کنترل تحمل‌پذیر عیب زمان ثابت مبتنی بر شبکه عصبی و کنترل کننده تطبیقی مد لغزشی یک وسیله نقلیه زیردریایی با اشباع عملگر

علوم کاربردی و محاسباتی در مکانیک

مقاله 3، دوره 36، شماره 4 - شماره پیاپی 38، دی 1403، صفحه 35-56   

نوع مقاله: مقاله پژوهشی

شناسه دیجیتال (DOI): 10.22067/jacsm.2024.85527.1219

نویسندگان

مصطفی تقی زاده^* ؛ مجید مختاری؛ محمود مزارع

دانشگاه شهید بهشتی- دانشکده مکانیک و انرژی

چکیده

پیچیدگی محیط دریا، اغتشاشات خارجی و عدم قطعیت‌های وارد بر سیستم وسیله نقلیه زیرآبی و همچنین عیب و اشباع عملگر از عوامل موثر در کنترل این نوع از وسایل نقلیه می‌باشد. در این مقاله به منظور مقابله با مشکلات مذکور، یک کنترل‌کننده مقاوم و تطبیقی با ترکیب کنترل کننده مد لغزشی دینامیکی سریع ترمینالی و روش شبکه عصبی با تابع پایه شعاعی پیشنهاد شده است. در الگوریتم کنترلی پیشنهادی، مسئله اشباع عملگر در نظر گرفته شده و پایداری آن به کمک تئوری لیاپانوف اثبات شده است. از قابلیت-های کنترل کننده پیشنهادی همگرایی زمان ثابت، تخمین و مقابله با اغتشاش و عدم قطعیت سیستم، مقابله فعال با عیب عملگر، حذف پدیده چترینگ و عدم اشباع عملگر می‌باشد. کنترل کننده طراحی شده بر روی یک وسیله نقلیه زیرآبی مستقل اعمال شده و پارامترهای کنترل کننده بر ای دستیابی به کمترین خطا در تعقیب مسیرهای مرجع و کمترین زمان همگرایی به کمک روش جستجوی هارمونی بهینه‌سازی شده‌اند. به منظور بررسی بهتر، عملکرد کنترل کننده پیشنهادی با یک روش کنترل عیب غیرفعال و روش PID مقایسه شده است که نتایج برتری روش کنترلی پیشنهادی را در تعقیب مسیرهای مرجع، میزان تلاش کنترلی، مقابله با عیب عملگر و اغتشاشات خارجی و همچنین همگرایی در زمان کمتر به مقادیر مطلوب نشان داده است.

کلیدواژه‌ها

وسیله نقلیه زیر آبی؛ کنترل کننده تطبیقی مد لغزشی دینامیکی سریع ترمینالی؛ شبکه عصبی؛ کنترل فعال عیب عملگر؛ اشباع عملگر

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