طراحي کنترل‌کننده تطبيقي مدل مرجع براي سيستم حرکت از راه دور با فيدبک از خروجی پيشبينی شده
محورهای موضوعی : مهندسی برق و کامپیوترسیدکمال حسينی ثانی 1 * , حمیدرضا مؤمنی 2 , فرخ جنابي شريفي 3
1 - دانشگاه تربیت مدرس
2 - دانشگاه تربیت مدرس
3 - دانشگاه Ryerson تورونتو کانادا
کلید واژه: سيستم حرکت از راه دورکنترل‌کننده تطبيقی مدل مرجعتأخیر زمانیربات فرماندهربات فرمانبر,
چکیده مقاله :
با توجه به کاربرد‌هاي سيستمهاي حرکت از راه دور که طيف وسيعي از صنعت را به خود تخصيص داده است، در اين مقاله با پرداختن به آن و طراحي کنترل‌کننده مناسب، سعي در بهبود عملکرد اينگونه سيستم‌ها با توجه به تأخیر زمان خط اينترنت شده است. به همين منظور با ارائه روشي جديد ابتدا زمان تأخیر خط به طور مناسب شناسايی مي‌شود و از آن در پيش بيني خروجي فرآيند استفاده مي‌گردد. سپس از اين خروجي در طراحي کنترل‌کننده تطبيقي مدل مرجع در سمت فرمانده استفاده مي‌شود. در سمت فرمانبر نيز با طراحي کنترل‌کننده تطبيقي مستقل از ربات فرمانده، رديابي بسيار مناسبي براي سيگنال‌هاي موقعيت/سرعت ربات فرمانبر حاصل مي‌گردد.
In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. The proposed control system indicates good stability and force tracking performance. For the slave site, an independent MRAC is designed and it is shown that a good tracking for the position and velocity signals is achieved.
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