult and not guaranty. An optimization algorithm can be used for this purpose and in this way; it is possible to obtain optimum controller parameters and high performance. That's why an optimization method, grey wolf optimizer, is used to tune controller parameters in this study. © 2015 The Science and Information (SAI) Organization Limited.Öğe Optimized field oriented control design by multi objective optimization(Science and Information Organization, 2019) Erkol, H.O.Permanent Magnet Synchronous Motors are popular electrical machines in industry because they have high efficiency, low ratio of weight/power and smooth torque with no or less ripple. In addition to this, control of synchronous motor is a complex process. Vector control techniques are widely used for control of synchronous motors because they simplify the control of AC machines. In this study, Field Oriented Control technique is used as a speed controller of a Permanent Magnet Synchronous Motor. The controller must be good tuned for applications which need high performance, and classical methods are not enough or need more time to achieve the requested performance criteria. Optimization algorithms are good options for tuning process of controllers. They guarantee finding one of the best solutions and need less time for solving the problem. Therefore, in this study, Tree-Seed Algorithm is used for tuning process of the controller parameters and the results show that Tree-Seed Algorithm is good tool for controller tuning process. The controller is also tuned by Particle Swarm Algorithm to make a comparison. The results show that optimized system by Tree-Seed Algorithm has good performance for the applications which need changing speed and load torque. It has also better performance than the system which is optimized by Particle Swarm Optimization algorithm. © 2013 The Science and Information (SAI) Organization.
