Optimal Tuning of the SMC Parameters for a Two Two-Link Manipulator Co-Simulation Control

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

—This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, set ...Daha fazlası

Topology Design and Modal Analysis of a Bracket via FEA

GÜLBAHÇE, Erdi | SEZGEN, Haşmet Çağrı | ÇAKAN, Abdullah

In this study, topology optimization of a jet engine bracket which was proposed from GE Aviation challenge for improving the brackets is presented using finite element analysis (FEA). The minimum mass, maximum equivalent stress and first natural frequency are selected for the objective functions to topology optimization. Then, topology optimization procedure is implemented according to the identified boundary conditions and objective functions. Finally, the manufacturing model is obtained and compared with the original model according to the maximum equivalent stress, mass reduction and first ...Daha fazlası

Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

İLGEN, Sinan | OFLAZ, Emre | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum angle and wheel position). Proportional-integral-derivative (PID) controller is designed and applied for balancing control and simulation of pendulum angle. The modelling and control results show that the Proportional-integral-derivative (PID) controll ...Daha fazlası

Active Vibration Control Of A Smart Beam By A Tuner-Based PID Controller

GÜLBAHÇE, Erdi | ÇELİK, Mehmet

In this study, a tuner-based Proportional-Integral-Derivative controller is proposed to actively control a smart beam. In numerical simulation environment, the performance of the tuner-based PID and a positive position feedback controller in damping the forced vibrations of a smart beam using a piezoelectric actuator are investigated. The finite element method is used to numerically model the smart beam by exporting the state-space matrices that are characterized with regard to the active vibration control loop. Two types of vibration data with sine tones are comprised in order to stimulate be ...Daha fazlası

Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with t ...Daha fazlası

The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

İlgen, Sinan | Durdu, Akif | Gülbahçe, Erdi | Çakan, Abdullah | Kalyoncu, Mete

Modeling of a helicopter fuselage panel with active vibration control

GÜLBAHÇE, Erdi | ÇELİK, Mehmet

In this study, modeling of a helicopter fuselage panel with active vibration control is carried out. In order to represent the helicopter body shell, a cabin panel clamped from four edges is designed. Piezoelectric patches are attached on the body according to the literature. The dynamic characteristics of the structure are obtained by finite element based modal analysis and exporting of state space matrices. The numerical model of the cabin panel is characterized with regard to active vibration control loop. Vibration data obtained from the helicopter operational tests is applied as a distort ...Daha fazlası

Designing Modular Bite Force Measurement System for Stomatognathic Considerations

KAYA, Doğan Ilgaz | GÜLBAHÇE, Erdi | OFLAZ, Emre | AKTI, Ahmet

The stomatognathic system is a very complex structure that includes the temporomandibular joint, masticatory muscles, teeth, gingiva, tongue, and pharynx. In this structure, maximum bite force measurement has been an important field of study in the diagnosis and treatment of diseases caused by disorders related to chewing habits. Objectives: Since existing measurement systems are expensive and impractical, researchers are in search of better systems. In this study, a modular and low-cost system has been developed to measure the bite forces accurately. Materials and Methods: The sensor data rea ...Daha fazlası

Theoretical investigation of a structure for active vibration control with fuzzy logic approach

GÜLBAHÇE, Erdi | ÇELİK, Mehmet | TINKIR, Mustafa

The main purpose of this study is to prepare mathematical model for active vibration control of a structure. This paper presents the numerical and experimental modal analysis of aluminum cantilever beam in order to investigate the dynamic characteristics of the structure. The results will be used for active vibration control of structure's experimental setup. Experimental natural frequencies are obtained and compared to verify the proposed numerical model by using modal analysis results. MATLAB System Identification Toolbox and ANSYS harmonic response function are used together to estimate bea ...Daha fazlası