نوع مقاله : علمی پژوهشی

نویسندگان

1 دانشجوی دکتری، دانشکده فناوریهای نوین و مهندسی هوافضا، شهید بهشتی، تهران، ایران

2 دانشیار دانشکده فناوری های نوین و هوافضا، دانشگاه شهید بهشتی، تهران، ایران

3 دانشیار، گروه مهندسی برق- کنترل، دانشکده فنی مهندسی ، دانشگاه قم، قم، ایران

چکیده

این مقاله باهدف کنترل پرواز گروهی بالگردهای بدون سرنشین تدوین شده است. متدولوژی حل شامل مدل‌سازی دینامیکی بالگرد، طراحی کنترل‌کننده و درنهایت طراحی کنترل شکل‌دهی است. پس از ارائه معادلات دینامیکی حاکم بر پرنده با استفاده از روش نیوتن اویلر به دلیل معماری ساده و توانایی جداسازی سیستم‌های چند متغیره غیرخطی برای کنترل موقعیت و وضعیت، کنترل وارون دینامیک بالگردها اعمال شده است، همچنین کنترل پیش‌بین توسعه‌یافته نیز برای کنترل موقعیت و وضعیت بالگرد بکار رفت و نتایج حاصل از شبیه‌سازی این دو کنترلر با هم مقایسه شد که نشان از عملکرد بهتر کنترل پیش‌بین داشت. ازاین‌رو در طراحی کنترل شکل‌دهی، کنترل مستقل بالگردها به روش پیش‌بین انجام شد. به‌منظور کنترل شکل‌دهی نیز از روش مبتنی بر مدل پیرو پیشرو استفاده شده است. برای کنترل دینامیک خطای شکل‌دهی نیز کنترل‌کننده‌ی مد لغزشی انتگرالی بکار رفته است. نتایج حاصل از شبیه‌سازی موفقیت ردیابی با افزایش تعداد بالگردها و در مسیر خطی و مارپیچ را در فرمان‌های کنترلی را نشان داد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Formation control of unmanned helicopters using the sliding mode controller method

نویسندگان [English]

  • Fatemeh Ghaderi 1
  • Alireza Toloei 2
  • Reza Ghasemi 3

1 PhD Student, Faculty of Modern Technologies and Aerospace Engineering, Shahid Beheshti, Tehran, Iran

2 Associate Professor, Faculty New Technologies and Aerospace Engineering, Shahid Beheshti. Tehran. Iran

3 Associate Professor, Department of Electrical Engineering University of Qom

چکیده [English]

This article aims to control the group flight of unmanned helicopters. After presenting the dynamic equations using the Newton-Euler method, the dynamic inversion control has been applied to control the position and attitude of helicopters. generalized predictive control was also used to control the position and attitude of the helicopter. And the results of the simulation of these two controllers were compared, which showed the better performance of the predictive control. Therefore, in the design of the formation control, the independent control of the helicopters was done using the predictive control method. To control the formation, the method based on the leader-follower model has been used, An integral sliding mode controller is also used to control the dynamics of the formation error. The results of the simulation showed the success of the tracking by increasing the number of helicopters and the linear and spiral paths in the control commands.

کلیدواژه‌ها [English]

  • Unmanned Helicopter
  • Predictive Control
  • Dynamic Inversion Control
  • Sliding Mode Control
  • Formation control
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