كنترل تطبيقي مدلغزشي فازي يك ميز سه درجه آزادي

adaptive fuzzy sliding mode control a three-axis table

ميز سه درجه آزادي كه وظيفه تست و كاليبراسيون سنسورهاي حركتي و ناوبري را بر عهده دارد يك سيستم چند متغير غير خطي تلقي ميشود . به منظور توليد گشتاور در اين سيستم غير خطي از انواع عملگر هاي الكتريكي و نيوماتيكي و هيدروليكي استفاده ميشود. هدف اين تحقيق طراحي كنترل كننده اي با رويكرد مقاوم است كه بتواند اهداف مطلوب در حوزه موقعيت ،سرعت و شتاب زاويه اي را در حضور نامعيني ها و اغتشاشات براورده سازد.از اين رو روش كنترل مد لغزشي كلاسيك تطبيقي فازي را براي كنترل اين سيستم كه از موتور هاي سنكرون مغناطيس دائم در آن استفاده شده است ،برگزيده ايم تا بتوانيم اين دو سيستم كوپل شده بخش ديناميكي ميز سه درجه آزادي و بخش الكترومكانيكي موتورهاي سنكرون را به نحو مطلوبي كنترل نماييم.

Flight motion simulators are used to simulate the movements of the flying objects in the laboratory environment. The three-degree of freedom table which is an rotational motion simulator is a non-linear and multi-variable system that has three torque inputs. In order to produce torque in this non-linear system the electronic actuators such as permanent magnetic synchronous motors are used Controlling of this non-linear system is subject to adjust the input signal of the actuators in each frame of this table to follow the optimal angles as well as the first and second derivatives of these angles. The scope of research and control procedures introduced for this type of simulators has been around the linear control methods and also to deal with the problem of multivariate systems the frame and uncertainties interference effects are ignored.The purpose of this study is to design a controller with an adaptive approach that could meet the desired objectives in the field of angular acceleration, velocity and situation in the presence of uncertainties and disturbances. Thus, in the first step the conventional sliding mode controller with an adaptive-fuzzy approach by maintaining the multivariate form of this system is designed. next this multi-variable system is considered as three single-input single-output sub-systems and by keeping all non-linear effects such as turbulences and parametric uncertainties and the effect of interaction and engagement of the adjacent frames and it is attempted to design a fast adaptive terminal sliding mode controller coupled with global and fuzzy sliding mode that provides time limited stability for a wide class of nonlinear systems including the two coupled systems including the dynamic part of three-degree of freedom table and electromechanical part of the synchronous motors. finally the simulation results of both methods are compared.