ﺑﻬﯿﻨﻪ ﺳﺎزي ﻣﻘﺎوم ﮐﻨﺘﺮل وﺿﻌﯿﺖ ﻣﺎﻫﻮاره ﺑﺎ ﻋﻤﻠﮕﺮ ﭼﺮخ ﻋﮑﺲاﻟﻌﻤﻠﯽ ﺑﺎ ﻟﺤﺎظ ﻋﺪمﻗﻄﻌﯿﺖ

Robust Optimization of Satellite Attitude Control with Reaction Wheel Actuator in the Presence of Uncertainties

در اﯾﻦ ﻣﻘﺎﻟﻪ ﮐﻨﺘﺮل وﺿﻌﯿﺖ ﺗﮏﻣﺤﻮره ﻣﺎﻫﻮاره ﺻﻠﺐ ﺑﺎ ﻋﻤﻠﮕﺮ ﭼﺮخ ﻋﮑﺲاﻟﻌﻤﻠﯽ ﺑﺎ ﻓﺮض ﻋﺪمﻗﻄﻌﯿﺖ و اﻏﺘﺸﺎش ﺑﺮرﺳﯽ ﺷﺪه اﺳﺖ. ﺑﻪﻣﻨﻈﻮر ﮐﻨﺘﺮل وﺿﻌﯿﺖ ﻣﺎﻫﻮاره از ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺗﻨﺎﺳﺒﯽ- اﻧﺘﮕﺮاﻟﯽ- ﻣﺸﺘﻘﯽ PID)( اﺳﺘﻔﺎده ﺷﺪ ﮐﻪ ﺿﺮاﯾﺐ آن از ﻓﺮاﯾﻨﺪ ﺑﻬﯿﻨﻪﺳﺎزي ﻣﺒﺘﻨﯽ ﺑﺮ اﻟﮕﻮرﯾﺘﻢ ﺗﮑﺎﻣﻠﯽ ﺑﻪدﺳﺖ آﻣﺪه اﺳﺖ. ﺑﺮاي اﻓﺰاﯾﺶ ﻗﻮام ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮل در ﻣﻮاﺟﻬﻪ ﺑﺎ ﻋﺪمﻗﻄﻌﯿﺖ و اﻏﺘﺸﺎش، از روش ﺑﻬﯿﻨﻪﺳﺎزي ﻣﻘﺎوم اﺳﺘﻔﺎده ﺷﺪه اﺳﺖ. در روش ﺑﻬﯿﻨﻪﺳﺎزي ﻣﻘﺎوم وﯾﮋﮔﯽﻫﺎي آﻣﺎري ﻣﻌﯿﺎر ﻋﻤﻠﮑﺮد ﺑﻪﻋﻨﻮان ﺗﺎﺑﻊ ﻫﺪف ﺗﺮﮐﯿﺒﯽ اﻟﮕﻮرﯾﺘﻢ ﺑﻬﯿﻨﻪﺳﺎز ﻟﺤﺎظ ﺷﺪه اﺳﺖ. ﺑﻪﻣﻨﻈﻮر ﻣﻘﺎﯾﺴﻪ ﻣﻨﺼﻔﺎﻧﻪ، ﻧﺘﺎﯾﺞ ﺑﻬﯿﻨﻪﺳﺎزي ﻣﻌﯿﻦ و ﺑﻬﯿﻨﻪ ﺳﺎزي ﻣﻘﺎوم ﺑﻪازاي ﻋﺪمﻗﻄﻌﯿﺖﻫﺎي ﻣﺨﺘﻠﻒ ﺑﺎ ﯾﮑﺪﯾﮕﺮ ﻣﻘﺎﯾﺴﻪ ﺷﺪه اﻧﺪ. ﭼﺮخ ﻋﮑﺲاﻟﻌﻤﻠﯽ ﺑﺎ دﯾﻨﺎﻣﯿﮏ ﻣﺮﺗﺒﻪ اول و ﻟﺤﺎظ ﮐﺮدن ﻣﺤﺪودﯾﺖ ﻋﻤﻠﯽ ﺑﯿﺸﯿﻨﻪ ﮔﺸﺘﺎور ﺗﻮﻟﯿﺪي ﻣﺪل ﺳﺎزي ﺷﺪه اﺳﺖ. ﻋﺪمﻗﻄﻌﯿﺖ روي ﻣﺪل ﻋﻤﻠﮕﺮ، ﻟﺨﺘﯽ دوراﻧﯽ ﻣﺎﻫﻮاره و اﻏﺘﺸﺎﺷﺎت ﺧﺎرﺟﯽ ﺑﺎ ﻣﺪل ﺗﺎﺑﻊ ﭼﮕﺎﻟﯽ ﻃﯿﻔﯽ، اﻋﻤﺎل ﮔﺮدﯾﺪه و ﺑﺎ روش ﺑﻬﯿﻨﻪ LHSﻧﻤﻮﻧﻪﺑﺮداري ﺗﺼﺎدﻓﯽ ﺷﺪه اﺳﺖ. ﻧﺘﺎﯾﺞ ﺣﻞ ﻋﺪدي، ﻧﺸﺎﻧﮕﺮ ﻋﻤﻠﮑﺮد ﻣﻘﺎوم ﺗﺮ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺗﻨﻈﯿﻢﺷﺪه ﺑﺎ روش ﺑﻬﯿﻨﻪﺳﺎزي ﻣﻘﺎوم در ﻣﻮاﺟﻬﻪ ﺑﺎ ﻋﺪم ﻗﻄﻌﯿﺖﻫﺎﺳﺖ؛ ﺑﻪﻃﻮري ﮐﻪ ﻧﻤﻮدار ﻣﯿﺎﻧﮕﯿﻦ و ﻣﻌﯿﺎر ﻋﻤﻠﮑﺮد ﺗﺎﺑﻊ ﻫﺪف ﺗﺮﮐﯿﺒﯽ ﻧﺸﺎندﻫﻨﺪه ﺗﻐﯿﯿﺮات ﮐﻢﻣﻌﯿﺎر ﻋﻤﻠﮑﺮد در ﻣﻮاﺟﻬﻪ ﺑﺎ ﻋﺪم ﻗﻄﻌﯿﺖﻫﺎﺳﺖ اﻟﺒﺘﻪ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﻃﺮاﺣﯽﺷﺪه ﺑﺎ روش ﺑﻬﯿﻨﻪﺳﺎزي ﻣﻌﯿﻦ، ﺑﺎ ﻓﺮض ﻣﻌﯿﻦ ﺑﻮدن ﻫﻤﻪ ﻣﻘﺎدﯾﺮ، ﻋﻤﻠﮑﺮد ﻣﻨﺎﺳﺐﺗﺮي دارد.

In this paper, a single - axis satellite attitude control with reaction wheel actuator was analyzed in the presence of uncertainty and external disturbance. A proportional - integral - derivative (PID) controller was used to control when the control gains were achieved with evolutionary optimization algorithm. To increase robustness, robust optimization method was used in the presence of uncertainties and disturbances. In the robust optimization method, the statistical properties of the performance criterion, expected value and standard deviation were considered as the combined objective function of the optimization algorithm. For fair comparison, deterministic and robust optimization results were compared together versus uncertainties. Reaction wheel actuator was modeled with first - order equation and practical constraint in maximum and minimum generation momentum. Uncertainty was considered on moment of inertia, external disturbance, and reaction wheel with power spectral density function sampled with LHS algorithm. The graph of the mean value and performance criteria of the combined objective function shows small changes in the objective function in the face of uncertainties. Achieved numerical solution results indicated that the tuned controller with robust optimization performed better in the presence of uncertainties although tuned controller with deterministic optimization performed better assuming certain values.