دانش و فناوری هوافضا

دانش و فناوری هوافضا

طراحی الگوریتم‌های کنترل موقعیت و وضعیت مبتنی بر بهینه‌سازی تکاملی و فازی برای ردیابی مسیر مرجع چهارپره

نوع مقاله : مقاله پژوهشی

نویسندگان
1 استادیار، مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر
2 استادیار، مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر،
3 استاد، مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر
چکیده
در این مقاله سیستم کنترل یک ریزپرنده چهارپره جهت ردیابی یک مسیر مرجع ارزیابی شده است. الگوریتم‌های کنترل با هدف قابلیت پیاده‌سازی سخت‌افزاری و در نظر گرفتن محدودیت‌های توانی و پردازشی ریزپرنده چهارپره توسعه داده شده است. برای این منظور ابتدا یک کنترل‌کننده تناسبی-مشتقی (PD) که ضرایب آن توسط الگوریتم ژنتیک به‌صورت برون خط بهینه شده است برای کنترل هر دو حلقه بیرونی (حلقه کنترل موقعیت) و داخلی (حلقه کنترل وضعیت) پیاده‌سازی شده است. با توجه به اغتشاشات و عدم قطعیت‌های محیط واقعی، تأثیر جایگزینی کنترل فازی (Fuzzy) بر عملکرد ریزپرنده در حلقه‌های کنترل بیرونی و داخلی مورد ارزیابی قرار گرفته است. نتایج شبیه‌سازی نشان می‌دهد که جایگزینی کنترل‌کننده فازی در حلقه داخلی باعث بهبود ردیابی مسیر مرجع شده است. همچنین عملکرد مطلوب این کنترل‌کننده برای ریزپرنده چهارپره در حضور اغتشاش و عدم قطعیت نیز اثبات شده است.
کلیدواژه‌ها

عنوان مقاله English

Attitude and position controller design of quadrotor based on evolutionary optimization and fuzzy for trajectory tracking

نویسندگان English

Alireza Ahangarani Farahani 1
Hamed Arefkhani 1
Sayyed Majed Hosseini 2
Hossein Sadati 3
1 Assistant Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
2 Assistant Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran
3 Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
چکیده English

In this paper, the guidance and control system of a quadrotor to track the trajectory is evaluated. Control algorithms have been developed with the aim of hardware implementation capability and considering the power consumption and processing limitation of quadrotor. For this purpose, a proportional–derivative controller (PD) that control coefficients are optimized by a genetic algorithm (GA) to control both the outer (position control) and inner (attitude control) loops is implemented. Due to the disturbances and uncertainties, the effect of fuzzy control replacement on the quadrotor performance in guidance and control loops has been evaluated. The simulation results show that replacing the fuzzy controller in the guidance loop improves trajectory tracking. Also, the performance of this controller for the quadrotor in the presence of disturbance and uncertainties was proved.

کلیدواژه‌ها English

Quadrotor
Nonlinear Control
Trajectory Tracking
Fuzzy Control
Genetic Algorithm
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