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کنترل مسیر حرکت و کنترل مقاوم بر اساس مدل دوچرخه غیرخطی جهت پایدارسازی خودرو الکتریکی موتور در چرخ در سناریو اضطراری | ||
| مکانیک هوافضا | ||
| مقاله 7، دوره 20، شماره 1 - شماره پیاپی 75، فروردین 1403، صفحه 107-122 اصل مقاله (1.14 M) | ||
| نوع مقاله: گرایش دینامیک، ارتعاشات و کنترل | ||
| نویسندگان | ||
| محمد امین قماشی* 1؛ رضا کاظمی* 2 | ||
| 1دانشجوی دکتری، دانشکده مهندسی مکانیک، دانشگاه صنعتی خواجه‌نصیرالدین طوسی، تهران، ایران | ||
| 2نویسنده مسئول: استاد، دانشکده مهندسی مکانیک، دانشگاه صنعتی خواجه‌نصیرالدین طوسی، تهران، ایران | ||
| تاریخ دریافت: 30 شهریور 1402، تاریخ بازنگری: 22 مهر 1402، تاریخ پذیرش: 30 آبان 1402 | ||
| چکیده | ||
| در طول فرآیند ردیابی مسیر حرکت خودرو، ملاحظات عدم‌قطعیت در مدل‌سازی خودرو شامل تغییرات پارامتر، خطای مدل‌سازی، اغتشاش خارجی که بر روی عملکرد ردیابی مسیر حرکت تأثیر بسزایی دارد، موجود می‌باشد؛ بنابراین، در این پژوهش، یک استراتژی کنترل ردیابی مسیر حرکت خودرو الکتریکی موتور در چرخ که دارای قابلیت بالایی می‌باشد، پیشنهاد می‌گردد. در ابتدا، نسبت به استفاده از یک مدل دینامیکی با دو درجه آزادی جهت ایجاد مدل خطا ردیابی مسیر حرکت و سپس تبدیل به مسئله ردیابی زاویه چرخشی خودرو حول محور یاو اقدام می‌گردد؛ بنابراین، میزان زاویه فرمان به‌عنوان ورودی کنترلر، با کنترل ردیابی زاویه چرخشی خودرو حول محور یاو حاصل می‌گردد. جهت تخمین و جبران عدم‌قطعیت‌های مرتبط با سیستم، در این پژوهش نسبت به طراحی مشاهده‌گر حالت غیرخطی اقدام می‌گردد. همچنین الگوریتم کنترلر جهت تشخیص ردیابی زاویه چرخشی خودرو حول محور یاو مورد طراحی واقع می‌گردد. در مرحله بعد، جهت پایدارسازی خودرو، نسبت به طراحی یک الگوریتم کنترل مود لغزان جهت دستیابی به گشتاور زاویه چرخشی مطلوب خودرو حول محور یاو اقدام می‌گردد. سپس با طراحی توزیع‌کننده گشتاور بهینه، نیروی بهینه تایرها تخصیص داده می‌شود. درنهایت، با استفاده از نرم‌افزارهای سیمولینک متلب/کارسیم نسبت به شبیه‌سازی اقدام می‌گردد. نتایج حاصل از شبیه‌سازی‌های انجام‌شده، کارایی و قابلیت‌های بالا الگوریتم کنترل پیشنهادی را در شرایط اضطراری و باوجود اغتشاش‌های خارجی به نمایش می‌گذارد. | ||
تازه های تحقیق | ||
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| کلیدواژه‌ها | ||
| شرایط اضطراری؛ موتور در چرخ؛ مود لغزان؛ سطح لغزش؛ مشاهده‌گر | ||
| عنوان مقاله [English] | ||
| Motion Trajectory Control and Robust Control Based on Nonlinear Bicycle Model to Stabilization for In-wheel Motor Electric Vehicle in Emergency Scenario | ||
| نویسندگان [English] | ||
| Mohammad Amin Ghomashi1؛ Reza Kazemi2 | ||
| 1Ph.D. Student, Faculty of Mechanical Engineering, K. N. Toosi University, Tehran, Iran | ||
| 2Corresponding author: Professor, Faculty of Mechanical Engineering, K. N. Toosi University, Tehran, Iran | ||
| چکیده [English] | ||
| During the vehicle motion trajectory tracking process, there are uncertainty considerations in vehicle modeling, including parameter changes, modeling error, and external disturbance that have a significant effect on the tracking performance. Therefore, in this research, a control strategy for motion trajectory tracking of the in-wheel motor electric vehicle, which has a high capability, is proposed. At first, a dynamic model with two degrees of freedom is used to create a trajectory tracking error model, and then it becomes the problem of tracking yaw. Therefore, the amount of the steering angle as the input of the controller is obtained by controlling yaw tracking. In order to estimate and compensate the uncertainties related to the system, in this research, the design the nonlinear mode observer is applied. And also, the controller algorithm is designed to detect yaw tracking. In the next step, in order to stabilize the in-wheel electric vehicle, a sliding mode control algorithm is designed to achieve the desired yaw torque. Then, by designing the optimal torque distributor, the optimal force of the tires is allocated. Finally, simulation is done using Simulink Matlab/Carsim software. The results of the performed simulations show the performance and high capabilities of the proposed control algorithm in emergency situations and despite external disturbances. | ||
| کلیدواژه‌ها [English] | ||
| Emergency Condition, In-wheel Motor, Sliding Mode, Sliding Surface, Observer | ||
| مراجع | ||
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