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کنترل ردیاب کوادروتور با استفاده از کنترل مد لغزشی تطبیقی مبتنیبر شبکههای عصبی چبیشف | ||
مجله مهندسی برق دانشگاه تبریز | ||
مقاله 15، دوره 49، شماره 4 - شماره پیاپی 90، اسفند 1398، صفحه 1591-1601 اصل مقاله (979.28 K) | ||
نوع مقاله: علمی-پژوهشی | ||
نویسندگان | ||
محسن خاشعی ورنامخواستی؛ خوشنام شجاعی ارانی* | ||
دانشکده مهندسی برق، واحد نجف آباد، دانشگاه آزاد اسلامی | ||
چکیده | ||
در این مقاله، روشی برای کنترل کوادروتور براساس کنترل مد لغزشی با استفاده از شبکههای عصبی چبیشف پیشنهاد شده است. روش پیشنهادی ترکیبی از روش کنترل مدلغزشی و تخمینگر شبکه عصبی چبیشف میباشد که در آن وزنهای شبکه عصبی بهصورت بلادرنگ با استفاده از تکنیکهای کنترل تطبیقی مقاوم بهروزرسانی میشوند. در این پژوهش، مدل دینامیکی کوادروتور بهمنظور کنترل ردیابی وضعیت و زاویه کوادروتور به دو زیرسیستم تقسیم شده است: یک زیرسیستم تحریک کامل و دیگری تحریک نقصانی. برای زیرسیستم اول، سطوح لغزش تنها با استفاده از خطای ردیابی یکی از متغیرهای حالت طراحی میشوند و برای زیرسیستم دوم، سطوح لغزش با ترکیب خطی از دو متغیر حالت تعریف میشوند. در این مقاله، پایداری سیستم بهوسیله تکنیکهای مبتنی بر تئوری لیاپانوف تحلیل میگردد و با استفاده از نتایج شبیهسازی صحت عملکرد کنترلکننده نشان داده خواهد شد. | ||
کلیدواژهها | ||
کوادروتور؛ کنترل مد لغزشی؛ شبکههای عصبی چبیشف؛ کنترل تطبیقی؛ کنترل مقاوم | ||
مراجع | ||
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