ارائه یک روش جدید به منظور تخمین برخط تأخیر زمانی در سیستم‌های SISO-LTI با تأخیر زمانی متغیر با زمان و نامعلوم در ورودی کنترلی
محورهای موضوعی : مهندسی برق و کامپیوترهادی چهکندی نژاد 1 , محسن فرشاد 2 , رمضان هاونگی 3
1 - دانشگاه آزاد اسلامی واحد بیرجند
2 - دانشگاه بیرجند
3 - دانشگاه بیرجند
کلید واژه: فیلتر کالمن سیستم‌های L.T.I. تأخیر زمانی متغیر در ورودیعدم قطعیتتخمینگر تأخیر,
چکیده مقاله :
در این مقاله یک تخمینگر نوین برای تخمین بلادرنگ تأخیر زمانی در سیستم‌های L.T.I. تک‌ورودی- تک‌خروجی، با تأخیر متغیر با زمان و نامعلوم در ورودی کنترلی ارائه شده است. واضح است که تابع تبديل لاپلاس یک سیستم تأخیردار، شامل یک عامل تأخیر زمانی (عامل نمایی و غیر گویا) است. در این مقاله فرض بر این است که تنها پارامتر نامعلوم و متغیر با زمان در سیستم، پارامتر تأخیر زمانی سیستم است. در راستای طراحی تخمینگر پیشنهادی، ابتدا بایستی به منظور گویاکردن تابع تبديل سیستم، از یک تقریب پده (Pade) برای عامل نمایی تأخیر زمانی استفاده شود. لذا تابع تبديل جدید که تقریبی از تابع تبديل اصلی سیستم است، شامل یک پارامتر (متغیر با زمان) تأخیر زمانی خواهد بود. پس از نوشتن یک تحقق فضای حالت، از تابع تبديل مذکور و در نظر گرفتن پارامتر تأخیر زمانی به عنوان یک متغیر حالت اضافی، یک سیستم با معادلات حالت غیر خطی تولید خواهد شد. نهایتاً با استفاده از یک فیلتر کالمن (خطی و توسعه‌یافته برای معادلات حالت خطی‌سازی شده و غیر خطی) حالت‌های این سیستم، از جمله تأخیر زمانی سیستم، پیش‌بینی می‌شوند. در پایان، نتایج شبیه‌سازی‌ها، عملکرد نسبتاً مطلوب تخمینگر پیشنهادی در مواجهه با تأخیرهای متغیر با زمان و نامعلوم را نشان می‌دهند.
In this paper, a novel observer is designed for online time delay estimation, in SISO linear systems, with variable and unknown time-delay in control input. It is clear that Laplace transfer function of a delayed system includes a time-delay operator (exponential and non-rational). In this article, it is assumed that the only unknown and variable parameter in the system is the system’s time-delay. For designing the proposed observer, first, a Pade approximation is used for exponential operator of time delay to rationalize the system transfer function. Therefore, the new transfer function, which is an approximation of the main transfer function of the system, will include a time-variant delay parameter. After rewriting a state space realization of the mentioned transfer function and considering time delay parameter as an extra state variable, a system with nonlinear state equations will be formed. Eventually, using a Kalman filter, the systems states, such as system time-delay, are estimated. Finally, simulations results show rather desirable performance of the proposed estimator in dealing with unknown and variable time-delays.
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