کنترل بهینه زاویه اوج هواپیما با استفاده از PID و کنترل مد لغزشی مبتنی بر الگوریتم PSO

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 موسسه آموزش عالی احرار رشت

2 دانشگاه گیلان

3 باشگاه پژوهشگران جوان و نخبگان، واحد قزوین، دانشگاه آزاد اسلامی، قزوین، ایران

چکیده

مدل­سازی و کنترل هواپیمای بدون سرنشین بی­شک یکی از حوزه­های فعال در مهندسی کنترل به­شمار می­آید. با توجه به دینامیک غیرخطی، متغیر با زمان و عدم قطعیت­های ساختاری و پارامتری اجسام پرنده، مسئله کنترل پرواز در طراحی اجسام پرنده موضوعی نسبتا پیچیده و مهم محسوب می­شود. یکی از پرکاربردترین روش­های کنترلی مقاوم در این حوزه، روش کنترل مد لغزشی می­باشد. از این­رو در این مقاله، طراحی، شبیه­سازی و تحلیل دو کنترل­کننده، PID و مد لغزشی جهت کنترل بهینه زاویه اوج یک هواپیمای بدون سرنشین ارائه شده است. در ابتدا به­منظور مدل­سازی دینامیکی مدل ریاضی مناسبی جهت توصیف حرکت طولی هواپیما ارائه شده است، در ادامه، یک    کنترل­کننده مد لغزشی مقاوم بر مبنای الگوریتم بهینه­سازی ازدحام ذرات به­منظور کنترل زاویه اوج هواپیما در حضور نامعینی­ها و اغتشاشات خارجی طراحی شده است، آن­چنان­که پارامترهای بهینه با هدف به حداقل رساندن سیگنال کنترلی و خطای ردیابی تعیین می­شوند. سپس، کیفیت عملکرد روش پیشنهادی با نتایج حاصل از کنترل­کننده بهینه PID از نظر مشخصات پاسخ گذرا مقایسه شده است در نهایت، نتایج   شبیه­سازی نشان دادند که کنترل‌کننده مدل لغزشی پیشنهادی ضمن کاهش میزان فراجهش پاسخ سامانه، رفتار مقاوم­تری نسبت به کنترل‌کننده PID جهت کنترل زاویه اوج هواپیما دارد.

کلیدواژه‌ها

عنوان مقاله [English]

Optimal Control of an Aircraft Pitch Angle using PID and Sliding Mode Control Based on PSO Algorithm

نویسندگان [English]

  • milad barbastegan 1
  • ahmad bagheri 2
  • elham yazdani 3
  • saeed nezamivand chegini 2
1 moasese amoozesh ali ahrar rasht
2 gilan
3 azad ghazvin
چکیده [English]

Modeling and control of Unmanned Aerial Vehicle is undoubtedly one of the most active areas in the field of control engineering. The characteristics of aerial vehicles such as nonlinear dynamics, time variability and the structural and parametric uncertainties make flight control issue relatively a complex and important subject. One of the widely used methods in this area is sliding mode control technique. This paper proposes the design, the simulation, and the analysis of two controllers namely PID and sliding mode in order to optimally control the pitch angle of an unmanned aircraft. Initially, in order to model the dynamic system, an appropriate mathematical model is presented to describe the longitudinal motion of aircraft. Subsequently, a robust sliding mode controller is designed using particle swarm optimization (PSO) algorithm to control the pitch angle of an aircraft against the uncertainties and the external disturbances. The optimal parameters are determined by minimizing both the control signal and tracking error. Then, the performance quality of the proposed method was compared with the results of the optimal PID controller in terms of transient response characteristics. Finally, simulation results indicated that the proposed sliding mode controller can reduce the overshoot of system response and yield more robust performance than PID for the control of pitch angle.

کلیدواژه‌ها [English]

  • Unmanned Aircraft
  • Proportional Integral Derivative Control
  • Sliding Mode Control
  • Particle Swarm Optimization

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سابقه مقاله

  • تاریخ دریافت: 28 فروردین 1397
  • تاریخ پذیرش: 19 دی 1397
  • تاریخ انتشار: 01 دی 1398

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