کنترل ارتعاشات سازه انعطاف پذیر متصل به پایه چرخان با الگوریتم مود لغزشی فراپیچشی-ترمینال غیرتکین در حضور نامعینی

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 نویسنده مسئول: استادیار، پژوهشکده فضانوردی، پژوهشگاه هوافضا، تهران، ایران

2 دانشجوی کارشناسی ارشد، پژوهشکده فضانوردی، پژوهشگاه هوافضا، تهران، ایران

3 دانشیار، پژوهشکده فضانوردی، پژوهشگاه هوافضا، تهران، ایران

چکیده

در این مقاله به طراحی کنترل مقاوم وضعیت یک سازه انعطاف‌پذیر متصل به پایه چرخان در قالب یک سیستم صلب-انعطاف پذیر با استفاده از الگوریتم هیبرید مرتبه دوم مود لغزشی فراپیچشی -ترمینال غیر تکین پرداخته شده‌ است. حدود مشخصی از اغتشاشات خارجی و نامعینی های دینامیکی در کنار دینامیک کاملا کوپل بخش های انعطاف پذیر در ساختار کنترلی درنظر گرفته شده است. معادله دینامیک صلب-انعطاف پذیر سیستم با استفاده از روش لاگرانژ استخراج و با بکارگیری روش المان محدود و فرض تئوری تیر اویلر- برنولی برای بازوی انعطاف پذیر گسسته سازی شده است. رویکرد هیبرید کنترلی به کار گرفته شده شامل بخش مود لغزشی ترمینال غیرتکین منجر به افزایش دقت های بالا در ردگیری هدف و افزایش سرعت های همگرایی شده، و بخش مود لغزشی فراپیچشی منجر به کاهش قابل ملاحظه پدیده چترینگ می شود. پایداری کلی سیستم با استفاده از تئوری لیاپانوف اثبات شده است. شبیه سازی های انجام شده با به کارگیری تئوری کنترلی پیشنهادی در قالب یک مطالعه مقایسه ای امکان انجام مانورهای زاویه بزرگ و کاهش قابل ملاحظه ارتعاشات ناشی از تحریک بخش های انعطاف‏پذیر را با معیار چابکی، دقت و سرعت بالای همگرایی نمایش داده و با کاهش پدیده چترینگ، عملکرد سیستم را از منظر تحریک مودهای فرکانس بالا افزایش داده است.

کلیدواژه‌ها

عنوان مقاله [English]

Vibration Suppression of a Rotating Flexible Structure using Super Twisting-Nonsingular Terminal Sliding Mode Control with Uncertainty

نویسندگان [English]

  • Milad Azimi 1
  • Valiollah Shahbahrami 2
  • Alireza Alikhani 3
1 Corresponding author: Assistant Professor, Astronautic Department, Aerospace research institute, Tehran, Iran
2 MSc Student, Astronautic Department, Aerospace research institute, Tehran, Iran
3 Associate Professor, Astronautic Department, Aerospace research institute, Tehran, Iran
چکیده [English]

In this paper, a robust hybrid control approach for vibration and attitude control of a flexible rotating structure as a fully coupled rigid-flexible system is investigated. Two control algorithms as a combination of second-order super twisting-nonsingular terminal sliding mode control (SMC) considering external disturbances and system uncertainties are developed. The nonlinear dynamic equation of the motion is derived via the Lagrangian approach and the finite element method. The non-singular terminal SMC leads to high accuracy in target tracking, and convergence and the super twisting part significantly reduce the chattering phenomenon. The overall stability of the system has been guaranteed using the Lyapunov theory. The simulations in the form of a comparative study (with agility, accuracy, and high convergence criteria) show the feasibility of performing large-angle maneuvers and significantly reducing the vibrations caused by the flexible parts. Moreover, by controlling the chattering phenomenon, the system performance regarding high-frequency modes excitation is increased.

کلیدواژه‌ها [English]

  • Vibration
  • Nonsingular Terminal
  • Chattering
  • Rotating Structure
  • Sliding Mode Control
  • Super Twisting

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مکانیک هوافضا
دوره 18، شماره 1 - شماره پیاپی 67
شماره پیاپی 67، فصلنامه بهار
خرداد 1401
صفحه 171-182

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سابقه مقاله

  • تاریخ دریافت: 06 اردیبهشت 1400
  • تاریخ بازنگری: 24 آبان 1400
  • تاریخ پذیرش: 11 دی 1400
  • تاریخ انتشار: 01 اردیبهشت 1401

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