تحلیل پایداری نمایی سیستم‌های کنترل از راه دور خطی گسسته با نمونه‌برداری غیر یکنواخت
محورهای موضوعی : مهندسی برق و کامپیوترامير امين‌زاده قوي‌فکر 1 , امیر ریخته‌گر غیاثی 2 , محمدعلی بادامچی‌زاده 3 , فرزاد هاشم‌زاده 4
1 - دانشگاه تبریز
2 - دانشگاه تبریز
3 - دانشگاه تبریز
4 - دانشگاه تبریز
کلید واژه: سیستم کنترل از راه دور ربات پایه و پیرو سیستم کنترل شبکه‌ای پایداری نمونه‌برداری معادلات LMI,
چکیده مقاله :
کنترل از راه دور سیستم‌ها در فرایندهایی که دسترسی به نیروی کار انسانی با دشواری همراه بوده، همواره مورد توجه قرار گرفته است. در این مقاله سیستم‌های کنترل از راه دور به صورت گونه خاصی از سیستم‌های شبکه‌ای که شامل سیستم نمونه‌بردار غیر یکنواخت به همراه تأخیر می‌باشد مدل‌سازی شده و از توابع تأخیری کاهشی برای نشان‌دادن معادلات سیستم بهره گرفته شده است. ربات‌های پایه و پیرو را به صورت سیستم‌های خطی پیوسته با زمان در نظر گرفته و از روش تأخیر در ورودی برای آنالیز پایداری استفاده گردیده است. به کمک تابع لیاپانف پیشنهادی، شرایط کافی جهت پایداری نمایی سیستم کنترل از راه دور با ساختار گسسته و شبکه‌ای، معرفی گردیده و مشاهده خواهد شد که این شرایط در مقایسه با کارهای قبلی حالات محافظه‌کارانه کمتری دارند. همچنین به دنبال محاسبه کران بالایی برای بازه نمونه‌برداری سیگنال‌های کنترلی واردشده بر ربات‌های پایه و پیرو خواهیم بود به گونه‌ای که خللی در پایداری نمایی سیستم وارد ننماید. به این منظور شرایط پایداری به دست آمده را به صورت یک مسئله بهینه‌سازی محدب و در قالب معادلات LMI تبدیل خواهیم کرد. در قسمت شبیه‌سازی نیز رفتار یک سیستم کنترل از راه دور، تحت نمونه‌برداری غیر یکنواخت نشان داده شده و نقش زمان نمونه‌برداری در مصالحه بین پایداری و شفافیت بررسی گردیده است.
Teleoperation systems have attracted more attention in processes that human operator’s availability is difficult. In this paper, using retarded functions, teleoperation systems have been modeled as a special case of Network Control Systems (NCS) with nonuniform sampling and network delays. It is assumed that slave and master robots are linear and continues-time systems and input-delay approach is used for the stability analysis. Using the proposed Lyapunov function, the sufficient conditions for the stability of discrete network-based teleoperation system is proposed. It will be represented that the proposed conditions are less conservative than previous recent researches. Also an upper bound of sampling time for discrete control signals is computed in a manner that does not disturb the stability conditions. To meet this condition the problem is defined as the convex optimization program and is represented by the LMI terms. In the simulation part, the behavior of the teleoperation system under the nonuniform sampling is represented and the effect of sampling time on the trade-off between the stability and transparency has been studied.
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