طراحی کنترل‌کننده‌ ردیاب مقاوم تطبیقی برای سیستم‌های ساندویچ مکانیکی‌ مقید به تابع اشباع ساندویچ شده

نوع مقاله : پژوهشی کامل

نویسندگان

1 دانشجوی کارشناسی ارشد، گروه مهندسی برق، دانشگاه صنعتی شیراز، شیراز، ایران

2 دانشیار، گروه مهندسی برق، دانشگاه صنعتی شیراز، شیراز، ایران

چکیده

در این مقاله‌ مسئله ردیابی مقاوم تطبیقی برای سیستم‌های ساندویچ با تابع غیرخطی ناهموار اشباع در حضور عدم قطعیت‌ها و اغتشاش‌های خارجی حل شده است. سیستم‌های ساندویچ دسته‌ای از سیستم‌های غیرخطی می‌باشند که توابع غیرخطی ناهموار بین زیرسیستم‌های مجزای آن‌ها ساندویچ شده‌اند. مقاله حاضر، سیستم‌های ساندویچ شامل دو زیرسیستم غیرخطی با تابع غیرخطی اشباع واقع شده بین زیرسیستم‌ها را مورد مطالعه قرار می‌دهد. به خاطر ویژگی‌هایی همچون عدم معکوس‌پذیری و ناهمواری تابع اشباع، همچنین وجود ضرایب نامعلوم و اغتشاش‌های خارجی، تحلیل و فرآیند طراحی سیستم‌های مذکور با پیچیدگی‌هایی مواجه می‌باشد. در این مقاله، یک کنترل‌کننده‌ مقاوم تطبیقی با استفاده از رویکرد کنترلی پسگام و ترکیب آن با تابع Nussbaum بر اساس نظریه‌ی لیاپانوف، ‌برای دست‌یابی به اهداف کنترلی پیشنهاد شده است. به منظور تایید دستاوردهای نظری و همچنین کارایی روش پیشنهاد شده، روش مطرح شده‌ به یک سیستم مکانیکی شامل یک بازوی نگهدارنده تک لینکی که توسط یک موتور DC راه‌اندازی می‌شود، اعمال می‌گردد. نتایج شبیه‌سازی عملکرد مؤثر رویکرد پیشنهادی را در ردیابی سیگنال مرجع متغیر با زمان در حضور جملات نامعلوم، اغتشاش‌های خارجی و تابع اشباع ساندویچ شده بین زیر سیستم‌ها نشان می‌دهد.

کلیدواژه‌ها

موضوعات


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