استفاده از پاسخ ضربه در بهبود عملکرد کنترل یادگیری تکرار شونده
محورهای موضوعی : electrical and computer engineering
عاطفه خجسته نژاد
1
,
محمد ملایی امام زاده
2
,
مليحه مغفوری فرسنگی
3
1 - دانشكده فنی و مهندسی، دانشگاه شهید باهنر کرمان، کرمان، ایران
2 - دانشكده فنی و مهندسی، دانشگاه شهید باهنر کرمان، کرمان، ایران
3 - دانشگاه شهید باهنر کرمان
کلید واژه: الگوریتم یادگیری تکرارشونده, پاسخ ضربه, مدل تأخيردار, سرعت همگرایی.,
چکیده مقاله :
اگر چه نظريه کنترل ابزارهای طراحی متعددی برای بهبود پاسخ یک سیستم دینامیکی فراهم میکند، اما بهدلیل وجود دینامیکهای مدلنشده یا عدمقطعیتهای پارامتری، همیشه دستیابی به نتیجه مطلوب ممکن نیست. الگوریتم کنترل یادگیری تکرارشونده (ILC) روشی هوشمند و موثر برای بهبود پاسخ گذرای سیستمهایی است که بهطور مکرر در یک بازه زمانی معین کار میکنند، میباشد که حتی زمانی که مدل نامشخص یا ناشناخته است و ما هیچ اطلاعاتی در مورد ساختار سیستم و غیر خطی بودن آن نداریم، روش ILC میتواند به جواب مناسب برسد منتهی باید در مرحله اول ساختار قانون کنترلی و در مرحله دوم پارامترهای آن بهدرستی انتخاب شوند.یکی از مواردی که ممکن است روش ILC دارای عملکرد مناسبی نباشد، وجود تأخير در سیستمهای مورد بررسی میباشد که روش متداول ILC برای این سیستمها غالباًً ناکارآمد بوده و حتی سبب ناپایداری میشود. در این مقاله پیشنهاد شده است که برای همه سستمها مسأله تأخير در قانون کنترلی لحاظ شود و سپس روشی (مبتنی بر پاسخ ضربه) برای تعین مقدار بهینه تأخير ارایه شده است. ونشان داده شده است که این روش حتی برای سیستمهایی که دارای تأخير خالص نیستند ولی به دلیل عملکرد دینامیکی سیستم، دارای ثابت زمانی (تأخير دینامیکی) میباشند، روش پیشنهادی سبب بهبود عملکرد الگوریتم ILC میشود. روش مورد نظر در شبیهسازیها مورد بررسی قرار گرفته است و مشاهده شده استکه به ازای تأخير تعیینشده پیشنهادی، بهترین نتایج در سرعت همگرایی خروجی سیستم به سمت خروجی مطلوب بهدست میآید.
Iterative learning control algorithm (ILC) is a smart and effective method to improve the transient response of systems that work repeatedly in a certain time interval. Although control theory provides several design tools to improve the response of a dynamic system, it is not always possible to achieve the desired result due to the presence of unmodeled dynamics or parameter uncertainties. ILC is a design tool that can be used to overcome the shortcomings of traditional controller design, even when the model is uncertain or unknown and we have no information about the system and its nonlinearity. the optimal solution can be reached if, the structure of the control law and its parameters have been selected correctly. One of the most important effective factors in the control law structure is the time delay between input and output. In this paper, a method is proposed that uses the impulse response to select the optimal delay in the ILC law, and then the coefficients are determined. The desired method was used to control several dynamic systems and its efficiency was investigated in simulations and it can be seen that the best results in convergence are obtained for the proposed set delay.
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