کنترل بهینه غیرخطی یک وسیله هوایی با در نظر گرفتن مدل غیرخطی موتور پیشران

نوع مقاله : مقاله پژوهشی

نویسندگان

عضو هیات علمی / مجتمع دانشگاهی مکانیک، دانشگاه صنعتی مالک اشتر

چکیده

این مقاله به مدلسازی دینامیکی و کنترل بهینه غیرخطی یک وسیله هوایی با در نظر گرفتن مدل غیرخطی موتور پیشران می‌پردازد. بدین منظور معادلات دینامیک پرواز غیرخطی وسیله هوایی با در نظر گرفتن روابط غیرخطی حاکم بر موتور پیشران آن استخراج می‌شود. رابطه نیروی پیشرانش و مصرف سوخت موتور هوازی بیان و با معادلات دینامیک غیرخطی وسیله پرنده ترکیب می‌شود. با بیان فرمولاسیون کنترل بهینه غیرخطی وابسته به حالت، دینامیک غیرخطی جسم هوایی به عنوان معادلات قیدی مسئله در نظر گرفته شده و تابع هزینه شامل متغیرهای حالت و ورودی های کنترلی در لحاظ می‌شود. سپس تابع همیلتونین مسئله کنترل بهینه تشکیل و معادلات بهینگی بدست می‌آید. با حل عددی معادلات بهینگی، پارامترهای متعددی نظیر زاویه مسیر پرواز، عدم قطعیت، زاویه حمله و ضرایب وزنی کنترل بهینه در نظر گرفته شده و شبیه‌سازی متنوعی ارایه می‌شود. نتایج نشان می‌دهد، با افزایش زاویه حمله، زمان و تلاش کنترلی سامانه افزایش می‌یابد. با تغییر ضرایب وزنی مسئله کنترل بهینه، مسیرهای بهینه کنترلی متعددی ایجاد و افزایش ضرایب وزنی ورودی باعث کاهش مصرف سوخت بهینه می‌شود. مشاهده می‌شود که با تغییر پارامتر عدم قطعیت در مدلسازی، پاسخ گذرا سیستم تغییر کرده اما در نهایت روش کنترل بهینه توانمند در ردیابی مسیر مطلوب بوده است. با تغییر شرایط اولیه مختلف و پارامترهای مختلف، کنترل بهینه غیرخطی سیستم به خوبی انجام می‌شود که نشان‌دهنده کارایی روش پیشنهادی در مدلسازی و کنترل غیرخطی سیستم است.

کلیدواژه‌ها

عنوان مقاله [English]

Nonlinear optimal control of an aerial vehicle with consideration of nonlinear Modeling of thruster engine

نویسندگان [English]

  • Mostafa Nazemi Zade
  • Alireza Babaei
Department of Mechanical engineering, Malek-Ashtar University, Iran
چکیده [English]

This article deals with dynamic modeling and nonlinear optimal control of an aerial vehicle taken into account nonlinear modeling of its thruster engine. To do this, nonlinear flight dynamic equations of the aerial vehicle are derived considering nonlinear equations of the thruster engine. A relation between the thrusting force and the fuel consumption of the air-breathing engine is stated and coupled with the nonlinear dynamic equations of the vehicle. Presenting the formulation of the state-dependent nonlinear optimal control, the nonlinear dynamic relations of the aerial vehicle are considered as constraint equations of the optimal control and a cost function including state and input variables is defined. Then, the Hamiltonian function of the optimal control problem is formed and optimality equations obtained. By numerical solving of the problem, various parameters like as the path angle, uncertainties, attack angle and weighting coefficients of the optimal control are considered and several simulations are presented. The results show that increasing the attack angle leads to increasing of the control time and effort of the system. Also, changing the weighting coefficients lead to various optimal paths as increasing the input weighting coefficient decreases the fuel consumption. It is seen by changing the uncertainty parameter of the model, transient response is changed but finally the optimal control method is able to track the desired path. Furthermore, by changing initial conditions and parameters, the nonlinear optimal control of the system is effectively performed which indicates the priority of the proposed method

کلیدواژه‌ها [English]

  • aerial vehicle
  • thruster engine
  • nonlinear dynamics
  • optimal control
  • state-dependent

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