مجله علمی صوت و ارتعاش

مجله علمی صوت و ارتعاش

کنترل فعال ارتعاشات و وضعیت فضاپیمای انعطاف‌پذیر ناقص عملگر مبتنی‌ بر الگوریتم تحمل‌پذیر خطای فعال مود لغزشی انتگرالی تطبیقی

نوع مقاله : مقاله پژوهشی

نویسندگان
پژوهشگاه هوافضا (وزارت علوم، تحقیقات و فناوری)
چکیده
این مقاله به بررسی مسئله کنترل همزمان مانور و ارتعاشات فضاپیمای انعطاف‌پذیر ناقص عملگر جهت انجام مانورهای وضعیت با دقت بالا و کاهش ارتعاشات ناشی از تحریک پنل‌های انعطاف‌پذیر در حضور اغتشاشات خارجی، نامعینی‌های سامانه و خطای عملگر پرداخته است. الگوریتم تحمل‌پذیر خطای فعال با بهره‌گیری از رویکرد کنترل مود لغزشی انتگرالی تطبیقی و یک مشاهده‌گر یادگیری تکرار شونده (بر پایه مود لغزشی) به منظور تخمین خطای عملگرهای وضعیت، جهت پایدارسازی وضعیت و ارتعاشات فضاپیما با لحاظ اثرات متقابل ناشی از دینامیک جسم صلب و انعطاف‌پذیر، توسعه یافته است. ساختار ناپیوسته کنترل تحمل‌پذیر خطا منجر به ایجاد فرامین ناپیوسته سیگنال کنترلی و تقویت پدیده نامطلوب چترینگ[i] شده است که با پیشنهاد بهره‌ تطبیقی در ساختار سطح لغزش، این مسئله مرتفع شده است. همچنین، تابع علامت به کار برده شده در مشاهده‌گر یادگیری تکرار شونده توسعه یافته جهت تخمین خطای عملگر، علاوه‌بر افزایش قوام مشاهده‌گر در مقابل اغتشاشات خارجی با ساختار ساده‌، منجر به کاهش بار محاسباتی سامانه شده است. جهت کاهش ارتعاشات باقی‌مانده ناشی از برهم‌کنش دینامیک جسم صلب و اثرات ناشی از خرابی عملگرهای وضعیت، از الگوریتم کنترل فیدبک نرخ کرنش و وصله‌های حسگر/عملگر پیزوالکتریک استفاده شده است. پایداری کلی و زمان‌محدود سامانه با دینامیک غیرخطی و کاملا کوپل صلب-انعطاف‌پذیر ناقص عملگر با روش کنترلی و الگوریتم مشاهده‌گر خطای عملگر پیشنهادی، با استفاده از قانون لیاپانوف تضمین شده است. عملکرد و مزیت سامانه پیشنهادی در مقایسه با رویکردهای رایج ارائه شده توسط سایر محققین در قالب شبیه‌سازی‌های عددی نمایش داده شده است.
 
[i] Chattering
کلیدواژه‌ها
موضوعات

عنوان مقاله English

Attitude and Active Vibration Control of a Flexible Spacecraft with Actuator Faults using Active Adaptive Fault-Tolerant Integral Sliding Mode Algorithm

نویسندگان English

Milad Azimi
Marzieh Eghlimidezh
Alireza Alikhani
Aerospace Research Institute (Ministry of science, research and technology)
چکیده English

This article investigates the problem of simultaneous attitude and vibration control of a flexible spacecraft to perform high precision attitude maneuvers and reduce vibrations caused by the flexible panel excitations in the presence of external disturbances, system uncertainties, and actuator faults. Adaptive integral sliding mode control is used in conjunction with an attitude actuator fault iterative learning observer (based on sliding mode) to develop an active fault tolerant algorithm considering rigid-flexible body dynamic interactions. The discontinuous structure of fault-tolerant control led to discontinuous commands in the control signal, resulting in chattering. This issue was resolved by introducing an adaptive rule for the sliding surface. Furthermore, the utilization of the sign function in the iterative learning observer for estimating actuator faults has not only enhanced its robustness to external disturbances through a straightforward design, but has also led to a decrease in computing workload. The strain rate feedback control algorithm has been employed with the use of piezoelectric sensor/actuator patches to minimize residual vibrations caused by rigid-flexible body dynamic interactions and the effect of attitude actuator faults. Lyapunov's law ensures finite-time overall system stability even with fully coupled rigid-flexible nonlinear dynamics. Numerical simulations demonstrate the performance and advantages of the proposed system compared to other conventional approaches.

کلیدواژه‌ها English

Flexile spacecraft
Adaptive Integral Sliding Mode Control
Fault-Tolerant Control
Active Vibration Control
Iterative Learning Observer
 
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