کنترل موقعیت یک سیستم سرو الکتروهیدرولیک مبتنی بر کنترل‌کننده ‌فازی تطبیقی مودلغزشی

محورهای موضوعی : مهندسی برق کنترل

حمید قدیری ¹ , حامد خدادادی ²

1 - دانشکده مهندسی برق، پزشکی و مکاترونیک، واحد قزوین، دانشگاه آزاد اسلامی، قزوین، ایران
2 - دانشکده مهندسی برق و کامپیوتر، دانشگاه آزاد اسلامی واحد خمینی شهر، اصفهان، ایران

تاریخ دریافت : 1401/11/06 تاریخ پذیرش : 1402/02/05 تاریخ انتشار : 1402/09/01

کلید واژه: کنترل‌کننده فازی, تطبیقی, سیستم‌ سرو الکتروهیدرولیک, کنترل موقعیت, کنترل مدلغزشی,

چکیده مقاله :

سیستم های سرو الکتروهیدرولیک یکی از مهم ترین سیستم‌های کنترلی هستند که در بسیاری از حوزه ها از جمله اتوماسیون صنعتی، ماشین های کنترل عددی، صنعت نفت و گاز و غیره مورد استفاده قرار می‌گیرند. با توجه به رفتار غیرخطی اجزای سیستم هیدرولیکی و وجود نامعینی های مختلف در عملکرد آن، مدل‌سازی و کنترل این سیستم ها را با مشکل مواجه می سازد. در این مقاله از به منظور غلبه بر نامعینی‌ها یک کنترل‌کننده تطبیقی فازی مبتنی بر کنترل مودلغزشی برای کنترل موقعیت یک سیستم سرو الکتروهیدرولیک پیشنهاد شده است. ارایه کنترل‌کننده مقاوم پیشنهادی منجر به وابستگی حداقلی به مدل سیستم خواهد شد. پایداری سیستم در حضور عدم قطعیت ها با تکیه بر تئوری لیاپانوف، اثبات شده و با توجه به متغیر با زمان بودن عدم قطعیت ها، برای تقریب حداکثر باند و محدوده عدم قطعیت ها، یک قانون تطبیق برای تخمین آن نیز پیشنهاد شده است. نتایج شبیه سازی، عملکرد مناسب و پایدار کنترل کننده فازی تطبیقی مودلغزشی پیشنهادی را نسبت به سایر روش‌های کنترلی نشان می دهد.

چکیده انگلیسی:

Electro-hydraulic servo systems are one of the most important control systems used in many fields such as industrial automation, numerical control machines, the oil and gas industry. Due to the non-linear behavior of hydraulic system components and the presence of various uncertainties in their operation, the modeling and control of these systems face problems. In this paper, a fuzzy adaptive controller based on sliding mode control is proposed to control the position of an electrohydraulic servo system and overcome the uncertainties. The proposed robust controller results in minimal dependence on the system model. The system's stability in the presence of uncertainties has been proved by applying the Lyapunov theory and considering the time-varying nature of the uncertainties. Besides, to approximate the maximum band and the range of uncertainties, an adaptation law has been proposed for its estimation. The simulation results show the reasonable and stable performance of the proposed adaptive fuzzy controller compared to other control methods.

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