کنترل فعال ارتعاشات و پایدارسازی مقاوم چند جسمی صلب-انعطاف ‏پذیر با الگوریتم مود لغزشی زمان متغیر

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسنده

استادیار، پژوهشکده سامانه‌های فضانوردی، پژوهشگاه هوافضا (وزارت علوم، تحقیقات و فناوری)، تهران، ایران

چکیده

در این مقاله به طراحی کنترلرهای مقاوم هیبرید مود لغزشی توسعه‌یافته با سطح لغزش زمان متغیر و ارتعاشات یک فضاپیمای انعطاف‏پذیر در مانور وضعیت پرداخته‌شده‌ است. مدل دینامیک غیرخطی کاملاً کوپل صلب-انعطاف‏پذیر شامل دوران سه محوره جسم صلب در تعامل با تغییرشکل‏های عرضی پنل‏های انعطاف‏پذیر مجهز به حسگر/عملگر‏های پیزوالکتریک می‏باشد. سیگنال هموار کنترلی شامل ترم تانژانت هایپربولیک و یک تابع تنظیم شدت‏ سوئیچینگ به‌منظور کاهش اثرات چترینگ و تعدیل اثرات ناشی از تعاملات فرکانس بالای بخش‏های انعطاف‏پذیر و اغتشاشات خارجی با بدنه صلب و کنترلر می‏باشد. ساختار سطح لغزشی متغیر با زمان امکان تنظیم میزان اثر پارامترهای وضعیت (کواترنیون‏ها و سرعت‏های زاویه‏ای) را بر عملکرد کنترلی فراهم ساخته است. همچنین ارتعاشات باقی‏مانده حین و پس از فاز دستیابی به هدف با به‌کارگیری یک الگوریتم مقاوم کنترل فعال ارتعاشات، کاهش‌یافته است. شبیه‏سازی‏ها در قالب مطالعه مقایسه‏ای، عملکرد و برتری رویکرد پیشنهادی را در مقایسه با رویکرد کلاسیک کنترل مود لغزشی برای سیستم‏های با انعطاف‏پذیری سازه‏ای در حضور اغتشاشات خارجی و نامعینی‏ها نمایش می‏دهد.

کلیدواژه‌ها


عنوان مقاله [English]

Robust Stabilization and Active Vibration Control of a Rigid-Flexible Multibody System Using Time-Varying Sliding Mode Algorithm

نویسنده [English]

  • Milad Azimi
Assistant Professor, Department of Astronautic, Aerospace Research Institute (Ministry of Science, Research and Technology), Tehran, Iran
چکیده [English]

This paper proposes robust hybrid sliding mode control with a time-varying sliding surface and active vibration control for a flexible spacecraft during attitude maneuver. The fully coupled nonlinear dynamic model of the rigid-flexible system includes the three-axis rotation of the rigid body in interaction with the transverse deformation of the smart PZT-mounted flexible appendages. The smooth control signal includes a hyperbolic tangent and a sharpness function to reduce the effects of chattering and high-frequency interactions of the flexible parts and external disturbances in interaction with the rigid body and controller. The structure of the variable sliding surface with time has made it possible to adjust the effect of attitude parameters (quaternions and angular velocities) on the control performance. Also, the residual vibrations during and after the reaching phase are suppressed using a robust active vibration control algorithm. The simulations in the form of a comparative study show the performance and superiority of the proposed approach compared to conventional sliding mode control approaches for systems with structural flexibility in the presence of external perturbations and uncertainties.

کلیدواژه‌ها [English]

  • Active vibration control
  • Chattering
  • Piezoelectric
  • Robust control
  • Sliding mode control

Smiley face

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دوره 18، شماره 4 - شماره پیاپی 70
شماره پیاپی 70، فصلنامه زمستان
دی 1401
صفحه 49-63
  • تاریخ دریافت: 12 تیر 1401
  • تاریخ بازنگری: 06 مرداد 1401
  • تاریخ پذیرش: 23 مرداد 1401
  • تاریخ انتشار: 01 دی 1401