دوره 15، شماره 2 - ( مجله کنترل، جلد 15، شماره 2، تابستان 1400 )                   جلد 15 شماره 2,1400 صفحات 80-69 | برگشت به فهرست نسخه ها

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Ranjbar B, Ranjbar Noiey A, Rezaie B. Design of Decentralized Adaptive Integral Terminal Sliding Mode Controller for Linear Interconnected Mechanical Systems in the Presence of External Disturbance. JoC. 2021; 15 (2) :69-80
URL: http://joc.kntu.ac.ir/article-1-731-fa.html
رنجبر بابک، رنجبر نوعی ابوالفضل، رضایی بهروز. طراحی کنترل کننده مدلغزشی ترمینال انتگرال تطبیقی غیرمتمرکز برای سیستم های مکانیکی متصل خطی درحضور اغتشاش خارجی. مجله کنترل. 1400; 15 (2) :80-69

URL: http://joc.kntu.ac.ir/article-1-731-fa.html


1- دانشکده مهندسی برق و کامپیوتر- دانشگاه صنعتی نوشیروانی بابل
چکیده:   (13172 مشاهده)
در این مقاله یک کلاس از سیستم­ های مکانیکی متصل خطی دارای اغتشاش با اتصالات خطی ناشناخته بین زیرسیستم ­ها در نظر گرفته شده که برای ردیابی ورودی مرجع، تکنیک کنترل مدلغزشی ترمینال انتگرال تطبیقی غیرمتمرکز (DAITSMC) پیشنهاد شده است. برای کنترل غیرمتمرکز، سیستم متصل به چند زیرسیستم تقسیم شده و با انتخاب سطح لغزش ترمینال انتگرالی برای هر زیرسیستم، علاوه بر افزایش سرعت ردیابی ورودی مرجع در زمان محدود، اثر اغتشاش حذف می­ شود. اثر اتصالات خطی ناشناخته بین زیرسیستم ­ها بصورت نامعینی در نظر گرفته شده و بدلیل مشخص نبودن کران آن­ ها، توسط روابط تطبیقی تخمین زده می ­شوند. با کاندید شدن یک تابع لیاپانوف و انتخاب مناسب پارامترهای طراحی، پایداری سیستم حلقه بسته تضمین می ­شود. روش پیشنهادی بر روی دو سیستم مکانیکی متصل اعمال گشته؛ مقایسه نتایج شبیه ­سازی با چند روش کنترلی،  نشان داده که روش پیشنهادی DAITSMC برای سیستم­ های متصل در حضور اغتشاش کارامد است و خطای همگرایی سریع­ تر صفر می ­شود.
متن کامل [PDF 876 kb]   (149 دریافت)    
نوع مطالعه: پژوهشي | موضوع مقاله: تخصصي
دریافت: 1398/11/9 | پذیرش: 1399/4/20 | انتشار الکترونیک پیش از انتشار نهایی: 1399/4/30

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