علوم و فناوری فضایی

علوم و فناوری فضایی

طراحی هدایت و کنترل یکپارچه‌ با ترکیب روش‌های کنترل مد لغزشی و گام به عقب

نوع مقاله : مقالة‌ پژوهشی‌

نویسندگان
گروه کنترل، مجتمع دانشگاهی برق و الکترونیک، دانشگاه صنعتی مالک اشتر، تهران، ایران
چکیده
در این مقاله، طراحی هدایت و کنترل یکپارچه با ترکیب روش‌های‌ کنترل مد لغزشی و گام به عقب صورت گرفته است. این روش برخلاف روش‌های سنتی موجود با تلفیق معادلات سینماتیکی و دینامیکی و استخراج یک فضای حالت یکه به‌صورت مدل‌سازی یکپارچه، با مسئلة طراحی هدایت-کنترل به‌صورت یک تک حلقه برخورد می‌کند. روش فوق در مقابل نامعینی‌های ناشی از مدل دینامیکی رهگیر و شتاب هدف مقاوم است. نتایج شبیه‌سازی در سه بعد با در نظر گرفتن دینامیک شش درجه آزادی نشان می‌دهد که طراحی هدایت و کنترل یکپارچه با هم‌افزایی زیر سیستم‌های هدایت و کنترل منجر به برخورد مناسب با هدف مانوردار می‌شود.
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  • تاریخ دریافت 09 اردیبهشت 1394
  • تاریخ بازنگری 12 خرداد 1396
  • تاریخ پذیرش 03 خرداد 1396
  • تاریخ اولین انتشار 03 خرداد 1396