Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/395
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Conference Object Citation - WoS: 1Citation - Scopus: 5Sliding Mode Control of a Switched Reluctance Motor Drive With Four-Switch Bi-Directional DC-DC Converter for Torque Ripple Minimization(Institute of Electrical and Electronics Engineers Inc., 2020-09) Ates, Ertugrul; Tekgun, Burak; Ablay, GünyazIn this paper, a method to drive switched reluctance motors (SRM) with a modular four-switch bidirectional DC-DC converter and an H-bridge is proposed. The DC-DC converter operates as a buck or a boost converter with constant frequency to control each phase current while the H-bridge inverter switches only twice in a period to adjust the polarity of the phase voltage. Sliding mode control is designed to have fast and robust current control in the DC-DC converter. The sliding surface equation which is derived for all operation modes including buck and boost modes in motoring and regenerating conditions is defined with the estimated inductor current. The proposed drive system eliminates the bulk DC-capacitors and allows one to adjust the bus voltage individually for all phases. Moreover, the proposed system topology works with only one high-frequency switching device in the DC-DC conversion stage rather than two in conventional drives which provides a simpler current control and reduced switching losses. © 2020 Elsevier B.V., All rights reserved.Conference Object Citation - WoS: 2Citation - Scopus: 2PI-V plus Sliding Mode Based Cascade Control of Magnetic Levitation(Institute of Electrical and Electronics Engineers Inc., 2015-11) Eroǧlu, Yakup; Ablay, GünyazMagnetic levitation systems are able to provide frictionless, reliable, fast and economical operations in wide-range applications. The effectiveness and applicability of these systems require precise feedback control design. The position control problem of the magnetic levitation can be solved with robust current control approaches. A cascade control approach consisting of PI-velocity plus sliding mode control (PI-V plus SMC) is designed to render high control performance and robustness to the magnetic levitation. It will be shown that the SMC designed for electrical part of the plant (current controller) is able to eliminate the effects of the inductance related uncertainties of the electromagnetic coil of the plant. Experimental results are provided to validate the efficacy of the approach. © 2016 Elsevier B.V., All rights reserved.Article Citation - Scopus: 2A Model-Free Continuous Integral Sliding Mode Controller for Robust Control of Robotic Manipulators(Intelektual Pustaka Media Utama, 2023-03-01) Ablay, GünyazThis paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The developed model-free control method is implemented on the PUMA 560 robotic manipulator, and its performance is compared with the proportional-derivative (PD) plus gravity controller. Numerical results under measurement noise and load disturbances are provided in order to show the efficacy, validity, and feasibility of the method. © 2024 Elsevier B.V., All rights reserved.