طراحی افزاینده پایداری مقاوم ∞H با ضرایب بهینه ژنتیکی برای مدل چند ورودی چند خروجی بالگرد بدون سرنشین با دینامیک¬های وابسته
محورهای موضوعی : مهندسی برق و کامپیوترزهرا سلامتی 1 , زهرا نجاتی 2 , علیرضا فرجی 3
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2 - دانشگاه کاشان
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کلید واژه: بالگرد بدون سرنشینسیستم افزاینده پایداریمد هاورطراحی کنترل‌کننده مقاوم بهینهحذف وابستگی دینامیک‌ها,
چکیده مقاله :
در این مقاله تلاش شده تا برای یک مدل چندورودی- چندخروجی (MIMO) بالگرد بدون سرنشین (HUAV)، سیستم افزاینده پایداری (SAS) مقاوم بهینه در مد هاور طراحی شود. این مدل در حالت حلقه باز، ناپایدار و زیر تحریک است و بین دینامیک‌های آن در کانال‌های رول، پیتچ و یاو وابستگی وجود دارد. در این مقاله با توجه به ویژگی خاص مدل، فیلترهایی با پهنای باند مشخص در مسیر سیگنال‌های اعمالی به عملگرها طراحی شده که باعث می‌شود وابستگی دینامیک‌ها در مدل حلقه بسته کاهش یافته و عملکرد حلقه‌های کنترلی در کانال‌های حرکت طولی، عرضی و سمت آن مجزا گردد. در این مقاله، SAS به صورت کنترل‌کننده‌های PI مقاوم روی مدل خطی طراحی می‌شود. بر این اساس، پس از مجزانمودن حلقه‌های عملکردی بالگرد در حالت حلقه بسته، ضرایب PI هر کانال به کمک مسئله کنترل مقاوم ∞H مدل شده و با الگوریتم ژنتیک به صورت بهینه محاسبه گردیده است. در نهایت شبیه‌سازی روی مدل غیر خطی نشان‌دهنده مقاوم‌بودن آن در برابر عدم قطعیت ناشی از خطی‌سازی مدل غیر خطی و اغتشاشات واردشده به سیستم است.
Nowadays, Unmanned helicopters are used widely in many applications because they have high maneuverability and can take off and landing in many areas, and its stability has special importance. Without stability augmentation system (SAS), the helicopter is not maneuverable. Stability augmentation system or SAS design for helicopter decreases disturbances effects and improve performance. In this paper a robust SAS is designed for nonlinear dynamic model of ANCL helicopter in hover mode, this model is unstable, multivariable, under-actuated with coupling between dynamics Due to specific characteristics for liner model of the system in this paper, some filters are designed for input signals of actuators for decoupling of system dynamics in closed loop system, so these loops will become decoupled. PI controller is conventional to design of SAS in small helicopters, so PI coefficients are designed robustly for each decoupled control loop and this is designed by H_∞ Robust problem and optimized by genetic algorithm. Finally, obtained controllers are simulated for nonlinear model helicopter in hover mode that results show robustness against of nonlinear model uncertainty and disturbances.
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