طراحی و مقایسه‌ کنترل پسگام فازی و کنترل مد لغزشی فازی برای کنترل سامانه‌های فروتحریک مکانیکی با دو درجه آزادی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 دانشکده مهندسی برق، دانشگاه پدافند هوایی خاتم الانبیاء(ص)، تهران، ایران

2 دانشکده برق دانشگاه هوایی شهید ستاری

چکیده

در این مقاله، دو نوع کنترل­کننده برای کنترل دسته خاصی از سامانه‌های فروتحریک با دو درجه­ آزادی ارائه می­شود. شیوه­ طراحی
کنترل­کننده­های پیشنهادی و نحوه اثبات پایداری سامانه حلقه بسته با استفاده از راهکارهایی نظیر کنترل پسگام، کنترل مد لغزشی، منطق فازی و ترکیب آنان با جزئیات ارائه می­گردد. اثبات ریاضی نشان می­دهد که سامانه حلقه بسته با کنترل­کننده­های پیشنهادی در حضور عدم قطعیت‌های ساختاری و غیرساختاری، دارای پایداری مجانبی سراسری است. سپس مزایا و معایب کنترل­کننده­های پیشنهادی مورد بررسی قرار گرفته و در ادامه ملاک­هایی نظیر سادگی در نحوه پیاده­سازی عملی کنترل­کننده، حجم محاسبات ورودی کنترل، نحوه تنظیم ضرایب ورودی کنترل و اندازه­ دامنه­ ورودی کنترل انتخاب شده و بر اساس آن‌ها، مقایسه­ بین کنترل­کننده­های پیشنهادی ارائه می­شود. سرانجام برای بررسی عملکرد کنترل­کننده­های پیشنهادی، شبیه­سازی­هایی بر روی سامانه گاری با پاندول معکوس تک لینکی پیاده­سازی می­گردد. نتایج شبیه­سازی­ها عملکرد راهکارهای پیشنهادی را به‌روشنی نشان می­دهند.

کلیدواژه‌ها

عنوان مقاله [English]

The Design and Comparison of Backstepping Fuzzy Control and Fuzzy Sliding Mode Control for Controlling Underactuated Mechanical Systems with Two Degrees of Freedom

نویسندگان [English]

  • Saeed Zaare 1
  • mohammad reza soltanpour 2
1 Department of Electrical Engineering, Khatam Al-Anbiya University, Tehran, Iran
2 Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
چکیده [English]

In this paper, two control methods are presented to control a class of underactuated systems with two degrees of freedom. The design method of the proposed controllers and how to prove the stability of the closed-loop system using solutions such as backstepping control, sliding mode control, fuzzy logic and their combinations are presented in details. Mathematical proof shows that the closed-loop system under the proposed scheme has a global asymptotic stability in the presence of structural and un-structural uncertainties. Then, the advantages and disadvantages of the proposed controls are examined and then some criteria such as simplicity in practical implementation, the control input calculations volume, the adjustment of the control input coefficients, and the amplitude of the control input are used to make comparisons between the suggested controllers. Finally, to evaluate the performance of the proposed controllers, simulations are implemented on the cart-position system with a single-link inverted pendulum. The simulation results confirm the performance of the proposed solutions.

کلیدواژه‌ها [English]

  • Underactuated System with two Degrees of Freedom
  • Structured and Un-structured uncertainties
  • Backstepping control
  • Sliding Mode Control
  • Fuzzy System

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سابقه مقاله

  • تاریخ دریافت: 30 آبان 1399
  • تاریخ بازنگری: 11 اسفند 1399
  • تاریخ پذیرش: 27 آذر 1400
  • تاریخ انتشار: 01 آبان 1400

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