دوره 16، شماره 1 - ( مجله کنترل، جلد 16، شماره 1، بهار 1401 )                   جلد 16 شماره 1,1401 صفحات 87-73 | برگشت به فهرست نسخه ها

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Khosravi Samani M, Basohbat Novinzadeh A. A Multi-body Control Approach for Flapping Wing Micro Aerial Vehicles. JoC. 2022; 16 (1) :73-87
URL: http://joc.kntu.ac.ir/article-1-763-fa.html
خسروی سامانی مهدی، باصحبت نوین زاده علیرضا. کنترل چند جسمی میکرو پرنده‌های بال‌زن. مجله کنترل. 1401; 16 (1) :87-73

URL: http://joc.kntu.ac.ir/article-1-763-fa.html


1- دانشکده مهندسی هوافضا، دانشگاه صنعتی خواجه نصیر‌الدین طوسی، تهران، ایران
چکیده:   (1380 مشاهده)
میکرو پرنده بال‌زن یک دینامیک چند پیکره متناوب است که تحت تاثیر آیرودینامیک ناپایا قرار دارد. این ویژگی‌ها کنترل وسیله پرنده را دشوار می‌کند. صرفنظر کردن از لختی بال، میانگین‌گیری از دینامیک بدنه و استفاده از مدل آیرودینامیک ساده، فرضیات ساده‌شونده‌ای است که در روش‌های کنترل بر مبنای مدل مورد استفاده قرار می‌گیرد، اگرچه کنترل دقیق وسیله پرنده با این ملاحظات دشوار است. جهت غلبه بر این مشکلات یک رویکرد کنترل چند جسمی بر اساس روش کنترل تطبیقی مدل آزاد با ساختار متغیر ارائه شده‌است. این روش اولین چارچوب‌ ارائه شده برای کنترل پرنده بال‌زن است که ماهیت چندجسمی، غیرخطی و متغیر با زمان بودن آن را در کنار مشخصات آیرودینامیکی اصلی آن به شکل یکپارچه در نظر میگیرد و فرایند کنترل را انجام می­دهد. این روش یک روش داده محور از جنس ورودی-خروجی است در حالیکه شامل هیچ اطلاعات صریحی از مدل پرنده نیست. در این رویکرد ابتدا به کمک مفهوم جدیدی به نام مشتق شبه جزئی، دینامیک غیرخطی پرنده بال‌زن به یک دینامیک خطی معادل تبدیل می‌شود، و بعد از تخمین آن قانون کنترل تطبیقی مدل آزاد بر اساس معیار بهینه طراحی می‌شود. سپس کنترل‌کننده با افزودن یک جمله کنترلی ساختار متغیر از نوع مود لغزشی تقویت شده‌است تا پایداری و همچنین افزایش سرعت همگرایی را تضمین کند. در نهایت نتایج شبیه‌سازی کارایی روش ارائه شده را جهت کنترل چند جسمی مسیر پرنده بال‌زن با دینامیک متغیر بازمان متناوب تایید می‌کند.
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نوع مطالعه: پژوهشي | موضوع مقاله: عمومى
دریافت: 1399/3/8 | پذیرش: 1399/12/18 | انتشار الکترونیک پیش از انتشار نهایی: 1400/1/10

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