کنترل گام متغیر برای یک کوادروتور با استفاده از کنترل‌کننده‌های خطی‌سازی فیدبک و خطی‌سازی فیدبک تطبیقی مستقیم

نوع مقاله : مقاله پژوهشی

نویسندگان

• مریم مسلسل ¹
• مهدی خدابنده ²

¹ مهندسی برق - کنترل، دانشگاه صنعتی همدان

² مهندسی برق- کنترل، دانشگاه صنعتی همدان

10.22067/fum-mech.v31i2.84510

چکیده

در این مقاله به بررسی ساختار دینامیکی کوادروتور گام متغیر و طراحی کنترل­کنندۀ مناسب بر اساس مدل­سازی­های ریاضی پرداخته شده است. کوادروتور گام ثابت به دلیل ساختار دینامیکی ساده‌تر نسبت به سایر مدل­ها بیشتر مورد توجّه تحقیقات علمی قرار گرفته است. این نوع از کوادروتور­ها در عین سادگی نسبی، محدودیت­هایی نظیر کاهش مداومت پروازی و انجام مانورهای مختلف پروازی را به همراه دارند. می‌توان با استفاده از ملخ‌های گام متغیر در یک کوادروتور، محدودیت‌های یاد شده را به‌طور نسبی کاهش داد. در این مقاله، ابتدا به بررسی ویژگی‌های ملخ‌های گام متغیر در مقایسه با ملخ‌های گام ثابت برای یک کوادروتور پرداخته شده است. در ادامه از روش خطی‌سازی فیدبک و خطی‌سازی فیدبک تطبیقی مستقیم جهت کنترل کوادروتور گام متغیر استفاده شده است.درنهایت نیز نتایج حاصل از طرح کنترلی پیشنهادی از طریق شبیه‌سازی با نرم‌افزار MATLAB بررسی شده است. جهت بررسی بهتر عملکرد کنترل‌کننده‌های طراحی‌شده، نتایج شبیه‌سازی با روش‌های PID و دینامیک معکوس غیرخطی (NID)  و مدلغزشی و مد لغزشی تطبیقی در شرایط تغییر جرم کوادروتور مقایسه شده است. نتایج شبیه‌سازی نشان می‌دهد که اتخاذ این راهبرد تطبیقی اجازه می‌دهد تا کوادروتور جهت‌گیری‌های زمان متغیر و دستورات ارتفاع را به‌طور دقیق‌تری، در حضور اغتشاشات و یا نامعینی‌های پارامتری، در مقایسه با کنترل‌کننده‌های خطی‌سازی فیدبک غیر تطبیقی، دنبال کند و همچنین نشان می‌دهد که کنترل‌کننده‌های خطی‌سازی فیدبک تطبیقی و مد لغزشی تطبیقی به ترتیب در مقایسه با کنترل‌کننده‌های خطی‌سازی فیدبک، مد لغزشی، PID و NID ردیابی دقیق‌تر و با خطای کمتری دارند.

کلیدواژه‌ها

• کوادروتور گام متغیر
• مدل‌سازی
• کنترل خطی‌سازی فیدبک
• کنترل خطی‌سازی فیدبک تطبیقی مستقیم

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عنوان مقاله [English]

Variable-Pitch Control of a Quadrotor Using Feedback Linearization Controller and Direct Adaptive Feedback Linearization Controller

نویسندگان [English]

• Maryam Mosalsal ¹
• Mahdi Khodabandeh ²

¹ Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Ir

² Hamedan University of Technology, Hamedan

چکیده [English]

In this paper, the dynamic structure of variable pitch quadrotor and the design of a suitable controller based on mathematical modeling have been studied. The fixed pitch quadrotor because of having a simpler dynamic structure than other models has been the focus of scientific studies. This kind of quadrotors, despite their relative simplicity, creates limitations such as shortening the flight time and various maneuvers. In this paper, at first, the characteristics of variable pitch propeller are studied and compared with the fixed pitch propeller for a quadrotor. In continue, a Feedback Linearization Controllerand a Direct Adaptive Feedback Linearization Controller are used to control the Variable-Pitch quadrotor. Ultimately, the results of the proposed control are investigated via MATLAB software simulation. To better evaluate the performance of the designed controllers, the simulation results are compared with PID and Nonlinear Inverse Dynamics (NID) and Sliding Mode and Adaptive Sliding Mode controllers in the mass change condition of the quadrotor.The simulation results show that this adaptive strategy allows the quadrotor to follow variable time attitude and altitude commands more accurately, in the presence of disturbances or parameter uncertainties, compared to non-adaptive feedback linearization controllers. And also it shows that adaptive feedback linearization and adaptive sliding mode controllers have more accurate tracking with less error compared to feedback linearization, sliding mode, PID and NID controllers, respectively.
 

کلیدواژه‌ها [English]

• Variable Pitch Quadrotor
• Modeling
• Feedback Linearization Control
• Direct Adaptive Feedback Linearization Control

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