طراحی کنترل کننده برای مدل غیرخطی کوادروتور با استفاده از فیدبک خطی ساز و PID مرتبه کسری با تنظیم بر اساس تئوری شبکه عصبی

نوع مقاله : مقاله علمی پژوهشی

نویسنده

استادیار، گروه خلبانی، دانشکده مهندسی و پرواز، دانشگاه امام علی (ع)، تهران

چکیده

کوادروتور یک سیستم زیر تحریک و غیرخطی کوپل شده است. جهت کنترل، از روش پس‌خوراند خطی ساز [1] (FL) بر اساس دینامیک سیستم استفاده ‌شده است و به ‌این ‌ترتیب سیستم غیرخطی پیچیده به یک سیستم خطی ساده تبدیل می‌گردد، علاوه بر این از ترکیب کنترل ‌کننده PID مرتبه کسری[2] (FOPID)  با فیدبک خطی ساز استفاده می‌شود تا تنظیم موقعیت کوادروتور به ‌دقت انجام شود. تنظیم ضرایب کنترل‌ کننده FOPID به دلیل داشتن دو پارامتر بیشتر نسبت به کنترل کننده عادی PID، دارای پیچیدگی بیشتری است برای همین از شبکه‌های عصبی[3] ( NNs) برای تنظیم پارامترهای FOPID  استفاده می‌شود. برای به‌روزرسانی وزن‌های شبکه عصبی از الگوریتم پس انتشار خطا[4]  ( BP) بهره برده می‌شود. از شبکه‌های عصبی به دلیل انعطاف‌پذیری و آموزش بر خط می‌توان برای غلبه بر  نامعینی‌ها و افزایش قوام کنترل کننده استفاده کرد. پیاده‌سازی عملگر مرتبه کسری به دلیل داشتن بعد[5] بی‌نهایت با مشکلاتی مواجه است و در این مقاله از تقریب بهینه اوستالوپ برای تخمین و پیاده‌سازی عملگر کسری استفاده می‌شود. درنهایت نتایج شبیه­سازی برای بررسی دقت روش ارائه‌ شده و همچنین مقاومت آن ارائه می­شوند.

کلیدواژه‌ها

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