کنترل لغزشی- تطبیقی سیستم تعلیق فعال 4/1 خودرو با عملگر هیدرولیکی با استفاده از سطح لغزش بهینه لگاریتمی
محورهای موضوعی : مهندسی برق و کامپیوترسیدعلی ظهیریپور 1 * , رضا تفقدی اسراری 2 , علیاکبر جلالی 3 , سیدکمالالدین موسوی مشهدی 4
1 - دانشگاه علم و صنعت ايران
2 - دانشگاه علم و صنعت ايران
3 - دانشگاه علم و صنعت ايران
4 - دانشگاه علم و صنعت ايران
کلید واژه: سطح لغزش لگاریتمی سیستم تعلیق فعال عدم قطعیت کنترل تطبیقی مد لغزشی,
چکیده مقاله :
در این مقاله کنترل سیستم تعلیق فعال 4/1 خودرو با عملگر هیدرولیکی و با محوریت مد لغزشی، توأم با یک رویکرد تطبیقی انجام گرفته است. علت استفاده از کنترل مقاوم مد لغزشی، مقابله با انواع عدم قطعیتهای ناشی از اثر اغتشاشات خارجی یا هرگونه رفتار غیر خطی موجود در سیستم است. در روش پیشنهادی، سطح لغزش با استفاده از یک استراتژی بهینه، جهت حداقلسازی یک تابع هزینه استخراج میشود که نتیجه آن یک سطح لغزش لگاریتمی است. دلیل پیشنهاد الگوریتم تطبیقی در این مقاله، وجود عدم قطعیتهای غیر خطی، تغییرپذیر با زمان و دارای کران نامشخص در سیستم است. لازم به ذکر است که روش ارائهشده، ضمن آن که تأثیرات ناشی از عدم قطعیت پارامتری و همین طور اغتشاشات خارجی بر عملکرد سیستم را به طور چشمگیری کاهش میدهد، پایداری سیستم کنترلی لغزشی- تطبیقی را بر پایه تئوری پایداری لیاپانوف به اثبات میرساند.
In this paper, a quarter car active suspension system with a hydraulic actuator, has been controlled by sliding mode coupled with an adaptive approach. To deal with all kinds of uncertainty arising from the effect of external perturbation or the any nonlinear behavior system, sliding mode control has been used. In the proposed method the sliding surface, by using an optimal strategy to minimize the optimal cost function is derived, so the result is a logarithmic sliding surface. Adaptive algorithms proposed in this paper because of the nonlinear variability by time and not bounded uncertainty in the system. While the effects of parameter uncertainties and external disturbances to system performance have been dramatically reduced, the stability of control system proves based on the Lyapanof theory. The proposed control method has been done on a quarter car active suspension system with a hydraulic actuator. Simulation results of the proposed method show that the activation of suspension system by the proposed method increases its performance compare with the passive suspension system.
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