دوره 14، شماره 1 - ( مجله کنترل، جلد 14، شماره 1، بهار 1399 )
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Abooee A, eslami M, Haeri M. Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective. JoC 2020; 14 (1) :93-113
URL: http://joc.kntu.ac.ir/article-1-509-fa.html
URL: http://joc.kntu.ac.ir/article-1-509-fa.html
ابوئی علی، اسلامی مهران، حائری محمد. طراحی کنترل‌کننده‌های غیرخطی زمان-محدود مقاوم برای زیردریایی شش درجه آزادی به منظور ردیابی مسیر. مجله کنترل. 1399; 14 (1) :93-113
علی ابوئی* 
1، مهران اسلامی1 ، محمد حائری2
1، مهران اسلامی1 ، محمد حائری2
1- دانشگاه یزد
2- دانشگاه صنعتی شریف
2- دانشگاه صنعتی شریف
چکیده: (6857 مشاهده)
در این مقاله، ابتدا معادلات سینماتیکی و دینامیکی توصیف‌کننده‌ی مدل حرکت و مانور زیردریایی شش درجه آزادی ارائه می‌شوند. در ادامه، با تعمیم روش کنترل مد لغزشی ترمینال غیرتکین، سه دسته‌ی مجزا از ورودی‌های کنترلی برای زیردریایی شش درجه آزادی دارای نامعینی (شامل نامعینی‌های پارامتری، دینامیکهای مدلنشده، نیروها و اغتشاشهای ناشناخته وارده از اقیانوس) طراحی می‌شوند تا با اعمال هر دسته از ورودی‌های پیشنهادی، زیردریایی بعد از مدت زمان محدودی به مسیر دلخواه و مورد نظر همگرا شود و همواره در امتداد این مسیر مانور دهد. برای هر دسته از ورودی‌های کنترلی، سطوح لغزشی غیرخطی متفاوتی پیشنهاد شده‌اند که دارای چندین پارامتر اختیاری و آزاد می‌باشند. هم‌چنین، در فرآیند اثبات پایداری زمان-محدود سیستم حلقه‌بسته‌ی زیردریایی، برای هر کلاس از ورودی‌های کنترلی طراحی‌شده یک نامساوی کاربردی استخراج می‌شود تا زمان محدود مورد نیاز برای همگرایی به مسیر مورد نظر را تعیین کند. سه نامساوی حاصله نشان می‌دهند که زمان‌های محدود همگرایی، به شرایط اولیه زیردریایی و پارامترهای اختیاری و آزاد موجود در ورودی‌های کنترلی بستگی دارند. در انتها، ورودی‌های کنترلی پیشنهادی به صورت جداگانه بر روی مدل معروف زیر دریایی NPS AUV II مورد شبیه‌سازی کامپیوتری قرار می‌گیرند. نتایج حاصل از شبیه‌سازی‌ها نشان می‌دهند تمامی ورودی‌های پیشنهادی قادرند تا هدف ردیابی زمان-محدود را به خوبی برآورده سازند.
واژه‌های کلیدی: زیردریایی خودکار شش درجه آزادی، ردیابی زمان-محدود مقاوم، کنترل مد لغزشی ترمینال غیرتکین، سطوح لغزشی غیرخطی، دینامیک مد لغزشی، زیردریایی NPS AUV II.
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