طراحی کنترل‌کننده بازنشان مقاوم بر اساس عملکرد پس بازنشان بهینه به‌منظور بهبود عملکرد سیستم کنترل یک ربات صنعتی

محورهای موضوعی : انرژی های تجدیدپذیر

مریم جدی‌گلفزانی ¹ , محمد واحدی ² , مجید گندمکار ³

1 - دانشکده مهندسی برق- واحد ساوه، دانشگاه آزاد اسلامی، ساوه، ایران
2 - دانشکده مهندسی برق- واحد ساوه، دانشگاه آزاد اسلامی، ساوه، ایران
3 - دانشکده مهندسی برق- واحد ساوه، دانشگاه آزاد اسلامی، ساوه، ایران

تاریخ دریافت : 1400/12/02 تاریخ پذیرش : 1401/05/03 تاریخ انتشار : 1402/09/01

کلید واژه: کنترل بازنشان, ربات دو درجه آزادی, کنترل ترکیبی مقاوم, کنترل‌کننده بازنشان فیدبک خروجی, روش پس بازنشان بهینه,

چکیده مقاله :

این مقاله یک کنترل کننده مقاوم بازنشان فیدبک خروجی بهینه به منظور کنترل یک ربات با دو درجه آزادی معرفی می شود. در این راستا، در این مقاله با استفاده از معرفی یک کنترل ترکیبی خاص تحت عنوان کنترل فیدبک خروجی بازنشان مقاوم، معایب موجود در کنترل کننده خطی برطرف و هدف اصلی آن کاهش فراجهش و افزایش سرعت پاسخ و پایداری بهتر سیستم تحت کنترل است. برای این کار ابتدا یک کنترل کننده فیدبک خروجی بهینه بدون عمل بازنشان طراحی می شود، به طوری که قطب های سیستم حلقه بسته در یک منطقه از پیش تعریف شده قرار می گیرند. این ناحیه به گونه ای انتخاب می شود که پایداری نمایی و زمان رسیدن حلقه بسته در زمان محدود تضمین شود. سپس، مقدار پس بازنشان در زمان های تنظیم مجدد با به حداقل رساندن یک تابع هزینه مناسب برای دستیابی به کارایی بهتر طراحی می شود. در این مقاله، برای اولین بار مقدار پس بازنشان تنها با اطلاعات خروجی سیستم مشخص شده و در ادامه پایداری سیستم نیز تضمین خواهد شد. ربات استفاده شده در این مقاله یک نمونه کاربردی و صنعتی بوده که دارای دو بازو و دو مفصل با قابلیت کنترل مجزا می باشد. موقعیت و رفتار بازوها بر اساس معادلات و روابط ریاضی حاکم، نشان دهنده اثرگذاری مستقیم آن بر روی یکدیگر می باشد. در پایان برای اثبات طرح پیشنهادی، با استفاده از نرم افزار متلب شبیه سازی عددی انجام شده و مقایسه ای بین کنترل کننده ارائه شده با کنترل کننده مشابه انجام خواهد شد.

چکیده انگلیسی:

Standard PID controllers are one of the most desirable controllers for industrial automation and the most widely used control in feedback systems. However, linear controllers have limitations that represent­tation controllers can be used to overcome these limitations. In this paper, a robust reset control based on optimal output feedback to control a robot with two degrees of freedom. In general, the behavior of reset controllers is similar to that of linear controllers, in other words, they are easy to implement. In this regard, in this paper, by introducing a special combination control called robust reset output feedback control, the disadvantages of the linear controller are eliminated and its main purpose is to reduce overexposure and increase the response speed and better stability of the controlled system. Therefore, this paper introduces a systematic method for reset optimal output feedback controller. To do this, an optimal output feedback controller is first designed without the reset action, so that the poles of the closed-loop system are located in a predefined area. This area is selected to ensure the stability of the exponential and the arrival time of the closed loop in a finite time. Then, the reset value at reset times is designed to minimize a cost-effective function for better performance. In this paper, for the first time, the reset value is specified only with the system output information and then the stability of the system will be guaranteed. The robot used in this article is a practical and industrial example that has two arms and two joints with separate control capability. The position and behavior of the arms based on the governing equations and mathematical relations indicate its direct effect on each other. Finally, to prove the proposed design, numerical simulation will be performed using Matlab software and a comparison between the proposed controller and a similar controller will be performed.

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