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2019 - 20202
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Yazar: Kararsız, Gökhan × Konu: Adaptive control ×

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  • Küçük Resim
    Yayın
    Modelling and simulation studies on adaptive controller for alt-azimuth telescopes despite unknown wind disturbance and mass
    (SAGE Publications, 2020-09-15) Keskin, Onur; Ünal, Ali Cem; Kararsız, Gökhan; Yılmaz, Tuğrul; Yeşilyaprak, Cahit
    Numerous ground-based observatories are using small sized ground telescopes for scientific research purposes. The telescopes that are available on the market have three main problems. These issues can be listed as: positioning repeatability, tuning requirement according to different wind speeds for different seasons, and the mass changing via different scientific equipments added to the telescope. This study is aimed at resolving these issues for ground based small alt-azimuth telescopes. Establishing of a set and forget system is performed by designing an adaptive controller. Motor dynamics are taken into consideration for a realistic mathematical model. The Wind-Gust model that consists of a sum of sinusoidal disturbances with unknown phase, amplitude and frequency is used for the wind model. The purposed controller cancels the disturbance effects on the plant while operational positioning and also the makes the plant insensitive to mass changes. The Lyapunov approach is utilised when proving the asymptotic stability. The proposed controller’s success is illustrated with thorough numerical evaluation.
  • Küçük Resim
    Yayın
    Adaptive backstepping approach for 2-DOF telescopes despite unknown wind disturbance
    (Institute of Electrical and Electronics Engineers Inc., 2019-07) Ünal, Ali Cem; Yılmaz, Cemal Tuğrul; Kararsız, Gökhan; Keskin, Onur; Yeşilyaprak, Cahit
    Small ground telescopes on the marked are widely used in many space observatories and scientific researches. There are three main problems in such telescopes; positioning of the focal point and the need of tuning for both different seasonal wind speeds and mass changes of the telescope arm. This study focuses on eliminating those problems for 2-DOF altazimuth configuration small telescopes. An adaptive controller is designed to create a set and forget system. The mathematical model of the telescope is derived based on RR type joint configuration. For a realistic approach, motor dynamics is considered in the mathematical model. The wind disturbance is modeled according to the Wind-Gust model which is a sum of sinusoidal with unknown amplitude, frequency and phase. The controller aims to cancel the effect of the disturbance on focal point of the telescope while positioning. The asymptotic stability is proven with the Lyapunov approach. The numerical study is illustrated to success of the proposed controller.