طراحی کنترل کننده مد لغزشی مقاوم- تطبیقی با‌ تحمل عیب برای سیستم تعلیق فعال مدل یک دوم خودرو

نوع مقاله : مقاله پژوهشی

نویسندگان

حسن زرآبادی پور ¹

مهدی فرهنگ رنجبر ²

¹ گروه مهندسی برق کنترل، دانشکده فنی مهندسی، دانشگاه بین المللی امام خمینی(ره)، قزوین، ایران

² گروه مهندسی برق کنترل،دانشکده فنی و مهندسی، دانشگاه بین المللی امام خمینی، قزوین،ایران

10.22067/jacsm.2022.71589.1043

چکیده

راحتی سرنشینان خودرو یکی از موارد بسیار مهم در حین رانندگی می‌باشد، از این جهت سیستم تعلیق نقش به سزایی در برآورده شدن این امر دارد. برای بررسی این موضوع در این پژوهش طراحی سیستم کنترل تحمل پذیر عیب برای سیستم تعلیق فعال مدل یک دوم خودرو انجام گرفته است. در این مقاله هدف، طراحی کنترل کننده مدلغزشی مقاوم-تطبیقی جهت پایدار سازی سیستم تعلیق خودرو و همگرایی پاسخ خروجی به پاسخ مطلوب می باشد. به این منظور، ابتدا مدل سیستم تعلیق یک دوم خودرو در حضور عیب‌های عملگر، سنسور، عدم قطعیت‌های مدل سازی و نیز اغتشاشات محدود خارجی در نظر گرفته شده است. سپس، با فرض عدم اطلاع از باند بالای ترم شامل عیب های سیستم و اغتشاشات، به طراحی قانون کنترل تحمل پذیر خطا پرداخته شده تا پاسخ خروجی سیستم در مقابل هر گونه عیب ناگهانی به مقدار مطلوب (پایدار) همگرا شده و همچنین خروجی مسیر مطلوبی را دنبال کند.

کلیدواژه‌ها

سیستم تعلیق

مدل یک دوم خودرو

کنترل مدلغزشی مقاوم-تطبیقی

عدم قطعیت

موضوعات

• کنترل

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عنوان مقاله English

Robust-Adaptive Sliding Mode Controller Design with Fault tolerance for Active Suspension of Half-car model

نویسندگان English

hassan zarabadipour ¹

mahdi farhangranjbar ²

¹ Department of Electrical Control Engineering, Faculty of Engineering, Imam Khomeini International University, Qazvin, Iran

² Department of Electrical Control Engineering, Faculty of Engineering, Imam Khomeini International University, Qazvin, Iran

چکیده English

The comfort of car passengers is one of the most important issues while driving, therefore the suspension system plays a significant role in this matter. To investigate this issue, in this research, the design of a fault-tolerant control system for the active suspension system of the one half- car model has been considered. In this article, the goal is to design a robust-adaptive sliding mode controller to stabilize the vehicle suspension system and converge the output response to the desired response. For this purpose, firstly, the model of the suspension system of the one half of the car is considered in the presence of actuator, sensor, modeling uncertainties and limited external disturbances. Then, with the assumption of not knowing the upper band of the term, including system faults and disturbances, the error tolerant control law has been designed so that the output response of the system in front of any sudden fault converges to the desired(stable) value and also the output of a desired path.

کلیدواژه‌ها English

Suspension

Half- car model

Robust-adaptive Sliding mode control

uncertainty

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