طراحی و پیاده‌سازی کنترل مود لغزشی با نیروی اصلاح‌شده برای آونگ وارون دارای اصطکاک غیرخطی

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده مهندسی مکانیک، دانشگاه علم و صنعت ایران، تهران، ایران

چکیده

هدف از این مطالعه، ارایة روشی برای کنترل آونگ وارون در حضور اصطکاک غیر خطی بزرگ و نامعین بین پایة متحرک آونگ و ریل هادی مستقیم آن است. کنترل آونگ وارون که در زمرة سیستم‌های مکانیکی فروعملگر است، به لحاظ نظری و تجربی با چالش‌هایی مواجه است. روش ارائه‌شده در این مقاله، مبتنی بر خطی‌سازی تقریبی از ورودی تا خروجی و اعمال روش کنترل مود لغزشی همراه با اعمال یک نیروی کنترل اضافی به پایة متحرک آونگ است تا با اصطکاک‌های زیاد و غیر خطی بین پایة متحرک آونگ و ریل مقابله کند. برای بررسی تجربی، یک آونگ وارون آزمایشگاهی با پایة متحرک بر روی یک ریل مستقیم پر اصطکاک ساخته شد تا الگوریتم کنترلی پیشنهادی روی آن پیاده‌سازی شود. ریل به گونه‌ای طراحی و ساخته‌ شده است تا اصطکاک آن متغیر، نامعین و غیر خطی باشد. در ادامه، به روش تجربی، اطلاعاتی از رفتار و کران نیروی اصطکاک متغیر ناشناختة غیر خطی به دست آمد و بر اساس مقدار متوسط آن، ورودی کنترلی حاصل از کنترل‌کنندة مود لغزشی مرسوم اصلاح شده است. نتایج تجربی به دست آمده، موفقیت روش پیشنهادی را در حفظ پایداری حلقه-بسته تحت شرایط چالشی ناشی از اصطکاک غیر خطی بزرگ نشان داد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Design and Implementation of Sliding Mode Control with the Modified Force for an Inverted Pendulum with Nonlinear Friction

نویسندگان [English]

  • Farbood ُShokouhi
  • Behnam Hoseinkhani
  • Amir Hossein Davaei Markazi
School of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran
چکیده [English]

The purpose of this study is to present a method for controlling an inverted pendulum in the presence of nonlinear and indeterminate friction force between the moving cart and its straight guide rail. Control of an Inverted pendulum, as an Under-actuated Mechanical System, is facing challenges from theoretical and experimental aspects. To deal with such challenges, a new method is proposed in this paper. The method is based on an approximate input-output linearization of the inverted pendulum dynamic model for which a modified sliding mode control is proposed. For experimental determination of the bound of friction force, an inverted pendulum with a moving cart is designed and built. The moving cart and its rail are intentionally designed and built such that the resulting friction force is nonlinear, uncertain, and state-varying. The upper bound of the friction force is obtained experimentally and its average value is added to the control input obtained from the conventional sliding mode controller. Experimental verifications depict the success of the proposed control method in preserving the closed-loop stability under the challenging case of dealing with a large nonlinear friction force.

کلیدواژه‌ها [English]

  • Sliding mode control
  • Inverted pendulum on cart
  • Constant rate reaching law
  • Nonlinear unknown variable friction

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 54، شماره 12
اسفند 1401
صفحه 2763-2780

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