طراحی کنترل‌کننده برای یک ژیروسکوپ ارتعاشی میکروالکترومکانیکی با روش مد لغزشی نهایی تطبیقی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 دانشکده برق دانشگاه هوایی شهید ستاری

2 دانشگاه هوایی شهید ستاری

چکیده

در این مقاله، کنترل مد لغزشی ترمینال تطبیقی برای سامانه ژیروسکوپ ارتعاشی میکروالکترومکانیکی (MEMS) ارائه می­شود. برای این­ کار در ابتدا با استفاده از روش دینامیک وارون، دینامیک­های معلوم سامانه ژیروسکوپ ارتعاشی حذف می­شوند تا کران عدم­ قطعیت­های موجود کاهش یابد. سپس با طراحی بردار کنترل مد لغزشی ترمینال، سامانه حلقه بسته با حضور عدم­ قطعیت­های موجود، دارای پایداری مجانبی سراسری می­گردد. در این مقاله برای جلوگیری از بروز مشکل لرزش در ورودی کنترل، تخمین­گر تطبیقی ارائه می­شود که تنها دارای یک قانون تطبیقی است. اثبات ریاضی نشان می­دهد که سامانه حلقه بسته با کنترل­کننده­ مد لغزشی ترمینال تطبیقی پیشنهادی و در حضور عدم­ قطعیت­های موجود، دارای پایداری مجانبی زمان محدود سراسری است. برای نمایش عملکرد کنترل­کننده­ پیشنهادی و مقایسه­ آن با   کنترل­کننده­های مشابه، شبیه­سازی­هایی در چهار مرحله بر روی سامانه ژیروسکوپ ارتعاشی میکروالکترومکانیکی پیاده­سازی می­شود. نتایج شبیه­سازی­ها، عملکرد مطلوب کنترل مد لغزشی ترمینال تطبیقی را نشان می­دهند.

کلیدواژه‌ها

عنوان مقاله [English]

Design of a Conntroller for Using MEMS Vibrational Gyroscope System

نویسندگان [English]

  • mohammadreza soltanpor 1
  • reza khaki 2
1 satari
2 satari
چکیده [English]

An adaptive terminal sliding mode control scheme is presented for Micro-Electro-Mechanical Systems (MEMS) vibrational gyroscope system in this paper. In this approach the dynamics of the vibrational gyroscope system is eliminated by using inverse dynamic method to reduce the bounds of existing uncertainties. the designed terminal sliding mode control vector is provided a global asymptotic stability for close loop system with uncertainties. In this paper, an adaptive estimator is proposed to prevent the occurrence of a chattering problem at the control input, which has only one law. The mathematical proof shows that the closed loop system, with proposed adaptive terminal sliding mode controller with uncertainties has a global asymptotic stability. Four-phase simulations are implemented on the MEMS vibrational gyroscope system to demonstrate the performance of the controller and compare it with other similar controllers. The simulation results show that the proposed adaptive terminal sliding mode controller has desired performance.

کلیدواژه‌ها [English]

  • MEMS Vibrational Gyroscope
  • Terminal Sliding Mode Control
  • Uncertainty
  • Adaptive Estimator
  • Adaptive Terminal Sliding Mode Control
  • Chattering

مراجع

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سابقه مقاله

  • تاریخ دریافت: 19 دی 1396
  • تاریخ پذیرش: 16 دی 1397
  • تاریخ انتشار: 01 آذر 1398

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