بهینه‌سازی انرژی در جرثقیل زیر‌تحریک برای انتقال بار متغیر با‌زمان با کنترل‌کنندۀ مد لغزشی سلسله‌مراتبی ترکیبی تطبیقی بهینه

نویسندگان

دانشکده مهندسی برق و کامپیوتر، دانشگاه کاشان

چکیده

این مقاله یک کنترل‌کنندۀ مد لغزشی سلسله‌مراتبی ترکیبی تطبیقی بهینه ​​(OACHSMC)   را برای یک مدل جرثقیل با بار متغیر بازمان در حضور عدم‌ قطعیت طراحی می‌کند. کنترل‌کننده مبتنی بر مد لغزشی (SMC) طراحی شده زیرا دارای رفتار پایداری و عملکرد مقاوم در حضور انواع عدم‌ قطعیت مانند دینامیک‌های مدل‌نشده و نیروهای اصطکاک است که به‌ترتیب به‌صورت جمع‌شونده و ضرب‌‌شونده مدل شده‌اند. مدل جرثقیل زیر‌تحریک دارای دو زیرسیستم ارابه و بار است. بنابراین می‌توان آن را با استفاده از یک کنترل‌کنندۀ مد لغزشی سلسله‌مراتبی ترکیبی (CHSMC) و منیفولد لغزشی دو‌لایه و فقط یک سیگنال کنترلی به‌طور دقیق کنترل کرد. جرم بار و طول کابل جرثقیل در حین انتقال بار متغیر بازمان در نظر گرفته شده، لذا مدل جرثقیل متغیر بازمان بوده و کنترل‌کننده با ضریب متغیر بازمان منیفولد لغزشی لایۀ دوم تطبیقی طراحی می‌شود. برای صرفه‌جویی در مصرف انرژی سیگنال ورودی، پارامتر منیفولد لغزشی لایۀ اول کنترل‌کننده با دو راهکار هوشمند الگوریتم ژنتیک (GA) و بهینه سازی ازدحام ذرات (PSO) بهینه‌سازی شده که نتایج یکسان داشته است. نتایج شبیه‌سازی پایداری و عملکرد مقاوم کنترل‌کنندۀ بهینه‌شدۀ پیشنهادی را نشان می‌دهد.‌

کلیدواژه‌ها


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