التحكم الخطي في رفض الاضطراب النشط (ADRC) للروبوت المتوازن ذاتي العجلتين
محتوى المقالة الرئيسي
الملخص
يعتمد تطبيق روبوت التوازن الذاتي ذو العجلتين على مهام العالم الحقيقي بشكل حاسم على قدرته على رفض الاضطرابات بشكل فعال. الهدف هو تصميم وحدتي تحكم نشطتين لرفض الإزعاج (ADRCs) لزاوية الجسم والإزاحة، على التوالي، لنظام روبوت ذاتي التوازن ذو عجلتين، والذي يصعب التحكم فيه بسبب الاقتران القوي، وعدم الخطية، وعدم اليقين في المعلمات. استنادًا إلى ديناميكيات النظام، تم تصميم إطار التحكم ADRC لتقدير وتعويض أخطاء النمذجة والاضطرابات عبر الإنترنت. تُستخدم عمليات المحاكاة الرقمية لإثبات فعالية ADRC في مجموعات وحدات التحكم المختلفة، باستخدام Simulink MATLAB 2022a وضبط المعلمات بواسطة الخوارزمية الجينية (GA) لضمان أداء عابر جيد والمساعدة في عملية اختيار معلمات التصميم. تُظهر الدراسات التي أجريت على مركبة حقيقية ذاتية التوازن ذات عجلتين أن نظام ADRC الذي تم إنشاؤه يسمح للمركبة بالعمل بشكل أكثر اتساقًا وفعالية عند مقارنتها بوحدة التحكم PID (التناسبية – المتكاملة – المشتقة) تحت نفس إعداد المعلمة.
تفاصيل المقالة
القسم
كيفية الاقتباس
المراجع
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