تدوین سامانة حرکت‌ساز شبیه‌ساز پرواز با استفاده از روش کنترل پیش‌بین مبتنی بر مدل

نوع مقاله : مقاله پژوهشی

نویسنده

عضو هیات علمی / دانشکدة مکاترونیک، دانشگاه آزاد اسلامی، واحد کرج

چکیده

امروزه شبیه­سازهای پرواز، به‌عنوان جزئی جدایی­ناپذیر در صنعت هوانوردی، نقش مهمی در آموزش خلبانی و توسعة تجهیزات جدید دارند. سامانة حرکت­ساز بهینه با وجود ویژگی­های مثبت از جمله حجم محاسباتی کم با قابلیت پیاده­سازی مناسب، به‌دلیل محدودیت در حفظ حرکت سامانه در محدودة فضای کاری در مانورهای پیچیده، با مشکلاتی جدی روبروست. سامانه­های حرکت­ساز کنترل پیش­بین به‌علت قابلیت ذاتی در مقیدنمودن ورودی­ها و متغیرهای حالت فرایند، ضمن حفظ همزمان کیفیت مطلوب خروجی، توسعة فزاینده­ای یافته­اند. وظیفة کنترل پیش­بین در سامانه­های حرکت­ساز، حل مسئلة بهینه­سازی در پنجرة افق پیش­بین برای تعیین حرکت امکان­پذیر شبیه­ساز با هدف کاهش تفاوت حس حرکتی خلبان در وسیلة واقعی و شبیه­ساز در محدودة کاری سامانة حرکتی است. این روش براساس کمینه­سازی تابع هدف درجه دوم شامل متغیرهای حس حرکتی، متغیرهای متناظر سامانة حرکتی و ورودی کنترلی استوار است، اگرچه در این رهیافت نیازی به طراحی و استفاده از فیلترهای شستشو نیست. در این مقاله، نحوة برپایی روشمند سامانة حرکت­ساز کنترل پیش‌بین مبتنی بر مدل و مقایسة عملکرد آن با روش حرکت­ساز بهینه ارائه شده است. رویکرد حرکت­ساز پیشنهادی در مانور شیب - طولی ضمن ایجاد حس حرکتی یکسان، با حرکت­های محدودتر و هموارتر سبب حفظ کارآمدتر سامانة حرکتی در محدودة عملیاتی آن می‌شود و قابلیت شبیه­ساز برای مانورهای پیچیده­تر را افزایش می­دهد.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Motion cueing algorithm design using model predictive control

نویسنده [English]

  • Abolfath Nikranjbar
Islamic Azad University of Karaj
چکیده [English]

Flight simulators as an integral component of today aviation industry, play an important role in training the pilots and development of the new equipment. Optimal motion cueing beside the positive characteristics of easy computation and implementation, due to limited performance in keeping the motion system within the workspace in complex maneuvers, is faced with serious obstacles. Predictive control method featured with inherent capabilities of dealing with constraints on inputs and state variables, while maintaining the high quality of the output, is faced with progressive development. The task of model predictive control is solving the optimal problem over the control horizon to accommodate the feasible movement of the flight simulator by decreasing as could as the difference of the perception of motion between the pilots in real vehicle and the simulator. This approach is based on minimizing the quadratic cost function incorporating the sensation of motion, the motion system configuration related state variables as well as input control signal. Although in this method, the design of washout filters are not needed. In this article, the systematic design of motion cueing algorithm based on model predictive control is described and its performance in comparison with optimal washout filter cueing method is illustrated. The proposed motion cueing method posing with much limited and smoother movements in surge-pitch maneuver tends to efficiently maintaining the motion system with in its workspace while preserving the same sense of motion. This results in increasing the capabilities of the motion system to be employed in much complex maneuvers.

کلیدواژه‌ها [English]

  • motion cueing
  • flight simulator
  • model predictive control
  • optimal control
  • washout filter
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