‫ﺗﻬﻴﻪ ﻭ ﺗﻨﻈﻴﻢ‬

‫ﻣﻬﻨﺪﺱ ﺍﻣﻴﻦ ﻧﻮﺭﻱ‬

‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬

‫ﺻﻔﺤـﻪ‬ ‫ﻓﻬﺮﺳﺖ ﻣﻄﺎﻟﺐ‬

‫ﭘﻴﺶﮔﻔﺘﺎﺭ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :1‬ﻣﺪﻟﺴﺎﺯﻱ ﺭﻳﺎﺿﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻭ ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢﻫﺎ ﺩﺭ ‪1 ........................ MATLAB‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :2‬ﺗﺤﻠﻴﻞ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﻭ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‪8 ............................................................................‬‬

‫ﺳﻴﺴﺘﻢﻫﺎ ‪19 ..............................................................................‬‬

‫‌‬ ‫ﺁﺯﻣﺎﻳﺶ‪ :3‬ﺑﺮﺭﺳﻲ ﺍﺛﺮ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺩﺭ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :4‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪27 ...................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :5‬ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﻪ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪37 ...................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :6‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪46 .............................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ : 7‬ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﻪ ﺭﻭﺵ ﺗﺤﻠﻴﻞ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪58 ....................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ : 8‬ﻛﻨﺘﺮﻟﺮ ‪64 ............................................................................................................... PID‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :9‬ﻛﻨﺘﺮﻝ ﺳﻄﺢ ﻣﺎﻳﻊ ‪74 ..........................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :10‬ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ ‪80 ..................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :11‬ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ ‪86 .........................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺶ‪ :12‬ﻛﻨﺘﺮﻝ ﺩﻭﺭﺍﻥ ﻫﻮﺍﭘﻴﻤﺎ ﺣﻮﻝ ﻣﺤﻮﺭ ﻋﺮﺿﻲ ‪95 .......................................................................‬‬

‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪103 ...................................................................................................... sisotool‬‬

‫ﻣﺮﺍﺟﻊ ‪112 .....................................................................................................................................‬‬

‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﺶﮔﻔﺘﺎﺭ‬

‫))ﺑﻪ ﻧﺎﻡ ﺧﺪﺍ((‬

‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﻣﻲﺩﻫﺪ‪.‬ﻛﻨﺘﺮﻝ ﺑﺨﺶ ﻣﻬﻤﻲ ﺍﺯ ﺻﻨﻌﺖ ﺍﻣﺮﻭﺯﻱ ‌‬
‫ﻧﮕﺎﻫﻲ ﺑﻪ ﺗﺎﺭﻳﺦ ﺑﺸﺮ ﺍﻫﻤﻴﺖ ﺭﻭﺯﺍﻓﺰﻭﻥ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺭﺍ ﻧﺸﺎﻥ ‌‬
‫ﻳﻜﻲ ﺍﺯ ﺍﻭﻟﻴﻦ ﻛﺎﺭﻫﺎ ﺩﺭ ﺯﻣﻴﻨﻪ ﻛﻨﺘﺮﻝ ﺧﻮﺩﻛﺎﺭ‪ ،‬ﻧﺎﻇﻢ ﮔﺮﻳﺰ ﺍﺯ ﻣﺮﻛﺰ ﺳﺎﺧﺘﻪ ﺟﻴﻤﺰ ﻭﺍﺕ‪ ،‬ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺳﺮﻋﺖ ﻣﺎﺷﻴﻦ ﺑﺨﺎﺭ ﺍﺳﺖ‬
‫ﻛﺎﻣﭙﻴﻮﺗﺮﻫﺎﻱ ﺩﻳﺠﻴﺘﺎﻝ ﻧﻴﺰ ﺍﻛﻨﻮﻥ ﺑﻪ ﺧﺎﻃﺮ ﺍﺭﺯﺍﻧﻲ ﻭ ﻛﻮﭼﻜﻲ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﺴﻴﺎﺭ ﺑﻪ ﻛﺎﺭ ﺑﺮﺩﻩ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺍﺛﺮ‬
‫ﺗﺎ ﺟﺎﻳﻲ ﻛﻪ ﺍﻣﻜﺎﻥ ﺩﺍﺭﺩ ﺳﻌﻲ ﺷﺪﻩ ﺍﺳﺖ ﺗﺎ ﺗﻤﺎﻡ ﻣﻄﺎﻟﺐ ﺳﺮﻓﺼﻞ ﺩﺭﺱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ ﭘﻮﺷﺶ ﺩﺍﺩﻩ ﺷﻮﺩ‪ .‬ﺿﻤﻦ‬
‫ﺍﻳﻨﻜﻪ ﺩﺭﻙ ﻣﻨﺎﺳﺒﻲ ﻧﻴﺰ ﺍﺯ ﻧﻜﺎﺗﻲ ﻛﻪ ﺩﺭ ﺗﺠﺮﺑﻪﻱ ﻋﻤﻠﻲ ﻣﻤﻜﻦ ﺍﺳﺖ ﻣﻮﺭﺩ ﻧﻴﺎﺯ ﺑﺎﺷﺪ ﺑﺪﺳﺖ ﺁﻳﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺳﻌﻲ ﺷﺪﻩ ﺍﺳﺖ‬
‫ﻣﻄﺎﻟﺐ ﭘﻴﺶ ﺯﻣﻴﻨﻪ ﺩﺭ ﻗﺴﻤﺖ ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ ﮔﻨﺠﺎﻧﺪﻩ ﺷﻮﺩ‪.‬‬

‫ﭼﻨﺪ ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ ﺍﻳﻦ ﺩﺳﺘﻮﺭﻛﺎﺭ ﺍﺧﺘﺼﺎﺹ ﺑﻪ ﺗﺤﻠﻴﻞ ﻭ ﺁﻧﺎﻟﻴﺰ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺩﺍﺭﺩ ﭘﺲ ﺍﺯ ﺁﻥ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺑﺎ ﻃﺮﺍﺣﻲ‬
‫ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ ﺑﻪ ﻛﻤﻚ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ MATLAB‬ﺁﺷﻨﺎ ﻣﻲﺷﻮﻧﺪ ﻭ ﺳﭙﺲ ﺑﺎ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ‬
‫ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﻪ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺑﺎ ﺗﻜﻨﻴﻚﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﭘﺮﺩﺍﺯﻧﺪ‪ .‬ﺍﻧﺘﻬﺎﻱ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﻛﺎﺭ ﻧﻴﺰ ﺑﻪ‬
‫ﺗﺤﻠﻴﻞ ﻭ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﭼﻨﺪ ﺳﻴﺴﺘﻢ ﻋﻤﻠﻲ ﺍﺧﺘﺼﺎﺹ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺩﺭﻙ ﺑﻬﺘﺮ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ‬
‫ﻛﻨﺘﺮﻟﻲ ﻣﺬﻛﻮﺭ ﻛﻪ ﺩﺭ ﺍﻧﺘﻬﺎﻱ ﺩﺳﺘﻮﺭﻛﺎﺭ ﺁﻭﺭﺩﻩ ﺷﺪﻩﺍﻧﺪ ﻭﺍﺳﻂﻫﺎﻱ ﮔﺮﺍﻓﻴﻚ ﻛﺎﺭﺑﺮ ﺑﺮﺍﻱ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﻓﺮﺍﻫﻢ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺍﻧﺘﻈﺎﺭ ﻣﻲﺭﻭﺩ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﻗﺒﻞ ﺍﺯ ﺍﻧﺠﺎﻡ ﻫﺮ ﺁﺯﻣﺎﻳﺶ ﻣﻄﺎﻟﺐ ﺗﺌﻮﺭﻱ ﻣﺮﺑﻮﻁ ﺑﻪ ﺁﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﻣﻄﺎﻟﻌﻪ ﻛﻨﻨﺪ ﻭ ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‬
‫ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﻫﺮ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﻧﻴﺰ ﺍﻧﺠﺎﻡ ﺩﻫﻨﺪ‪ .‬ﺭﻋﺎﻳﺖ ﻧﻈﻢ ﻭ ﻗﻮﺍﻧﻴﻦ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﻭ ﺣﻀﻮﺭ ﺑﻪ ﻣﻮﻗﻊ‪ ،‬ﻧﻜﺘﻪ ﺩﻳﮕﺮﻱ ﺍﺳﺖ ﻛﻪ ‌‬
‫ﻣﻮﺟﻮﺩ ﺍﺳﺖ ﺟﻬﺖ‬ ‫ﻣﻔﻴﺪ ﺍﺯﺟﻠﺴﺎﺕ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﻛﻤﻚ ﻧﻤﺎﻳﺪ‪ .‬ﺭﻋﺎﻳﺖ ﻣﻄﺎﻟﺒﻲ ﻛﻪ ﺩﺭ ﺑﺨﺶ ﺻﻔﺤﻪ ﺍﻳﻨﺘﺮﻧﺘﻲ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ‬
‫ﺁﺯﻣﺎﻳﺶﻫﺎ‪ ،‬ﻣﻄﺎﻟﺐ ﺻﻔﺤﻪ ﺍﻳﻨﺘﺮﻧﺘﻲ‬
‫‌‬ ‫ﻣﻲﺷﻮﺩ ﭘﻴﺶ ﺍﺯ ﺷﺮﻭﻉ‬
‫ﺁﺯﻣﺎﻳﺶﻫﺎ ﻻﺯﻡ ﻭ ﺿﺮﻭﺭﻱ ﺍﺳﺖ‪ ،‬ﻟﺬﺍ ﺗﻮﺻﻴﻪ ‌‬
‫‌‬ ‫ﺑﻬﺮﻩﺑﺮﺩﺍﺭﻱ ﺑﻬﺘﺮ ﺍﺯ‬
‫‌‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺭﺍ ﻣﻄﺎﻟﻌﻪ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫ﺍﻣﻴﺪﻭﺍﺭﻡ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﻭ ﻫﻤﻜﺎﺭﺍﻥ ﮔﺮﺍﻣﻲ ﻫﺮﮔﻮﻧﻪ ﻛﻮﺗﺎﻫﻲ ﻳﺎ ﺍﻳﺮﺍﺩﻱ ﺭﺍ ﻛﻪ ﺩﺭ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﻛﺎﺭ ﺍﺯ ﺩﻳﺪ ﺍﻳﻨﺠﺎﻧﺐ ﭘﻨﻬﺎﻥ ﻣﺎﻧﺪﻩ‬
‫ﻳﺎﺩﺁﻭﺭﻱ ﻛﻨﻨﺪ‪ .‬ﺍﻣﻴﺪ ﺍﺳﺖ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺑﺎ ﮔﺬﺭﺍﻧﺪﻥ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺩﺭﻙ ﻣﻨﺎﺳﺒﻲ ﺍﺯ ﻣﻄﺎﻟﺐ ﻛﻨﺘﺮﻟﻲ ﺑﺪﺳﺖ ﺁﻭﺭﻧﺪ‪.‬‬

‫ﺍﻣﻴﻦ ﻧﻮﺭﻱ‬

‫ﺑﻬﺎﺭ ‪1390‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :1‬ﻣﺪﻟﺴﺎﺯﻱ ﺭﻳﺎﺿﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﻜﻲ‪ ،‬ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢ‌ﻫﺎ ﻭ ﺳﺎﺩﻩ‌ﺳﺎﺯﻱ ﺁﻧﻬﺎ‬
‫ﺩﺭ ‪MATLAB‬‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢ ‌ﻫﺎ ﺑﻪ ﻃﺮﻕ ﻣﺨﺘﻠﻒ‪ ،‬ﺳﺎﺩﻩ ‌ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ‌ﻫﺎ ﻭ ﺗﺒﺪﻳﻞ ﻣﺪﻝ ‌ﻫﺎ ﺑﻪ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﻣﻲﺷﻮﺩ ﻭ ﻫﻤﭽﻨﻴﻦ ﺑﺎ ﻣﺪﻝ ﺳﺎﺩﻩ ﺷﺪﻩ ﻣﻮﺗﻮﺭ ‪ DC‬ﻭ ﺧﺼﻮﺻﻴﺎﺕ ﺍﻳﻦ ﻣﺪﻝ ﺁﺷﻨﺎ ‌‬
‫ﻳﻜﺪﻳﮕﺮ ﺩﺭ ‪ MATLAB‬ﺁﺷﻨﺎ ‌‬

‫ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻳﻚ ﻣﺠﻤﻮﻋﻪ ﻣﻌﺎﺩﻟﻪ ﺍﺳﺖ ﻛﻪ ﺭﻓﺘﺎﺭ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺧﻮﺑﻲ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻧﻤﺎﻳﺶ ﻣﻲ ‌ﺩﻫﺪ‪ .‬ﺗﻮﺟﻪ ﻛﻨﻴﺪ ﻛﻪ ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﺑﺮﺍﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﻌﻴﻦ ﻳﻜﺘﺎ ﻧﻴﺴﺖ‪ .‬ﺭﻓﺘﺎﺭ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻳﻲ ﻣﺎﻧﻨﺪ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ‬
‫ﻣﻜﺎﻧﻴﻜﻲ‪ ،‬ﺍﻟﻜﺘﺮﻭﻧﻴﻜﻲ‪ ،‬ﺣﺮﺍﺭﺗﻲ‪ ،‬ﺍﻗﺘﺼﺎﺩﻱ‪ ،‬ﺯﻳﺴﺖ ﺷﻨﺎﺳﻲ ﻭ ‪ ...‬ﺭﺍ ﻣﻲ ‌ﺗﻮﺍﻥ ﺑﺮ ﺣﺴﺐ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺗﻮﺻﻴﻒ ﻛﺮﺩ‪ .‬ﺩﺭ ﻛﻨﺘﺮﻝ ‌ﺧﻄﻲ‬
‫ﻓﺮﺽ ﺑﺮ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺍﺻﻞ ﻋﻠﻴﺖ ﺑﺮ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﺣﺎﻛﻢ ﺍﺳﺖ ﻳﻌﻨﻲ ﺧﺮﻭﺟﻲ ﻓﻌﻠﻲ ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺭﻭﺩﻱ ‌ﻫﺎﻱ ﮔﺬﺷﺘﻪ ﺳﻴﺴﺘﻢ‬
‫ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ ﻭ ﺑﻪ ﻭﺭﻭﺩﻱ‌ﻫﺎﻱ ﺑﻌﺪﻱ ﺳﻴﺴﺘﻢ ﺑﺴﺘﮕﻲ ﻧﺪﺍﺭﺩ‪.‬‬

‫ﻣﺪﻝﻫﺎﻱ ﺭﻳﺎﺿﻲ ﺷﻜﻞ ‌ﻫﺎﻱ ﻣﺘﻔﺎﻭﺗﻲ ﺩﺍﺭﻧﺪ ﺍﻳﻦ ﻛﻪ ﺑﺮﺍﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﭼﻪ ﻣﺪﻟﻲ ﻣﻨﺎﺳﺐ ﺍﺳﺖ ﺑﻪ ﺧﻮﺩ ﺳﻴﺴﺘﻢ ﻭ ﻭﺿﻌﻴﺖ ‌ﻫﺎﻱ ﺟﻨﺒﻲ‬
‫‌‬
‫‌ﮔﺬﺭﺍ ﻳﺎ‬ ‫ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ ﻣﺜﻼ ﺩﺭ ﻣﺴﺎﻳﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﻛﻨﺘﺮﻝ ﺑﻬﻴﻨﻪ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﻤﺎﻳﺶ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﻣﻔﻴﺪﺗﺮ ﺍﺳﺖ‪ .‬ﻭﻟﻲ ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﭘﺎﺳﺦ‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻳﻚ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﻣﺴﺘﻘﻞ ﺍﺯ ﺯﻣﺎﻥ ﻳﻚ ﻭﺭﻭﺩﻱ ﻳﻚ ﺧﺮﻭﺟﻲ ﻧﻤﺎﻳﺶ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻲ ‌ﺗﻮﺍﻧﺪ ﻣﻨﺎﺳﺐ ‌ﺗﺮﻳﻦ ﺭﺍﻩ ﺑﺎﺷﺪ ﺩﺭ‬
‫ﻳﺎﻓﺘﻦ ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﺑﺎﻳﺪ ﻣﺼﺎﻟﺤﻪ ‌ﺍﻱ ﺑﻴﻦ ﺳﺎﺩﮔﻲ ﻣﺪﻝ ﻭ ﺩﻗﺖ ﻧﺘﺎﻳﺞ ﺗﺤﻠﻴﻞ ﺻﻮﺭﺕ ﭘﺬﻳﺮﺩ‪ .‬ﺩﺭ ﻣﻮﺍﺭﺩﻱ ﻛﻪ ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﺧﻄﺎﻫﺎﻱ‬
‫ﻓﺎﺣﺸﻲ ﺩﺍﺭﺩ ﺑﺎﻳﺪ ﻧﻈﺮﻳﻪ ﻛﻨﺘﺮﻝ ﺭﺑﺎﺳﺖ ﺭﺍ ﺑﻪ ﻛﺎﺭ ﺑﺮﺩ‪.‬‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻣﻮﺗﻮﺭ ‪ DC‬ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫ﺷﻜﻞ‪ .1‬ﻣﺪﻝ ﻣﻮﺗﻮﺭ ‪DC‬‬

‫‪1‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫ﺩﺭ ﺍﻳﻦ ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻚ ‌ﻫﺎﻱ ﻣﻮﺗﻮﺭ ﺑﻪ ﺻﻮﺭﺕ ﺍﻳﺪﻩ ‌ﺁﻝ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻧﺪ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻣﻴﺪﺍﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ ﺛﺎﺑﺖ ﻓﺮﺽ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﻣﻲﻛﻨﻴﻢ‪:‬‬
‫ﻣﻘﺎﻭﻣﺖ ﻣﺪﺍﺭ ﺑﺎ ‪ R‬ﻭ ﺍﻧﺪﻭﻛﺘﺎﻧﺲ ﺁﺭﻣﻴﭽﺮ ﺑﺎ ‪ L‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﻣﺪﻟﺴﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ‌‬

‫)𝑡𝑡(𝑖𝑖 𝑚𝑚𝑘𝑘 = )𝑡𝑡(‪τ‬‬ ‫ﻣﻲﺑﺎﺷﺪ‬

‫ﻣﻲﺷﻮﺩ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﺟﺮﻳﺎﻥ ‪‌ i‬‬
‫ﮔﺸﺘﺎﻭﺭ ‪ τ‬ﻛﻪ ﺩﺭ ﻗﺴﻤﺖ ﺷﻔﺖ ﻣﻮﺗﻮﺭ ﺩﻳﺪﻩ ‌‬

‫‪ km‬ﺛﺎﺑﺖ ﺁﺭﻣﻴﭽﺮ ﻣﻴﺒﺎﺷﺪ ﻛﻪ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﺧﻮﺍﺹ ﻓﻴﺰﻳﻜﻲ ﻣﻮﺗﻮﺭ ﻣﺎﻧﻨﺪ ﻧﻴﺮﻭﻱ ﻣﻴﺪﺍﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ‪ ،‬ﺗﻌﺪﺍﺩ ﺩﻭﺭﺳﻴﻢ ﭘﻴﭻ ‌ﻫﺎﻱ ﻛﺸﻴﺪﻩ ﺷﺪﻩ‬
‫ﻣﻲﺑﺎﺷﺪ‬
‫ﺩﺭ ﺍﻃﺮﺍﻑ ﻫﺴﺘﻪ ﻭ ‪ ...‬ﻣﻴﺒﺎﺷﺪ‪ .‬ﻧﻴﺮﻭﻱ ﺍﻟﻜﺘﺮﻭﻣﻮﺗﻮﺭﻱ ﺍﻟﻘﺎء ﺷﺪﻩ‪ ، 𝑣𝑣𝑒𝑒𝑒𝑒𝑒𝑒 ،‬ﻭﻟﺘﺎژﻱ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ‪‌ ω‬‬

‫)𝑡𝑡(𝜔𝜔 𝑏𝑏𝑘𝑘 = )‪𝑣𝑣emf (t‬‬

‫ﻛﻪ ‪ kb‬ﺛﺎﺑﺖ ‪ emf‬ﻣﻲ ‌ﺑﺎﺷﺪ ﻛﻪ ﺑﻪ ﺑﻌﻀﻲ ﺍﺯ ﺧﻮﺍﺹ ﻓﻴﺰﻳﻜﻲ ﻣﺸﺨﺺ ﻣﻮﺗﻮﺭ ﻧﻴﺰ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪ .‬ﻣﻌﺎﺩﻻﺕ ﻗﺴﻤﺖ ﻣﻜﺎﻧﻴﻜﻲ ﻣﻮﺗﻮﺭ ﺑﺎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻗﻮﺍﻧﻴﻦ ﻧﻴﻮﺗﻦ ﺑﺪﺳﺖ ﻣﻲ ‌ﺁﻳﺪ ﻛﻪ ﺑﻴﺎﻥ ﻣﻲ ‌ﻛﻨﺪ ﺑﺎﺭ ﻟﺨﺘﻲ ‪ J‬ﺿﺮﺏ ﺩﺭ ﻣﺸﺘﻖ ‪ ω‬ﺑﺮﺍﺑﺮ ﺑﺎ ﺟﻤﻊ ﺗﻤﺎﻡ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺷﻔﺖ ﻣﻮﺗﻮﺭ‬
‫𝑑𝑑𝑑𝑑‬
‫𝐽𝐽‬ ‫)𝑡𝑡(𝑖𝑖 𝑚𝑚𝑘𝑘‪= ∑ 𝜏𝜏𝑖𝑖 = −𝑘𝑘𝑓𝑓 𝜔𝜔(𝑡𝑡)+‬‬ ‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻧﺘﻴﺠﻪ ﻣﻌﺎﺩﻟﻪ ﺭﻭﺑﺮﻭ ‌‬
‫‌‬
‫𝑑𝑑𝑑𝑑‬

‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺩﺭ ﻧﻬﺎﻳﺖ ﺭﺍﺑﻄﻪ ﻗﺴﻤﺖ ﺍﻟﻜﺘﺮﻳﻜﻲ ﻣﻮﺗﻮﺭ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ‌‬
‫ﻛﻪ 𝜔𝜔 𝑓𝑓𝑘𝑘 ﺗﻘﺮﻳﺐ ﺧﻄﻲ ﺍﺻﻄﻜﺎﻙ ‌‬

‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬
‫𝐿𝐿 = )‪𝑣𝑣app (t) − 𝑣𝑣emf (t‬‬ ‫)𝑡𝑡(𝑅𝑅𝑅𝑅 ‪+‬‬ ‫⇒‬ ‫𝐿𝐿 = )‪𝑣𝑣app (t‬‬ ‫)𝑡𝑡(𝜔𝜔 𝑏𝑏𝑘𝑘 ‪+ 𝑅𝑅𝑅𝑅(𝑡𝑡) +‬‬
‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﻣﻲﺩﻫﺪ ﺧﺘﻢ ‌‬
‫ﺍﻳﻦ ﺩﻧﺒﺎﻟﻪ ﺍﺯ ﻣﻌﺎﺩﻻﺕ ﺩﺭ ﻧﻬﺎﻳﺖ ﺑﻪ ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﻛﻪ ﺭﻓﺘﺎﺭ ﻣﻮﺗﻮﺭ ﺭﺍ ﺷﺮﺡ ‌‬

‫𝑑𝑑𝑑𝑑‬ ‫𝑅𝑅‬ ‫𝑏𝑏𝑘𝑘‬ ‫‪1‬‬

‫)𝑡𝑡( 𝑎𝑎𝑎𝑎𝑎𝑎𝑣𝑣 ‪= − 𝑖𝑖(𝑡𝑡) − 𝜔𝜔(𝑡𝑡) +‬‬ ‫)‪(1‬‬
‫𝑑𝑑𝑑𝑑‬ ‫𝐿𝐿‬ ‫𝐿𝐿‬ ‫𝐿𝐿‬
‫𝑑𝑑𝑑𝑑‬ ‫‪1‬‬ ‫‪1‬‬
‫)𝑡𝑡(𝑖𝑖 𝑚𝑚𝑘𝑘 ‪= − 𝑘𝑘𝑓𝑓 𝜔𝜔(𝑡𝑡) +‬‬ ‫)‪(2‬‬
‫𝑑𝑑𝑑𝑑‬ ‫𝐽𝐽‬ ‫𝐽𝐽‬
‫�‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺧﻄﻲ ﻣﺴﺘﻘﻞ ﺍﺯ ﺯﻣﺎﻥ‪ ،‬ﻃﺒﻖ ﺗﻌﺮﻳﻒ ﻧﺴﺒﺖ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﺧﺮﻭﺟﻲ)ﺗﺎﺑﻊ ﭘﺎﺳﺦ( ﺑﻪ‬ ‫‪F0‬‬

‫ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﻭﺭﻭﺩﻱ)ﺗﺎﺑﻊ ﺗﺤﺮﻳﻚ( ﺍﺳﺖ‪ ،‬ﺑﻪ ﺷﺮﻃﻲ ﻛﻪ ﺗﻤﺎﻡ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺻﻔﺮ ﺑﺎﺷﺪ‪.‬‬

‫ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺭ ‪. MATLAB‬‬

‫‪ .1‬ﺑﺮﺩﺍﺭ ﺿﺮﺍﻳﺐ ﺻﻮﺭﺕ ﻭ ﻣﺨﺮﺝ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ tf‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺗﻌﺮﻳﻒ ﻣﻲ‌ﻛﻨﻴﻢ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺗﺎﺑﻊ‬
‫‪𝑠𝑠 2 +1‬‬
‫ﻣﻲﺗﻮﺍﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩ‪:‬‬
‫= 𝑠𝑠𝑠𝑠𝑠𝑠 ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ ،‬ﺑﻪ ﺩﻭ ﺭﻭﺵ ﺯﻳﺮ ‌‬ ‫ﺗﺒﺪﻳﻞ‬
‫‪𝑠𝑠 3 +4𝑠𝑠 2 +5𝑠𝑠+1‬‬
‫•‬ ‫)‪num=[1 0 1]; den=[1 4 5 1]; sys=tf(num,den‬‬
‫•‬ ‫]‪sys=tf([1 0 1], [1 4 5 1‬‬

‫‪1‬‬
‫‪Transfer function‬‬

‫‪2‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫‪ .2‬ﺍﺑﺘﺪﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ;)'‪ s = tf('s‬ﻣﺘﻐﻴﺮ ﻻﭘﻼﺱ ‪ s‬ﺭﺍ ﺗﻌﺮﻳﻒ ﻣﻲ ‌ﻛﻨﻴﻢ ﻭ ﺳﭙﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﻣﺴﺘﻘﻴﻤﺎَ ﻣﻲ ‌ﻧﻮﻳﺴﻴﻢ‪ .‬ﺑﻪ‬
‫ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻫﻤﺎﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎﻻ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ ،‬ﺩﺍﺭﻳﻢ‪:‬‬
‫•‬ ‫)‪s = tf('s'); sys=(s^2+1)/(s^3+4*s^2+5*s+1‬‬
‫‪ .3‬ﺍﮔﺮ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺑﺨﻮﺍﻫﻴﻢ ﺑﻪ ﻓﺮﻣﺖ ﺻﻔﺮ‪-‬ﻗﻄﺐ‪-‬ﺑﻬﺮﻩ � ﻧﺸﺎﻥ ﺩﻫﻴﻢ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ zpk‬ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ‌ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﺻﻮﺭﺕ ﻛﻪ ﺩﺭ‬
‫‪F1‬‬

‫ﻳﻚ ﻣﺘﻐﻴﺮ ﺻﻔﺮﻫﺎ)ﻣﺎﻧﻨﺪ ‪ ،(z‬ﺩﺭ ﻳﻚ ﻣﺘﻐﻴﺮ ﻗﻄﺐ‌ﻫﺎ)ﻣﺎﻧﻨﺪ ‪ ،(p‬ﻭ ﺩﺭ ﻧﻬﺎﻳﺖ ﺩﺭ ﻣﺘﻐﻴﺮ ﺩﻳﮕﺮ ﺑﻬﺮﻩ)ﻣﺎﻧﻨﺪ ‪ (k‬ﺭﺍ ﺗﻌﺮﻳﻒ ﻣﻲ‌ﻛﻨﻴﻢ ﻭ‬
‫𝑠𝑠‬
‫= )𝑠𝑠(𝐺𝐺 ﺭﺍ ﺩﺭ‬ ‫ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ )‪ zpk(z,p,k‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺑﺪﺳﺖ ﻣﻲ ‌ﺁﻭﺭﻳﻢ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‪(𝑠𝑠+1)2‬‬
‫ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ ،‬ﺑﻪ ﺩﻭ ﺭﻭﺵ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩ‪:‬‬
‫•‬ ‫)‪z=[0]; p=[-1 -1]; k=[1]; G=zpk(z,p,k‬‬
‫•‬ ‫;)]‪G = zpk([0],[-1 -1],[1‬‬
‫ﻧﻤﻮﻧﻪﺑﺮﺩﺍﺭﻱ ‪ Ts‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻣﻲ‌ﻛﻨﻴﻢ‪:‬‬
‫‌‬ ‫‪ .4‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻥ ﮔﺴﺴﺘﻪ ﺑﺎ ﺯﻣﺎﻥ‬
‫•‬ ‫)‪sys = tf(num,den,Ts‬‬
‫‪ ، Ts‬ﺍﺑﺘﺪﺍ ;)‪ z = tf('z',Ts‬ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ‬ ‫‪ .5‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻥ ﮔﺴﺴﺘﻪ ﺑﺎ ﺯﻣﺎﻥ ﻧﻤﻮﻧﻪﺑﺮﺩﺍﺭﻱ‬
‫ﺳﭙﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﻣﺴﺘﻘﻴﻤﺎَ ﻣﻲﻧﻮﻳﺴﻴﻢ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ )‪ G(z) = z/(z2 – 2z – 6‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪،‬‬
‫ﺩﺍﺭﻳﻢ‪:‬‬
‫•‬ ‫;)‪z = tf('z',0.1); G = z/(z^2 - 2*z - 6‬‬
‫‪ .6‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﻫﻤﺮﺍﻩ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ ﻣﻲ ‌ﺗﻮﺍﻥ ﺗﺎﺧﻴﺮ ﺭﺍ ﻫﻢ ﺑﺮﺍﻱ ﻛﺎﻧﺎﻝ ﻭﺭﻭﺩﻱ‪ ،‬ﻫﻢ ﺑﺮﺍﻱ ﻛﺎﻧﺎﻝ ﺧﺮﻭﺟﻲ ﻭ ﻫﻢ‬
‫’‪ ‘iodelay‬ﻣﺪﻝ ﺭﺍ ﻣﺸﺨﺺ‬ ‫ﺗﺎﺧﻴﺮ ﺩﺍﺧﻠﻲ ﺳﻴﺴﺘﻢ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪ .‬ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﻫﻤﺮﺍﻩ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ‪ ،‬ﻭﻳﮋﮔﻲ‬
‫‪s+1‬‬
‫𝑠𝑠‪ G = e−0.1‬ﺭﺍ ﻣﻴﺨﻮﺍﻫﻴﻢ ﺗﻌﺮﻳﻒ ﻛﻨﻴﻢ‪:‬‬ ‫ﻣﻲﻛﻨﻴﻢ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‌‬
‫‪s 2 +3s+5‬‬
‫•‬ ‫‪G = tf([1 1], [1 3 5]); G.ioDelay = 0.1‬‬
‫‪ .7‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﻫﻤﺮﺍﻩ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺭﻭﺵ ﺯﻳﺮ ﻧﻴﺰ ﻋﻤﻞ ﻛﺮﺩ‪:‬‬
‫•‬ ‫)‪G= tf([1 1], [1 3 5],'iodelay',0.1‬‬
‫�‬
‫ﺳﻴﺴﺘﻢﻫﺎ ﺑﻪ ﺳﻤﺖ ﭘﻴﭽﻴﺪﮔﻲ ﺑﻴﺸﺘﺮ ﺍﺳﺖ‪ ،‬ﻋﻠﺖ ﺍﺻﻠﻲ ﺍﻳﻦ ﺍﻣﺮ ﻟﺰﻭﻡ ﺍﻧﺠﺎﻡ ﻛﺎﺭﻫﺎﻱ ﭘﻴﭽﻴﺪﻩ ﻭ‬
‫‌‬ ‫ﻓﻀﺎﻱ ﺣﺎﻟﺖ ‪ .‬ﺭﻭﻧﺪ ﻧﻮﻳﻦ ﺩﺭ ﻣﻬﻨﺪﺳﻲ‬ ‫‪F2‬‬

‫ﺩﻗﺖ ﺑﻴﺸﺘﺮ ﺍﺳﺖ‪ .‬ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﭘﻴﭽﻴﺪﻩ ﻣﻲ ‌ﺗﻮﺍﻧﻨﺪ ﭼﻨﺪ ﻭﺭﻭﺩﻱ ﻭ ﭼﻨﺪ ﺧﺮﻭﺟﻲ ﺩﺍﺷﺘﻪ‪ ،‬ﻣﺘﻐﻴﺮ ﺑﺎ ﺯﻣﺎﻥ ﺑﺎﺷﻨﺪ‪ .‬ﺑﻪ ﺧﺎﻃﺮ ﻟﺰﻭﻡ ﺑﺮ ﺁﻭﺭﺩﻥ‬
‫ﻗﻴﺪﻫﺎﻱ ﺳﺨﺖ‌ﺗﺮ ﺑﺮ ﻋﻤﻠﻜﺮﺩ ﺳﻴﺴﺘﻢ‌ﻫﺎﻱ ﻛﻨﺘﺮﻝ‪ ،‬ﺍﻓﺰﺍﻳﺶ ﭘﻴﭽﻴﺪﮔﻲ ﻭ ﺳﻬﻮﻟﺖ ﺩﺳﺘﺮﺳﻲ ﺑﻪ ﻛﺎﻣﭙﻴﻮﺗﺮﻫﺎ‪ ،‬ﺭﻫﻴﺎﻓﺖ ﺟﺪﻳﺪﻱ ﺩﺭ ﺗﺤﻠﻴﻞ ﻭ‬
‫ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ‌ﻫﺎﻱ ﻛﻨﺘﺮﻝ ﭘﻴﭽﻴﺪﻩ ﭘﻴﺶ ﮔﺮﻓﺘﻪ ﺷﺪ ﻛﻪ ﻧﻈﺮﻳﻪ ﻛﻨﺘﺮﻝ ﻣﺪﺭﻥ ﻧﺎﻡ ﮔﺮﻓﺖ ﺍﻳﻦ ﺭﻫﻴﺎﻓﺖ ﺟﺪﻳﺪ ﺑﺮ ﻣﻔﻬﻮﻡ ﺣﺎﻟﺖ ﺑﻨﺎ ﻧﻬﺎﺩﻩ‬
‫ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﺿﺮﻭﺭﻱ ﺍﺳﺖ ﻛﻪ ﻧﻈﺮﻳﻪ ﻛﻨﺘﺮﻝ ﻣﺪﺭﻥ ﺍﺳﺎﺳﺎً ﻳﻚ ﺭﻫﻴﺎﻓﺖ ﺣﻮﺯﻩ ﺯﻣﺎﻥ ﺍﺳﺖ‪ ،‬ﺣﺎﻝ ﺁﻧﻜﻪ ﻧﻈﺮﻳﻪ ﻛﻨﺘﺮﻝ‬
‫ﻛﻼﺳﻴﻚ ﺭﻫﻴﺎﻓﺖ ﺣﻮﺯﻩ ﻓﺮﻛﺎﻧﺲ ﺩﺍﺭﺩ‪.‬‬

‫ﻣﻲﺑﺎﺷﺪ‪:‬‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﺧﻄﻲ ﻣﺴﺘﻘﻞ ﺍﺯ ﺯﻣﺎﻥ ﻓﺮﻡ ﻣﻌﺎﺩﻻﺕ ﺣﺎﻟﺖ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ‌‬
‫‌‬ ‫ﺑﺮﺍﻱ‬

‫‪1‬‬
‫‪Zero-pole-gain‬‬
‫‪2‬‬
‫‪State space‬‬

‫‪3‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫)𝑡𝑡(𝐵𝐵𝐵𝐵 ‪𝑥𝑥̇ (𝑡𝑡) = 𝐴𝐴𝐴𝐴(𝑡𝑡) +‬‬

‫)𝑡𝑡(𝐷𝐷𝐷𝐷 ‪𝑦𝑦(𝑡𝑡) = 𝐶𝐶𝐶𝐶(𝑡𝑡) +‬‬

‫ﻣﻲﺑﺎﺷﻨﺪ‪.‬‬
‫ﻣﺎﺗﺮﻳﺲﻫﺎﻱ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ‌‬
‫‌‬ ‫ﻛﻪ ‪ x‬ﺑﺮﺩﺍﺭ ﺣﺎﻟﺖ‪ u ،‬ﻭ ‪ y‬ﺑﺮﺩﺍﺭﻫﺎﻱ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﻭ ‪A,B,C,D‬‬

‫ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻤﻬﺎ ﺩﺭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺑﻪ ﻛﻤﻚ ‪. MATLAB‬‬

‫‪ .1‬ﻛﺎﻓﻴﺴﺖ ﭼﻬﺎﺭ ﻣﺎﺗﺮﻳﺲ ‪ A,B,C,D‬ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﺍﺯ ﺩﺳﺘﻮﺭ )‪ sys=ss(A,B,C,D‬ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪.‬‬
‫‪ .2‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻤﻬﺎ ﺩﺭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺑﻪ ﻫﻤﺮﺍﻩ ﺗﺎﺧﻴﺮ‪ ،‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺳﻪ ﻧﻮﻉ ﺗﺎﺧﻴﺮ ﻭﺭﻭﺩﻱ �‪ ،‬ﺧﺮﻭﺟﻲ � ﻭ ﺗﺎﺧﻴﺮ ﺩﺍﺧﻠﻲ � ﺭﺍ‬
‫‪F5‬‬ ‫‪F4‬‬ ‫‪F3‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺗﻌﺮﻳﻒ ﻛﺮﺩ ﻣﻲ‌ﺗﻮﺍﻥ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻛﺮﺩ‪:‬‬

‫‌‬
‫;)‪• sys = ss(A,B,C,D,'InputDelay',td‬‬
‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺍﻟﻔﺎﻅ ﺗﺎﺧﻴﺮﺧﺮﻭﺟﻲ ﻭ ﻳﺎ ﺗﺎﺧﻴﺮﺩﺍﺧﻠﻲ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﻛﻪ ‪ td‬ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ ﺑﺮ ﺣﺴﺐ ﺛﺎﻧﻴﻪ ﻣﻲ ‌ﺑﺎﺷﺪ‪ .‬ﺑﻪ ﺟﺎﻱ ﺗﺎﺧﻴﺮ ﻭﺭﻭﺩﻱ ‌‬
‫ﻛﺮﺩ‪.‬‬

‫ﺗﺒﺪﻳﻞ ﻣﺪﻟﻬﺎ ﺑﻪ ﻳﻜﺪﻳﮕﺮ ﺩﺭ ‪ . MATLAB‬ﺑﺮﺍﻱ ﺗﺒﺪﻳﻞ ﻣﺪﻝﻫﺎ ﺑﻪ ﻳﻜﺪﻳﮕﺮ ﻛﺎﻓﻴﺴﺖ ﺍﺯ ﺩﺳﺘﻮﺭﺍﺕ ‪ tf,zpk,ss‬ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﻢ‪.‬‬
‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻓﺮﺽ ﻛﻨﻴﺪ ﻣﺪﻝ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﺩﺭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺭﻳﺪ ﺑﺮﺍﻱ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺁﻥ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﻳﺴﺖ ﺍﺯ ﺩﺳﺘﻮﺭ‬
‫‪ tf‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺍﺯ ﺩﺳﺘﻮﺭﺍﺕ ‪ tf2zpk ،ss2tf ،tf2ss‬ﻭ ‪ .....‬ﻧﻴﺰ ﻣﻲﺗﻮﺍﻥ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ ﻭﻟﻲ ﺑﺎﻳﺪ ﺗﻮﺟﻪ ﺩﺍﺷﺖ ﺩﺭ ﺁﺭﮔﻮﻣﺎﻥ ﻭﺭﻭﺩﻱ‬
‫‪ tf‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺍﺭﻳﻢ ﺑﺎﻳﺪ ﺑﺮﺩﺍﺭ ﺿﺮﺍﻳﺐ ﺻﻮﺭﺕ ﻭ ﻣﺨﺮﺝ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ‬ ‫ﻼ ﺍﮔﺮ ﻓﺮﻡ‬
‫ﻧﻤﻲﺗﻮﺍﻥ ﺧﻮﺩ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩ ﺑﻠﻜﻪ ﻣﺜ ً‬
‫ﺁﺭﮔﻮﻣﺎﻥﻫﺎﻱ ﻭﺭﻭﺩﻱ ﺗﻌﺮﻳﻒ ﻧﻤﺎﻳﻴﻢ ﻭ ﻣﺜﻼً ﺍﮔﺮ ﻓﺮﻡ ‪ ss‬ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺁﺭﮔﻮﻣﺎﻥﻫﺎﻱ ﺧﺮﻭﺟﻲ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ ‪ 4‬ﻣﺎﺗﺮﻳﺲ ‪،C ،B ،A‬‬
‫)‪[A,B,C,D]=tf2ss(num,den‬‬ ‫‪ .D‬ﻳﻌﻨﻲ‪:‬‬

‫ﺍﺗﺼﺎﻝ ﺳﻴﺴﺘﻢ‌ﻫﺎ ﺑﻪ ﻳﻜﺪﻳﮕﺮ ﻭ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺳﻴﺴﺘﻢ ﻣﻌﺎﺩﻝ‪:‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻋﻤﻠﮕﺮ ﺿﺮﺏ ﻳﺎ ﺩﺳﺘﻮﺭ ‪ series‬ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪.‬‬

‫‪ .1‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﻌﺎﺩﻝ ﺩﻭ ﺳﻴﺴﺘﻢ ﺳﺮﻱ ‌‬

‫‪Sys=sys1*sys2‬‬ ‫)‪ sys=series(sys1,sys2‬ﻳﺎ‬

‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺟﻤﻊ‪/‬ﺗﻔﺮﻳﻖ ﻳﺎ ﺩﺳﺘﻮﺭ ‪ parallel‬ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪.‬‬

‫‪ .2‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﻌﺎﺩﻝ ﺩﻭ ﺳﻴﺴﺘﻢ ﻣﻮﺍﺯﻱ ‌‬

‫‪1‬‬
‫‪Input Delay‬‬
‫‪2‬‬
‫‪Output Delay‬‬
‫‪3‬‬
‫‪Internal Delay‬‬

‫‪4‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫)‪ sys=parallel(sys1,sys2‬ﻳﺎ ‪Sys=sys1+sys2‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ feedback‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪.‬‬

‫‪ .3‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﻌﺎﺩﻝ ﺩﻭ ﺳﻴﺴﺘﻢ ﻓﻴﺪﺑﻚ ﺷﺪﻩ ‌‬

‫)‪Sys=feedback(sys1,sys2‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ﺭﻭﺑﺮﻭ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪sys = feedback(sys1,sys2,+1) .‬‬

‫ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﻓﻴﺪﺑﻚ ﻣﺜﺒﺖ ﺑﺎﺷﺪ ‌‬

‫‪ .4‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ‌ﻫﺎﻱ ﭘﻴﭽﻴﺪﻩ‌ﺗﺮ ﻣﻲ‌ﺑﺎﻳﺴﺖ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ connect‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﺮﺍﻱ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﺍﺑﺘﺪﺍ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ‬
‫‪sumblk‬‬ ‫ﻫﺮ ﺑﻠﻮﻙ ﺭﺍ ﻧﺎﻣﮕﺬﺍﺭﻱ ﻣﻲ ‌ﻛﻨﻴﻢ‪ ،‬ﺑﻠﻮﻛﻬﺎﻱ ﺟﻤﻊ ‌ﻛﻨﻨﺪﻩ ﻭ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﺑﻪ ﺁﻥ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ‬
‫ﻣﻲﻛﻨﻴﻢ‬
‫ﺗﻌﺮﻳﻒ ﻣﻲ‌ﻛﻨﻴﻢ ﻭ ﺳﭙﺲ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ connect‬ﻣﻄﺎﺑﻖ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ‌‬

‫ﻭﺭﻭﺩﻱﻫﺎ‪,.... ,‬ﺳﻴﺴﺘﻢ‪, 2‬ﺳﻴﺴﺘﻢ‪ =connect(1‬ﺳﻴﺴﺘﻢ‬

‫‌‬ ‫)ﺧﺮﻭﺟﻲﻫﺎ‪,‬‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬‬

‫;'‪C.InputName = 'e'; C.OutputName = 'u‬‬

‫;'‪G.InputName = 'u'; G.OutputName = 'y‬‬
‫;)'‪Sum = sumblk('e','r','y','+-‬‬
‫)'‪Close_loop= connect(G,C,Sum,'r','y‬‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺑﺮﺍﻱ ﻣﺪﻝ ﻣﻮﺗﻮﺭ ‪ DC‬ﻛﻪ ﺭﻭﺍﺑﻂ ﺁﻥ ﺩﺭ ﻗﺴﻤﺖ ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ ﺑﻴﺎﻥ ﮔﺮﺩﻳﺪ‪ .‬ﻣﻌﺎﺩﻻﺕ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺭﺍ ﻧﻮﺷﺘﻪ ﻭ ﺳﭙﺲ ﻣﻘﺎﺩﻳﺮ ﺯﻳﺮ‬
‫ﺭﺍ ﺑﺮﺍﻱ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻭ ﺳﭙﺲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﻨﻴﺪ‪.‬‬

‫‪R= 2.0 Ohms, L= 0.5 Henrys, Km = .015, Kb = .015, Kf = 0.2 Nms, J= 0.02 kg.m^2‬‬

‫‪ .B‬ﺑﺮﺍﻱ ﻣﻮﺗﻮﺭ ‪ DC‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﻣﺪﻝ ﺻﻔﺮ‪-‬ﻗﻄﺐ‪-‬ﺑﻬﺮﻩ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺩﺳﺘﻮﺭﺍﺗﻲ‬
‫ﻛﻪ ﺑﺮﺍﻱ ﺗﺒﺪﻳﻞ ﻣﺪﻝﻫﺎ ﺑﻪ ﻳﻜﺪﻳﮕﺮ ﺑﻴﺎﻥ ﺷﺪ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‪5‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫‪ .C‬ﺑﺮﺍﻱ ﻣﺪﻝ ﻣﻮﺗﻮﺭ ‪ DC‬ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐ ‌ﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺕ )ﻧﺎﻡ ﻣﺪﻝ( ‪ zero‬ﻭ )ﻧﺎﻡ ﻣﺪﻝ( ‪ pole‬ﺑﺪﺳﺖ‬
‫‪pzmap‬‬ ‫ﺁﻭﺭﻳﺪ ﻭ ﺑﺎ ﻣﺪﻝ ﺻﻔﺮ‪-‬ﻗﻄﺐ‪-‬ﺑﻬﺮﻩ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﺑﺨﺶ ﻗﺒﻞ ﻣﻘﺎﻳﺴﻪ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺳﭙﺲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺩﺳﺘﻮﺭ )ﻧﺎﻡ ﻣﺪﻝ(‬
‫ﻗﻄﺐﻫﺎ ﻭ ﺻﻔﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺩﺭ ﻧﻬﺎﻳﺖ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ )ﻧﺎﻡ ﻣﺪﻝ(‪ dcgain‬ﺑﻬﺮﻩ ‪ dc‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫‌‬
‫‪ .D‬ﺩﺳﺘﻮﺭﺍﺕ )ﻧﺎﻡ ﻣﺪﻝ( ‪) ، issiso‬ﻧﺎﻡ ﻣﺪﻝ( ‪) ، isstable‬ﻧﺎﻡ ﻣﺪﻝ( ‪ damp‬ﻭ )ﻧﺎﻡ ﻣﺪﻝ( ‪ isproper‬ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻣﻮﺗﻮﺭ ‪DC‬‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﺪ ﻭ ﻧﺘﺎﻳﺞ ﺧﻮﺩ ﺭﺍ ﺑﻴﺎﻥ ﻛﻨﻴﺪ‪.‬‬
‫ﻣﻲﺷﻨﺎﺳﻴﺪ‪ ،‬ﺩﺭ ‪ MATLAB‬ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫‪ .E‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻌﺎﺩﻝ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺗﻲ ﻛﻪ ‌‬

‫ﺷﻜﻞ‪ .2‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ‬

‫ﻣﺎﺗﺮﻳﺲﻫﺎﻱ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‌‬ ‫‪ .F‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﺑﺨﺶ ﻗﺒﻞ‪،‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪ .1‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ )‪ 𝐸𝐸𝑜𝑜 (𝑠𝑠)⁄E(s‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﺳﭙﺲ ﺩﺭ ‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﺩﺳﺘﻮﺭﺍﺗﻲ ﻛﻪ ﺩﺭ‬
‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ ﺑﻪ ﻛﺎﺭ ﺭﻓﺘﻪ ﺷﺪ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﻧﻴﺰ ﺑﻪ ﻛﺎﺭ ﺑﺒﺮﻳﺪ ﻭ ﺧﺼﻮﺻﻴﺎﺕ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫)ﺏ(‬ ‫)ﺍﻟﻒ(‬

‫‪6‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ‬

‫‪ .2‬ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ frd‬ﻧﻴﺰ ﺗﻌﺮﻳﻒ ﻧﻤﻮﺩ ﺑﺎ ﻳﻚ ﻣﺜﺎﻝ ﻧﺤﻮﻩﻱ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﺭﺍ‬
‫ﻧﺸﺎﻥ ﺩﻫﻴﺪ‪.‬‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺗﻲ ﻛﻪ ﻣﻲ ‌ﺷﻨﺎﺳﻴﺪ ﺳﺎﺩﻩ ﻛﺮﺩﻩ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫‌‬ ‫‪.3‬‬
‫ﺑﺮﺍﻱ ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻮﺟﻮﺩ ﺩﺭ ﺷﻜﻞﻫﺎ ﻓﺮﺽﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪ .‬ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺗﻲ ﻛﻪ ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺑﻴﺎﻥ‬
‫ﮔﺮﺩﻳﺪ ﻣﺸﺨﺼﺎﺕ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‪1‬‬ ‫‪10‬‬ ‫‪10‬‬ ‫‪𝑠𝑠 + 5‬‬

‫= ‪𝐺𝐺1‬‬ ‫= ‪, 𝐺𝐺2‬‬ ‫= ‪, 𝐺𝐺3‬‬ ‫‪, 𝐺𝐺4 = 2‬‬
‫‪𝑠𝑠 + 1‬‬ ‫‪0.1𝑠𝑠 + 1‬‬ ‫‪20𝑠𝑠 + 1‬‬ ‫‪𝑠𝑠 + 4𝑠𝑠 + 25‬‬
‫‪1‬‬ ‫𝑠𝑠‬ ‫𝑠𝑠‬
‫= )𝑠𝑠( ‪𝐻𝐻1‬‬ ‫= )𝑠𝑠( ‪, 𝐻𝐻2‬‬ ‫‪, 𝐻𝐻3 (𝑠𝑠) = 2‬‬
‫𝑠𝑠‬ ‫‪𝑠𝑠 + 3‬‬ ‫‪𝑠𝑠 + 3𝑠𝑠 + 25‬‬

‫)ﺏ(‬ ‫)ﺍﻟﻒ(‬

‫)ﺝ(‬

‫‪7‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :2‬ﺗﺤﻠﻴﻞ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﻭ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﺭﻓﺘﺎﺭ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎ ﻭ ﻧﺤﻮﻩ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎ ﺩﺭ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫‪ MATLAB‬ﺁﺷﻨﺎ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺍﻧﺘﻈﺎﺭ ﻣﻲ ‌ﺭﻭﺩ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺑﺎ ﺟﻌﺒﻪ ‌ﺍﺑﺰﺍﺭ� ‪ LTI Viewer‬ﻭ ﻧﺤﻮﻩ ﻛﺎﺭ ﺑﺎ ﺍﻳﻦ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﺁﺷﻨﺎ‬
‫‪F6‬‬

‫ﺷﻮﻧﺪ‪.‬‬

‫ﺩﺭ ﺗﺤﻠﻴﻞ ﻭ ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺑﺎﻳﺪ ﻣﺒﻨﺎﻳﻲ ﺑﺮﺍﻱ ﻣﻘﺎﻳﺴﻪ ﻋﻤﻠﻜﺮﺩ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻣﺨﺘﻠﻒ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫‌ﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺑﻪ ﺍﻳﻦ‬ ‫‌ﺗﻮﺍﻥ ﺑﺎ ﻣﺸﺨﺺ ‌ﻛﺮﺩﻥ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ ﺁﺯﻣﻮﻥ ﺧﺎﺹ ﻭ ﻣﻘﺎﻳﺴﻪ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ‬ ‫ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪ .‬ﺍﻳﻦ ﻣﺒﻨﺎ ﺭﺍ ﻣﻲ‬
‫ﺳﻴﮕﻨﺎﻝﻫﺎﻱ ﻭﺭﻭﺩﻱ ﺍﻳﺠﺎﺩ ﻛﺮﺩ‪ .‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ ﺁﺯﻣﻮﻥ ﺭﺍ ﻣﻲ‌ﺗﻮﺍﻥ ﭼﻨﻴﻦ ﺗﻮﺟﻴﻪ ﻛﺮﺩ ﻛﻪ ﺑﻴﻦ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﻳﻚ ﺳﻴﺴﺘﻢ ﺑﻪ‬
‫‌‬
‫ﻳﻚ ﺳﻴﮕﻨﺎﻝ ﺁﺯﻣﻮﻥ ﻧﻮﻋﻲ ﻭ ﺗﻮﺍﻧﺎﻳﻲ ﺳﻴﺴﺘﻢ ﺩﺭ ﺗﻄﺒﻴﻖ ﺑﺎ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ ﻭﺭﻭﺩﻱ ﻭﺍﻗﻌﻲ‪ ،‬ﻫﻤﺒﺴﺘﮕﻲ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ ﺁﺯﻣﻮﻥ‬
‫ﻧﻮﻋﻲ ﻛﻪ ﻣﻌﻤﻮﻻً ﺑﻪ ﻛﺎﺭ ﻣﻲ ‌ﺭﻭﻧﺪ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪ :‬ﺗﺎﺑﻊ ﭘﻠﻪ ‌ﺍﻱ‪ ،‬ﺗﺎﺑﻊ ﺷﻴﺐ‪ ،‬ﺗﺎﺑﻊ ﺷﺘﺎﺏ‪ ،‬ﺗﺎﺑﻊ ﺿﺮﺑﻪ‪ ،‬ﺗﺎﺑﻊ ﺳﻴﻨﻮﺳﻲ ﻭ ﺗﻮﺍﺑﻊ ﻣﺸﺎﺑﻪ ﺁﻥ ‌ﻫﺎ‪ .‬ﺑﺎ ﺍﻳﻦ‬
‫ﺳﻴﮕﻨﺎﻝﻫﺎﻱ ﺁﺯﻣﻮﻥ ﺗﺤﻠﻴﻞ ‌ﻫﺎﻱ ﺭﻳﺎﺿﻲ ﻭ ﺗﺠﺮﺑﻲ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﻪ ﺳﺎﺩﮔﻲ ﺍﻧﺠﺎﻡ ﻣﻲ ‌ﮔﻴﺮﺩ ﺯﻳﺮﺍ ﺍﻳﻦ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎ ﺗﻮﺍﺑﻊ ﺑﺴﻴﺎﺭ‬
‫‌‬
‫ﺳﺎﺩﻩﺍﻱ ﺍﺯ ﺯﻣﺎﻥ ﻫﺴﺘﻨﺪ‪ .‬ﺍﻳﻦ ﻛﻪ ﻛﺪﺍﻡ ﺳﻴﮕﻨﺎﻝ ﺁﺯﻣﻮﻥ ﻧﻮﻋﻲ ﺭﺍ ﺑﺎﻳﺪ ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﻣﺸﺨﺼﺎﺕ ﻳﻚ ﺳﻴﺴﺘﻢ ﺑﻪ ﻛﺎﺭ ﺑﺮﺩ‪ ،‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻭﺭﻭﺩﻱ‬
‫‌‬
‫ﻛﻪ ﻣﻌﻤﻮﻻً ﺩﺭ ﺷﺮﺍﻳﻂ ﻋﺎﺩﻱ ﻛﺎﺭ ﺳﻴﺴﺘﻢ ﺑﻪ ﺁﻥ ﻭﺍﺭﺩ ﻣﻲ ‌ﺷﻮﺩ ﺗﻌﻴﻴﻦ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺍﮔﺮ ﻭﺭﻭﺩﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺗﺎﺑﻌﻲ‬
‫ﻣﻲﻛﻨﺪ‪ ،‬ﺗﺎﺑﻊ ﺷﻴﺐ ﺳﻴﮕﻨﺎﻝ ﺁﺯﻣﻮﻥ ﻣﻨﺎﺳﺒﻲ ﺍﺳﺖ‪.‬‬
‫ﺑﺎﺷﺪ ﻛﻪ ﺑﻪ ﺗﺪﺭﻳﺞ ﺗﻐﻴﻴﺮ ‌‬

‫ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺍﺯ ﺩﻭ ﺑﺨﺶ ﺗﺸﻜﻴﻞ ﻣﻲ ‌ﺷﻮﺩ‪ :‬ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﻭ ﭘﺎﺳﺦ ﻣﺎﻧﺪﮔﺎﺭ‪ .‬ﻣﻨﻈﻮﺭ ﺍﺯ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﻋﺒﻮﺭ ﺍﺯ ﺣﺎﻟﺖ ﺍﺑﺘﺪﺍﻳﻲ‬
‫ﻭ ﺭﺳﻴﺪﻥ ﺑﻪ ﺣﺎﻟﺖ ﻧﻬﺎﻳﻲ ﺍﺳﺖ‪ .‬ﻣﻨﻈﻮﺭ ﺍﺯ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‪ ،‬ﭼﮕﻮﻧﮕﻲ ﺭﻓﺘﺎﺭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﺯﺍﻱ ∞ → 𝑡𝑡 ﺍﺳﺖ‪.‬‬

‫)𝑡𝑡( 𝑠𝑠𝑠𝑠𝑐𝑐 ‪𝑐𝑐(𝑡𝑡) = 𝑐𝑐𝑡𝑡𝑡𝑡 (𝑡𝑡) +‬‬

‫ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﮔﺬﺭﺍﻱ ﺳﻴﺴﺘﻢ ﻭﺍﺑﺴﺘﻪ ﺑﻪ ﻣﺤﻞ ﻗﺮﺍﺭﮔﻴﺮﻱ ﻗﻄﺐ ‌ﻫﺎﻱ ﻏﺎﻟﺐ ﺳﻴﺴﺘﻢ ﻭ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢ ﻭﺍﺑﺴﺘﻪ ﺑﻪ ﻧﻮﻉ ﻭﺭﻭﺩﻱ‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺳﻴﺴﺘﻢ ‌‬

‫‪k′‬‬
‫ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﻳﻚ‪ .‬ﺩﺭ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﻳﻚ ﺭﺍﺑﻄﻪ ﻭﺭﻭﺩﻱ‪-‬ﺧﺮﻭﺟﻲ ﺑﻪ ﺻﻮﺭﺕ‬
‫)𝑠𝑠(𝐶𝐶‬ ‫‪k‬‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻳﻚ‬
‫‌‬ ‫=‬ ‫=‬
‫)‪R(s‬‬ ‫‪Ts +1‬‬ ‫‪s+a‬‬
‫𝑡𝑡‬
‫ﻗﻄﺐ ﺳﺎﺩﻩ ﺩﺭ ‪ s=-a‬ﺩﺍﺭﺩ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﺔ ﻭﺍﺣﺪ ﺑﻪ ﺻﻮﺭﺕ ) 𝑇𝑇� ‪ 𝑐𝑐(𝑡𝑡) = 𝑘𝑘 ′ (1 − 𝑒𝑒 −‬ﻳﺎ ) 𝑎𝑎𝑎𝑎‪ 𝑐𝑐(𝑡𝑡) = 𝑘𝑘(1 − 𝑒𝑒 −‬ﺧﻮﺍﻫﺪ‬
‫ﺑﻮﺩ‪ .‬ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ‪ T‬ﻣﺪﺕ ﺯﻣﺎﻧﻲ ﺍﺳﺖ ﻛﻪ ﺧﺮﻭﺟﻲ ﺑﻪ ‪ 63.2%‬ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺧﻮﺩ ﻣﻲ ‌ﺭﺳﺪ‪ .‬ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺧﺮﻭﺟﻲ ’‪ k‬ﺍﺳﺖ‪ .‬ﺷﻜﻞ ‪1‬‬
‫ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ ﻧﻤﺎﻳﻲ )‪ c(t‬ﺑﺎﺯﺍء ‪ k’=1‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲ‌ﺩﻫﺪ‪ .‬ﺑﻌﺪ ﺍﺯ ﭼﻬﺎﺭ ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ )‪ (4T‬ﻣﻘﺪﺍﺭ ﺧﺮﻭﺟﻲ ﻛﻤﺘﺮ ﺍﺯ ‪ 2 %‬ﺑﺎ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﻭ ﺑﻌﺪ‬
‫ﻣﻲﻧﺎﻣﻨﺪ‪.‬‬
‫ﺍﺯ ﭘﻨﺞ ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ﻛﻤﺘﺮ ﺍﺯ ‪ 0.7%‬ﺑﺎ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺗﻔﺎﻭﺕ ﺩﺍﺭﺩ ﺍﻳﻦ ﻣﺪﺕ ﺭﺍ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ‪‌ ts‬‬

‫‪1‬‬
‫‪Toolbox‬‬

‫‪8‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﺷﻜﻞ‪ .1‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﻳﻚ‬

‫𝑡𝑡‬
‫ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﺑﻪ ﺻﻮﺭﺕ ) 𝑇𝑇� ‪ 𝑐𝑐(𝑡𝑡) = 𝑘𝑘 ′ (𝑡𝑡 − 𝑇𝑇 + 𝑇𝑇𝑒𝑒 −‬ﻣﻴﺒﺎﺷﺪ ﻭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺿﺮﺑﻪ ﺑﻪ ﺻﻮﺭﺕ‬
‫‪1‬‬ ‫𝑡𝑡‬
‫ﻣﻲﺩﻫﻨﺪ‪.‬‬
‫ﺷﻜﻞﻫﺎﻱ ‪2‬ﻭ ‪ 3‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﻭ ﺿﺮﺑﻪ ﻭﺍﺣﺪ ﺭﺍ ﺑﺎﺯﺍء ‪ k’=1‬ﻧﺸﺎﻥ ‌‬
‫‌‬ ‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫) 𝑇𝑇� ‪‌ 𝑐𝑐(𝑡𝑡) = 𝑘𝑘 ′ ( 𝑒𝑒 −‬‬
‫𝑇𝑇‬

‫ﺷﻜﻞ‪ .3‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺿﺮﺑﻪ ﻭﺍﺣﺪ‬ ‫ﺷﻜﻞ‪ .2‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ‬

‫‪ωn 2‬‬
‫ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭ‪ .‬ﺷﻜﻞ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﺮﺗﺒﻪ ﺩﻭ ﺑﻪ ﺻﻮﺭﺕ‬
‫)‪C(s‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑛𝑛𝜔𝜔‬ ‫=‬
‫)‪R(s‬‬ ‫‪s 2 +2ζω n s+ω n 2‬‬

‫ﻓﺮﻛﺎﻧﺲ ﻃﺒﻴﻌﻲ ﻧﺎﻣﻴﺮﺍ؛ ‪ ζ‬ﻧﺴﺒﺖ ﻣﻴﺮﺍﻳﻲ ﺳﻴﺴﺘﻢ؛ ﻭ 𝑛𝑛‪ σ = ζω‬ﺗﻀﻌﻴﻒ ﺳﻴﺴﺘﻢ ﻳﺎ ﺿﺮﻳﺐ ﻣﻴﺮﺍﻳﻲ ﺳﻴﺴﺘﻢ ﻧﺎﻣﻴﺪﻩ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﭘﺎﺳﺦ ﺑﻪ‬
‫ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻘﺪﺍﺭ ‪ ζ‬ﻣﺘﻔﺎﻭﺕ ﻣﻲ ‌ﺑﺎﺷﺪ‪) .‬ﺩﺭ ﺁﺯﻣﺎﻳﺶ ﺑﻌﺪ ﺍﺛﺮﺍﺕ ﺗﻐﻴﻴﺮ ‪ ζ‬ﻭ 𝑛𝑛𝜔𝜔 ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ ‪ ζ‬ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪‌ 4‬‬
‫‌‬ ‫ﺧﻮﺍﻫﺪ ﮔﺮﻓﺖ(‪ .‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺑﺮﺍﻱ‬

‫ﺷﻜﻞ‪ .4‬ﻣﻨﺤﻨﻲ‌ﻫﺎﻱ ﭘﺎﺳﺦ ﭘﻠﻪ ﺗﻮﺟﻪ ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ ‪ζ‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﻣﻲﺷﻮﺩ‪:‬‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ‪ 2‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ‌‬
‫‌‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ‌ﮔﺬﺭﺍ ﺑﺮﺍﻱ‬

‫ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ) ‪ :(𝑡𝑡d‬ﺯﻣﺎﻧﻲ ﻛﻪ ﻃﻮﻝ ﻣﻲﻛﺸﺪ ﺗﺎ ﭘﺎﺳﺦ ﺑﺮﺍﻱ ﺑﺎﺭ ﺍﻭﻝ ﺑﻪ ﻧﺼﻒ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲﺍﺵ ﺑﺮﺳﺪ‪.‬‬ ‫•‬
‫ﺯﻣﺎﻥ ﺻﻌﻮﺩ) 𝑟𝑟𝑡𝑡(‪ :‬ﺯﻣﺎﻧﻲ ﻛﻪ ﻃﻮﻝ ﻣﻲﻛﺸﺪ ﺗﺎ ﭘﺎﺳﺦ ﺍﺯ ‪ %10‬ﺑﻪ ‪ ، %90‬ﻳﺎ ﺍﺯ ‪ %5‬ﺑﻪ ‪ ، %95‬ﻳﺎ ﺍﺯ ‪ %0‬ﺑﻪ ‪ %100‬ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲﺍﺵ‬ ‫•‬
‫‪1‬‬ ‫𝑑𝑑 𝜔𝜔‬ ‫𝜃𝜃‪𝜋𝜋−‬‬
‫= 𝑟𝑟𝑡𝑡‬ ‫( ‪tan−1‬‬ ‫=)‬ ‫ﺑﺮﺳﺪ ‪.‬‬
‫𝑑𝑑 𝜔𝜔‬ ‫𝜎𝜎‪−‬‬ ‫𝑑𝑑 𝜔𝜔‬

‫• ﺯﻣﺎﻥ ﺍﻭﺝ ) 𝑝𝑝𝑡𝑡(‪ :‬ﺯﻣﺎﻥ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﭘﺎﺳﺦ ﺑﻪ ﺍﻭﻟﻴﻦ ﺍﻭﺝ ﻓﺮﺍﺟﻬﺶ ﺍﺳﺖ ‪ .‬ﺯﻣﺎﻥ ﺍﻭﺝ ﺑﺎ ﻧﺼﻒ ﺯﻣﺎﻥ ﺗﻨﺎﻭﺏ ﻓﺮﻛﺎﻧﺲ ﻧﻮﺳﺎﻥ‬
‫‪π‬‬
‫= ‪𝑡𝑡p‬‬ ‫ﻣﻴﺮﺍ ﻣﺘﻨﺎﻇﺮ ﺍﺳﺖ ‪.‬‬
‫‪ωd‬‬
‫ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ ) 𝑝𝑝𝑀𝑀( ‪ :‬ﻣﻘﺪﺍﺭ ﺍﻭﺝ ﻓﺮﺍﺟﻬﺶ ﺍﺳﺖ ﻛﻪ ﻧﺴﺒﺖ ﺑﻪ ﻣﻘﺪﺍﺭ ﻳﻚ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﻣﻲﺷﻮﺩ‪.‬‬ ‫•‬
‫‪σ‬‬
‫‪−(ω )π‬‬
‫= ‪𝑀𝑀p‬‬ ‫‪e d‬‬ ‫‪= e−π cot θ‬‬
‫)∞(‪c�t p �−c‬‬
‫= ‪𝑀𝑀p‬‬ ‫ﺍﮔﺮ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺧﺮﻭﺟﻲ ) )∞(𝑐𝑐 ( ﻳﻚ ﻧﺒﺎﺷﺪ ﺩﺍﺭﻳﻢ‪:‬‬
‫)∞(‪c‬‬
‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ ) 𝑠𝑠𝑡𝑡(‪ :‬ﺯﻣﺎﻧﻲ ﻛﻪ ﻃﻮﻝ ﻣﻲﻛﺸﺪ ﺗﺎ ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ ﺑﻪ ﺑﺎﺯﻩﻱ ﻣﻌﻴﻨﻲ ﺣﻮﻝ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲﺍﺵ ﺑﺮﺳﺪ ﻭﺩﺭ ﺁﻥ ﺑﺎﺯﻩ‬ ‫•‬
‫ﺑﻤﺎﻧﺪ‪ .‬ﺍﻳﻦ ﺑﺎﺯﻩ ﻣﻌﻤﻮﻻ ﺑﺮﺣﺴﺐ ﺩﺭﺻﺪ ﻣﻄﻠﻘﻲ ﺍﺯ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ )‪ (%a‬ﺑﻴﺎﻥ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪4‬‬
‫‪𝑎𝑎 = 2‬‬ ‫⎧‬
‫‪1‬‬ ‫‪100‬‬ ‫𝑛𝑛𝜔𝜔𝜁𝜁‬
‫= ‪𝑡𝑡s‬‬ ‫� ‪ln‬‬ ‫= 𝑠𝑠𝑡𝑡 ‌ �‬
‫‪ζωn‬‬ ‫→ ‪a�1 − ζ2‬‬ ‫‪⎨ 3‬‬ ‫‪𝑎𝑎 = 5‬‬
‫𝑛𝑛𝜔𝜔𝜁𝜁⎩‬
‫ﻣﻲﺩﻫﺪ‪.‬‬
‫ﺷﻜﻞ ‪ 5‬ﻧﻤﻮﺩﺍﺭ ﭘﺎﺳﺦ ﭘﻠﻪ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﻮﻋﻲ ﺭﺍ ﺑﻪ ﻫﻤﺮﺍﻩ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺑﻴﺎﻥ ﺷﺪﻩ ﻧﺸﺎﻥ ‌‬

‫ﺷﻜﻞ‪ .5‬ﻧﻤﻮﺩﺍﺭ ﭘﺎﺳﺦ ﭘﻠﻪ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﻮﻋﻲ ﺑﻪ ﻫﻤﺮﺍﻩ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ‬

‫‪10‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫‪nπ‬‬
‫= 𝑡𝑡 ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﻢ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺍﮔﺮ ‪ n=1‬ﺑﺎﺷﺪ ﺁﻧﮕﺎﻩ ‪ tp‬ﺭﺍ‬ ‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺯﻣﺎﻥ ﻗﻠﻪ ‌ﻫﺎﻱ ﻣﺘﻔﺎﻭﺕ ﻣﻲ ‌ﺗﻮﺍﻧﻴﻢ ﺍﺯ ﻓﺮﻣﻮﻝ‬
‫‪ωd‬‬

‫‪cos θ = ζ‬‬ ‫ﺩﺍﺭﻳﻢ‪ .‬ﺩﺭ ﺗﻤﺎﻣﻲ ﻓﺮﻣﻮﻟﻬﺎﻱ ﻓﻮﻕ ‪ θ‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ‌ﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﺗﻌﺮﻳﻒ ﺯﺍﻭﻳﻪ ‪θ‬‬

‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺩﺭ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ‪ .‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ‌‬

‫ﻣﻲﺗﻮﺍﻧﺪ ﻧﺎﺷﻲ ﺍﺯ ﻋﻮﺍﻣﻞ ﻣﺨﺘﻠﻔﻲ ﺑﺎﺷﺪ ﻭﻟﻲ ﺩﺭ ﻛﻨﺘﺮﻝ‬
‫ﺧﻄﻲ ﺧﻄﺎﻫﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭﻱ ﺑﺮﺭﺳﻲ ﻣﻲ ‌ﺷﻮﺩ ﻛﻪ ﺍﺯ ﻋﺪﻡ ﻗﺎﺑﻠﻴﺖ ﺳﻴﺴﺘﻢ ﺩﺭ ﺩﻧﺒﺎﻝ ﻛﺮﺩﻥ ﺑﻌﻀﻲ ﻭﺭﻭﺩﻱ ‌ﻫﺎ ﻧﺎﺷﻲ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺗﻮﺟﻪ ﺑﻪ‬
‫ﺍﻳﻦ ﻧﻜﺘﻪ ﻣﻬﻢ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﺗﻌﺮﻳﻒ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺷﻜﻞ ‪ 7‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‬
‫ﻣﻲﺑﺎﺷﺪ‬
‫ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﻧﻴﺰ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪‌ e ،‬‬

‫ﺷﻜﻞ‪.7‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻭ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ‬

‫ﻣﻲﺑﺎﺷﺪ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻴﺒﺎﺷﺪ‬

‫ﻣﻲﺷﻮﺩ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ))‪‌ (e(t)=r(t)-c(t‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﺩﻳﺪﻩ ‌‬

‫𝑠𝑠 𝑇𝑇‪𝑘𝑘(1 + 𝑇𝑇1 𝑠𝑠)(1 + 𝑇𝑇2 𝑠𝑠) … … … (1 + 𝑇𝑇𝑚𝑚 𝑠𝑠) −‬‬

‫= )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺‬ ‫𝑑𝑑 𝑒𝑒‬
‫‪𝑠𝑠 𝑗𝑗 (1‬‬
‫)𝑠𝑠 𝑑𝑑𝑑𝑑𝑇𝑇 ‪+ 𝑇𝑇𝑑𝑑1 𝑠𝑠)(1 + 𝑇𝑇𝑑𝑑2 𝑠𝑠) … … … (1 +‬‬

‫ﺩﺭ ﺳﻴﺴﺘﻢ ﺑﺎﻻ ﺍﮔﺮ ‪ j=0‬ﺑﺎﺷﺪ ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﺻﻔﺮ؛ ﺍﮔﺮ ‪ j=1‬ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﻳﻚ ﻭ‪ ....‬ﻣﻲ ‌ﺑﺎﺷﺪ ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬
‫)𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺‬
‫= )𝑠𝑠(𝑇𝑇‬ ‫ﻣﻲﺁﻭﺭﻳﻢ‬
‫) 𝑠𝑠𝑠𝑠𝑒𝑒( ﺍﺑﺘﺪﺍ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺪﺳﺖ ‌‬
‫)𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺‪1+‬‬

‫ﻣﻲﺷﻮﺩ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎﻱ )‪ E(s‬ﺗﻔﺎﻭﺕ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﻣﻲ‌ﺑﺎﺷﺪ ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺍﺭﻳﻢ‪:‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﻳﺪﻩ ‌‬

‫‪1‬‬
‫= )𝑠𝑠(𝑅𝑅)𝑠𝑠(𝑇𝑇 ‪𝐸𝐸(𝑠𝑠) = 𝑅𝑅(𝑠𝑠) −‬‬ ‫)𝑠𝑠(𝑅𝑅‬
‫)𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 ‪1 +‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪11‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫𝑠𝑠‬
‫‪𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑒𝑒(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠(𝑠𝑠) = lim 𝑠𝑠(𝑅𝑅(𝑠𝑠) − 𝑇𝑇(𝑠𝑠)𝑅𝑅(𝑠𝑠)) = lim‬‬ ‫)𝑠𝑠(𝑅𝑅‬
‫∞→𝑡𝑡‬ ‫‪𝑠𝑠→0‬‬ ‫‪𝑠𝑠→0‬‬ ‫)𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 ‪𝑠𝑠→0 1 +‬‬

‫ﺍﮔﺮ ﻭﺭﻭﺩﻱ ﭘﻠﻪ )‪ r(t)=Ru(t‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻛﻨﻴﻢ ﺩﺍﺭﻳﻢ‪:‬‬

‫𝑠𝑠‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬

‫‪𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠(𝑠𝑠) = lim‬‬ ‫=‬ ‫=‬
‫‪𝑠𝑠→0‬‬ ‫𝑠𝑠 )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 ‪𝑠𝑠→0 1 +‬‬ ‫𝑝𝑝𝐾𝐾 ‪1 + lim 𝐺𝐺(𝑠𝑠)𝐾𝐾(𝑠𝑠) 1 +‬‬
‫‪𝑠𝑠→0‬‬

‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﮔﺮ ﻭﺭﻭﺩﻱ ﺷﻴﺐ )‪ r(t)=Rtu(t‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻛﻨﻴﻢ ﺩﺍﺭﻳﻢ‪:‬‬

‫ﻛﻪ ‪ Kp‬ﺛﺎﺑﺖ ﻣﻮﻗﻌﻴﺖ ‌‬

‫𝑠𝑠‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬

‫‪𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠(𝑠𝑠) = lim‬‬ ‫‪2‬‬
‫=‬ ‫=‬
‫‪𝑠𝑠→0‬‬ ‫𝑠𝑠 )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 ‪𝑠𝑠→0 1 +‬‬ ‫𝑣𝑣𝐾𝐾 )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝑠𝑠𝑠𝑠 ‪0 + lim‬‬
‫‪𝑠𝑠→0‬‬

‫‪𝑅𝑅𝑡𝑡 2‬‬
‫= )𝑡𝑡(𝑟𝑟 ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻛﻨﻴﻢ ﺩﺍﺭﻳﻢ‪:‬‬ ‫ﻛﻪ ‪ Kv‬ﺛﺎﺑﺖ ﺳﺮﻋﺖ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﮔﺮ ﻭﺭﻭﺩﻱ ﺷﺘﺎﺏ )𝑡𝑡(𝑢𝑢‬
‫‪2‬‬

‫𝑠𝑠‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬ ‫𝑅𝑅‬

‫‪𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠(𝑠𝑠) = lim‬‬ ‫‪3‬‬
‫=‬ ‫‪2‬‬
‫=‬
‫‪𝑠𝑠→0‬‬ ‫𝑠𝑠 )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 ‪𝑠𝑠→0 1 +‬‬ ‫𝑎𝑎𝐾𝐾 )𝑠𝑠(𝐾𝐾)𝑠𝑠(𝐺𝐺 𝑠𝑠 ‪0 + lim‬‬
‫‪𝑠𝑠→0‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺩﺭ ﺟﺪﻭﻝ ‪ 1‬ﺟﻤﻊ‌ﺑﻨﺪﻱ ﻧﻤﻮﺩ‪.‬‬

‫ﻛﻪ ‪ Ka‬ﺛﺎﺑﺖ ﺷﺘﺎﺏ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﻄﺎﻟﺐ ﻓﻮﻕ ﺩﺭ ﻣﻮﺭﺩ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ‌‬

‫ﺳﻬﻤﻲ‬ ‫ﺷﻴﺐ‬ ‫ﭘﻠﻪ‬ ‫ﻭﺭﻭﺩﻱ‬

‫‪𝑅𝑅𝑡𝑡 2‬‬ ‫)‪r(t)=Rtu(t‬‬ ‫)‪r(t)=Ru(t‬‬ ‫ﻧﻮﻉ ﺳﻴﺴﺘﻢ‬
‫= )𝑡𝑡(𝑟𝑟‬ ‫)𝑡𝑡(𝑢𝑢‬
‫‪2‬‬
‫∞‬ ‫∞‬ ‫= ‪𝑒𝑒ss‬‬
‫𝑅𝑅‬
‫𝑝𝑝𝐾𝐾‪1+‬‬
‫ﺻﻔﺮ‬
‫∞‬ ‫= ‪𝑒𝑒ss‬‬
‫𝑅𝑅‬
‫𝑣𝑣𝐾𝐾‬
‫‪0‬‬ ‫ﻳﻚ‬
‫= ‪𝑒𝑒ss‬‬
‫𝑅𝑅‬
‫𝑎𝑎𝐾𝐾‬
‫‪0‬‬ ‫‪0‬‬ ‫ﺩﻭ‬
‫ﺟﺪﻭﻝ‪.1‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬

‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﺍﺯ ﺭﻭﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺗﻌﻴﻴﻦ ‌‬
‫ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﻓﻮﻕ ﺍﻟﻌﺎﺩﻩ ﻣﻬﻢ ‌‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬
‫‌‬

‫‪ ζ = 0.6‬ﻭ 𝑠𝑠𝑠𝑠𝑠𝑠‪ 𝜔𝜔𝑛𝑛 = 5𝑟𝑟𝑟𝑟𝑟𝑟/‬ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﻭ ﺧﻄﺎ ﺑﻪ‬ ‫‪ .1‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺑﺎ‬
‫ﻭﺭﻭﺩﻱ‌ﻫﺎﻱ ﭘﻠﻪ ﻭ ﺷﻴﺐ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫‌ﺑﺎﺷﺪ‪ .‬ﺁﺯﺍﺩﻱ ﻣﺎﻫﻴﭽﻪ ﺑﻮﺳﻴﻠﻪ ﺳﻴﮕﻨﺎﻝ ‌ﻫﺎﻱ‬ ‫ﺑﻲﻫﻮﺷﻲ ﺑﻪ ﻣﻌﻨﺎﻱ ﻓﻠﺞ ﻣﺎﻫﻴﭽﻪ ﻭ ﻋﺪﻡ ﻭﺟﻮﺩ ﻫﻮﺷﻴﺎﺭﻱ ﺩﺭ ﻣﺮﻳﺾ ﻣﻲ‬
‫‌‬ ‫‪.2‬‬
‫ﺍﻟﻜﺘﺮﻭﻣﺎﻳﻮﮔﺮﺍﻡ ﺍﻋﺼﺎﺏ ﺩﺳﺖ ﻗﺎﺑﻞ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﻣﻲ ‌ﺑﺎﺷﺪ ﻭ ﻋﺪﻡ ﻫﻮﺷﻴﺎﺭﻱ ﻧﻴﺰ ﺑﻪ ﻛﻤﻚ ﻓﺸﺎﺭ ﺑﻄﻨﻲ ﻗﻠﺐ ﻗﺎﺑﻞ ﺍﻧﺪﺍﺯﻩ ‌ﮔﻴﺮﻱ‬

‫‪12‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﺍﺳﺖ‪ .‬ﺩﺍﺭﻭﻱ ﺑﻲ ‌ﻫﻮﺷﻲ ﻣﺨﻠﻮﻃﻲ ﺍﺯ ﺍﻳﺰﻭﻓﻠﻮﺭﺍﻥ � ﻭ ﺁﺗﺮﺍﻛﻮﺭﻳﻮﻡ � ‌‬

‫ﻣﻲﺑﺎﺷﺪ ﻣﺪﻝ ﺗﻘﺮﻳﺒﻲ ﻣﺮﺗﺒﻂ ﺑﺎ ﺁﺯﺍﺩﻱ ﻣﺎﻫﻴﭽﻪ ﻧﺴﺒﺖ ﺑﻪ‬ ‫‪F8‬‬ ‫‪F7‬‬

‫ﺩﺭﺻﺪ ﺩﺍﺭﻭﻱ ﺍﻳﺰﻭﻓﻠﻮﺭﺍﻥ ﺩﺭ ﻣﺨﻠﻮﻁ ﺍﻳﺰﻭﻓﻠﻮﺭﺍﻥ ﻭ ﺁﺗﺮﺍﻛﻮﺭﻳﻮﻡ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬

‫)𝑠𝑠(𝑝𝑝‬ ‫‪7.63 ∗ 10−2‬‬

‫=‬
‫‪u(s) 𝑠𝑠 2 + 1.15𝑠𝑠 + 0.28‬‬

‫ﻧﺴﺒﺖ ﻣﻴﺮﺍﻳﻲ ﻭ ﻓﺮﻛﺎﻧﺲ ﻃﺒﻴﻌﻲ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬ ‫•‬

‫ﺗﻤﺎﻡ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬ ‫•‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‬

‫)𝑠𝑠(𝐶𝐶‬ ‫‪1‬‬
‫ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻲ ‌ﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺗﻐﻴﻴﺮ ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ﺑﺮ ﺭﻭﻱ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ‬ ‫=‬
‫)‪R(s‬‬ ‫‪Ts +1‬‬
‫ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﺮﺍﻱ ‪ T‬ﻣﻘﺎﺩﻳﺮ ‪ 1 ، 0.1‬ﻭ ‪ 5‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲ ‌ﮔﻴﺮﻳﻢ ﻛﺪﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﻧﻮﺷﺘﻪ ﻭ ﻧﺘﻴﺠﻪ ﺧﻮﺩ ﺭﺍ‬
‫ﺑﻴﺎﻥ ﻛﻨﻴﺪ‪ ).‬ﺑﺮﺍﻱ ﺭﺳﻢ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ step‬ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪(.‬‬

‫;]‪num=[1‬‬
‫;]‪den1=[0.1 1‬‬
‫)‪g1=tf(num,den1‬‬
‫)‪step(g1‬‬
‫‪hold on‬‬
‫;]‪den2=[1 1‬‬
‫)‪g2=tf(num,den2‬‬
‫)‪step(g2‬‬
‫;]‪den3=[5 1‬‬
‫)‪g3=tf(num,den3‬‬
‫)‪step(g3‬‬
‫ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺭﺍﺳﺖ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﺍﺯ ﻗﺴﻤﺖ ‪ characteristics‬ﻭﻳﮋﮔﻲﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ‪ .‬ﺧﻄﺎﻱ‬
‫ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻤﻬﺎﻱ ﻓﻮﻕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪).‬ﺧﻄﺎ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺗﺌﻮﺭﻱ ﻧﻴﺰ ﻣﺤﺎﺳﺒﻪ ﻛﺮﺩﻩ ﺁﻳﺎ ﻧﺘﻴﺠﻪ ﻳﻜﺴﺎﻥ ﺍﺳﺖ؟(‬

‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫‪T=0.1‬‬
‫‪T=1‬‬
‫‪T=5‬‬
‫ﺟﺪﻭﻝ‪2‬‬

‫‪1‬‬
‫‪Isoflurane‬‬
‫‪2‬‬
‫‪Atracurium‬‬

‫‪13‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﺷﻜﻞ‪ .9‬ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺷﻜﻞ‪ .8‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ‬

‫ﺍﻛﻨﻮﻥ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ impulse‬ﭘﺎﺳﺦ ﺿﺮﺑﻪ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﻭ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﭘﺎﺳﺦ ﺿﺮﺑﻪ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﺑﻪ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫‌‬ ‫ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ lsim‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺭﺍ ﺑﺮﺍﻱ‬

‫ﺷﻜﻞ‪ .11‬ﭘﺎﺳﺦ ﺿﺮﺑﻪ ﺳﻴﺴﺘﻢﻫﺎ‬ ‫ﺷﻜﻞ‪ .10‬ﭘﺎﺳﺦ ﺷﻴﺐ ﺳﻴﺴﺘﻢﻫﺎ‬

‫‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ‬ ‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﻄﺮﺡ ﺷﺪﻩ ﺩﺭ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ﺷﻤﺎﺭﻩ ﻳﻚ ﻭ ﺩﻭ ﺭﺍ ﺩﺭ‬
‫‌‬ ‫‪.B‬‬
‫ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﺑﺎ ﻣﻘﺎﺩﻳﺮﻱ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﺗﺌﻮﺭﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻳﺪ ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‪.‬‬

‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺳﻴﺴﺘﻢ ‪1‬‬
‫ﺳﻴﺴﺘﻢ ‪2‬‬
‫ﺟﺪﻭﻝ‪3‬‬

‫‪14‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺗﻐﻴﻴﺮ ﭘﺎﺭﺍﻣﺘﺮ ‪ ζ‬ﺑﺮ ﺭﻭﻱ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﻢ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﻣﺮﺗﺒﻪ ‪ 2‬ﺭﺍ‬
‫‌‬ ‫‪.C‬‬
‫ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺣﻠﻘﻪ ‪ for‬ﻳﻚ ﺑﺮﻧﺎﻣﻪ ‪ MATLAB‬ﺑﻨﻮﻳﺴﻴﺪ ﻛﻪ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺣﺎﻟﺖﻫﺎﻱ ﺯﻳﺮ ﻧﺸﺎﻥ ﺩﻫﺪ‪.‬‬
‫ﺳﭙﺲ ﺟﺪﻭﻝ ﺭﺍ ﭘﺮ ﻛﺮﺩﻩ ﻭ ﺩﺭ ﻫﺮ ﺣﺎﻟﺖ ﻣﺤﻞ ﻗﻄﺐ ﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﺷﻜﻞ ﻧﺸﺎﻥ ﺩﻫﻴﺪ‪.‬‬

‫)‪C(s‬‬ ‫‪ωn 2‬‬

‫‪= 2‬‬
‫‪R(s) s + 2ζωn s + ωn 2‬‬

‫ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =3 𝜁 =0 :1‬؛ ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =3 𝜁 =0.2 :2‬؛ ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =3 𝜁 =0.4 :3‬؛ ﺣﺎﻟﺖ‪𝜔𝜔𝑛𝑛 =3 𝜁 =0.6 :4‬‬

‫ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =3 𝜁 =0.8 :5‬؛ ﺣﺎﻟﺖ‪𝜔𝜔𝑛𝑛 =3 𝜁 =1 :6‬‬

‫ﺯﻣﺎﻥ‬ ‫ﺯﻣﺎﻥ‬
‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬ ‫ﺭﺳﻴﺪﻥ ﺑﻪ‬ ‫ﺭﺳﻴﺪﻥ ﺑﻪ‬
‫ﻗﻠﻪ ﺩﻭﻡ‬ ‫ﻗﻠﻪ ﺳﻮﻡ‬
‫ﺣﺎﻟﺖ‪1‬‬
‫ﺣﺎﻟﺖ‪2‬‬
‫ﺣﺎﻟﺖ‪3‬‬
‫ﺣﺎﻟﺖ‪4‬‬
‫ﺣﺎﻟﺖ‪5‬‬
‫ﺣﺎﻟﺖ‪6‬‬
‫ﺟﺪﻭﻝ‪4‬‬

‫ﺷﻜﻞ‪ .13‬ﻗﻄﺐ‌ﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺷﻜﻞ‪ .12‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ ﺑﺎﺯﺍﻱ ﺣﺎﻟﺖﻫﺎﻱ ﻣﺨﺘﻠﻒ‬

‫ﺳﺎﺯﻱﻫﺎﻱ ﻓﻮﻕ ﺑﻴﺎﻥ ﻛﻨﻴﺪ‪.‬‬

‫‌‬ ‫ﻧﺘﻴﺠﻪ ﺧﻮﺩ ﺭﺍ ﺍﺯ ﺷﺒﻴﻪ‬

‫‪15‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫‪ .D‬ﺁﺯﻣﺎﻳﺶ ﺣﺎﻟﺖ ‪ C‬ﺭﺍ ﺍﻛﻨﻮﻥ ﺑﺮﺍﻱ ﺣﺎﻟﺖ ﻫﺎﻱ ﺯﻳﺮ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =1 𝜁 =0.3 :1‬؛ ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =2 𝜁 =0.3 :2‬؛ ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =3 𝜁 =0.3 :3‬؛ ﺣﺎﻟﺖ‪𝜔𝜔𝑛𝑛 =4 𝜁 =0.3 :4‬‬

‫ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =6 𝜁 =0.3 :5‬؛ ﺣﺎﻟﺖ‪𝜔𝜔𝑛𝑛 =28 𝜁 =0.3 :6‬‬

‫ﺯﻣﺎﻥ‬ ‫ﺯﻣﺎﻥ‬
‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬ ‫ﺭﺳﻴﺪﻥ ﺑﻪ‬ ‫ﺭﺳﻴﺪﻥ ﺑﻪ‬
‫ﻗﻠﻪ ﺩﻭﻡ‬ ‫ﻗﻠﻪ ﺳﻮﻡ‬
‫ﺣﺎﻟﺖ‪1‬‬
‫ﺣﺎﻟﺖ‪2‬‬
‫ﺣﺎﻟﺖ‪3‬‬
‫ﺣﺎﻟﺖ‪4‬‬
‫ﺣﺎﻟﺖ‪5‬‬
‫ﺣﺎﻟﺖ‪6‬‬
‫ﺟﺪﻭﻝ‪5‬‬

‫ﺷﻜﻞ‪ .15‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺷﻜﻞ‪ .14‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ ﺑﺎﺯﺍﻱ ﺣﺎﻟﺖﻫﺎﻱ ﻣﺨﺘﻠﻒ‬

‫‪ .E‬ﺍﻛﻨﻮﻥ ﺁﺯﻣﺎﻳﺶ ﻗﺴﻤﺖ ‪ c‬ﺭﺍ ﺑﺮﺍﻱ ‪ ζ‬ﻫﺎﻱ ﺑﺰﺭﮔﺘﺮ ﺍﺯ ﻳﻚ ﻣﻲ‌ﺧﻮﺍﻫﻴﻢ ﺍﻧﺠﺎﻡ ﺩﻫﻴﻢ ﻭ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪.‬‬
‫ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =1 𝜁 =1 :1‬؛ ﺣﺎﻟﺖ‪ 𝜔𝜔𝑛𝑛 =1 𝜁 =2 :2‬؛ ﺣﺎﻟﺖ‪𝜔𝜔𝑛𝑛 =1 𝜁 =3 :3‬‬

‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺣﺎﻟﺖ ‪1‬‬
‫ﺣﺎﻟﺖ ‪2‬‬
‫ﺣﺎﻟﺖ‪3‬‬
‫ﺟﺪﻭﻝ‪6‬‬

‫‪16‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫ﺷﻜﻞ‪ .17‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺷﻜﻞ‪ .16‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ ﺑﺎﺯﺍﻱ ﺣﺎﻟﺖﻫﺎﻱ ﻣﺨﺘﻠﻒ‬

‫‪ .F‬ﻣﺪﻝ ﭼﻨﺪ ﻣﺘﻐﻴﺮﻩ ﺑﻲﻫﻮﺷﻲ ﺍﺭﺗﺒﺎﻁ ﺩﻫﻨﺪﻩ ﺑﻴﻬﻮﺷﻲ )ﻛﻪ ﺑﺎ ﺩﻭ ﻭﻳﮋﮔﻲ ﺁﺯﺍﺩﻱ ﻣﺎﻫﻴﭽﻪ � ﻭ ﺗﻐﻴﻴﺮﺍﺕ ﺩﺭ ﻓﺸﺎﺭ ﺧﻮﻥ � ﺑﻴﺎﻥ ﻣﻲ‌ﺷﻮﺩ(‬
‫‪F10‬‬ ‫‪F9‬‬

‫ﺑﻪ ﺩﻭ ﺩﺍﺭﻭﻱ ﺍﻳﺰﻭﻓﻠﻮﺭﺍﻥ ﻭ ﺁﺗﺮﺍﻛﻮﺭﻳﻮﻡ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻴﺒﺎﺷﺪ ﺗﻤﺎﻡ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫)𝑠𝑠‪𝑒𝑒 −𝑠𝑠 (1+10.64‬‬ ‫𝑠𝑠‪0.27𝑒𝑒 −‬‬

‫𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃𝑃‬ ‫)𝑠𝑠‪(1+3.08𝑠𝑠)(1+4.81𝑠𝑠)(1+34.42‬‬ ‫)𝑠𝑠‪(1+2.83𝑠𝑠)(1+1.25‬‬ ‫𝑈𝑈‬
‫�‬ ‫�=�‬ ‫�‪� � 1‬‬
‫𝑀𝑀𝑀𝑀𝑀𝑀∆‬ ‫𝑠𝑠‪−15𝑒𝑒 −0.42‬‬ ‫‪𝑈𝑈2‬‬
‫‪0‬‬
‫𝑠𝑠‪1+2‬‬

‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑐𝑐‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ 1‬ﺑﻪ‬
‫ﺧﺮﻭﺟﻲ‪Paralysis‬‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ 2‬ﺑﻪ‬
‫ﺧﺮﻭﺟﻲ ‪MAP‬‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ 2‬ﺑﻪ‬
‫ﺧﺮﻭﺟﻲ‪Paralysis‬‬
‫ﺟﺪﻭﻝ‪7‬‬

‫‪ .G‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﺗﻤﺎﻡ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‪1‬‬
‫)‪Muscle relaxation(paralysis‬‬
‫‪2‬‬
‫‪MAP‬‬

‫‪17‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﻡ‬

‫̇𝑥𝑥‬ ‫‪−1 −1 𝑥𝑥1‬‬ ‫‪1‬‬ ‫‪1 𝑢𝑢1‬‬

‫� = �‪� 1‬‬ ‫� ‪� �𝑥𝑥 � +‬‬ ‫� ��‬
‫‪𝑥𝑥̇ 2‬‬ ‫‪6.5 0‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪0 𝑢𝑢2‬‬
‫‪𝑦𝑦1‬‬ ‫‪1‬‬ ‫‪0 𝑥𝑥1‬‬ ‫‪0‬‬ ‫‪0 𝑢𝑢1‬‬
‫� = � 𝑦𝑦�‬ ‫� ‪�� � +‬‬ ‫� ��‬
‫‪2‬‬ ‫‪0‬‬ ‫‪1 𝑥𝑥2‬‬ ‫‪0‬‬ ‫‪0 𝑢𝑢2‬‬

‫ﺑﻪ ﻛﻤﻚ ‪ MATLAB‬ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﻧﻴﺰ ﺑﻴﺎﺑﻴﺪ‪.‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬
‫‪ .1‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ‪ ،‬ﺷﻴﺐ ﻭ 𝑡𝑡‪ 𝑟𝑟(𝑡𝑡) = 𝑒𝑒 −0.5‬ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﻫﻤﺎﻧﻨﺪ ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‬
‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫)𝑠𝑠(𝐶𝐶‬ ‫‪𝑠𝑠+10‬‬
‫=‬
‫)𝑠𝑠(𝑅𝑅‬ ‫‪𝑠𝑠 3 +6𝑠𝑠 2 +9𝑠𝑠+10‬‬

‫‪ .2‬ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ﺯﻳﺮ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ‪ 2‬ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺁﻥ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫)𝜁𝜁 ‪[𝑛𝑛𝑛𝑛𝑛𝑛, 𝑑𝑑𝑑𝑑𝑑𝑑] = 𝑜𝑜𝑜𝑜𝑜𝑜2(𝜔𝜔𝑛𝑛 ,‬‬

‫‪ .3‬ﺳﻴﺘﻢ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺭﺍﻩ ﺷﻜﻞ ‪ 18‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﺧﺮﻭﺟﻲ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻧﻮﺳﺎﻧﺎﺕ ﻧﺎﻣﻴﺮﺍﻳﻲ ﺩﺍﺭﺩ ﻛﻪ ﻣﻄﻠﻮﺏ‬
‫‪ 19‬ﭘﺎﻳﺪﺍﺭ ﻛﺮﺩ‪.‬‬ ‫ﻧﻴﺴﺖ‪ .‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻓﻴﺪﺑﻚ ﺗﺎﻛﻮﻣﺘﺮﻱ ﺑﻪ ﺻﻮﺭﺕ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺩﺭ ﺷﻜﻞ‬
‫ﺩﺍﺭﻳﻢ ‪ 𝑘𝑘h ،k/j=4‬ﺑﻴﺎﻳﺪ ﭼﻪ ﺑﺎﺷﺪ ﺗﺎ ﻧﺴﺒﺖ ﻣﻴﺮﺍﻳﻲ ‪ 0.6‬ﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .19‬ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺷﺪﻩ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ‬ ‫ﺷﻜﻞ‪ .18‬ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ‬

‫‪18‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :3‬ﺑﺮﺭﺳﻲ ﺍﺛﺮ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺩﺭ ﺳﻴﺴﺘﻢ‌ﻫﺎ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻧﺤﻮﻩ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ‌ﻫﺎ ﺑﻪ ﻛﻤﻚ ‪ Simulink‬ﺁﺷﻨﺎ ﻣﻲ ‌ﺷﻮﺩ ﻭ ﺍﺛﺮ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺑﻪ ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺑﺴﺘﻪ ﺭﺍ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ‪ .‬ﺍﻧﺘﻈﺎﺭ ﻣﻲ ‌ﺭﻭﺩ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺩﺭ ﭘﺎﻳﺎﻥ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺑﺎ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﺳﺎﺩﻩ ﺩﺭ ‪ simulink‬ﺁﺷﻨﺎ ﺷﻮﻧﺪ‪.‬‬
‫‌‬ ‫ﺷﺒﻴﻪﺳﺎﺯﻱ‬
‫‌‬ ‫ﻧﺤﻮﻩ‬

‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫ﻗﻄﺒﻬﺎ ﻭ ﺻﻔﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪ .‬ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ‬

‫)𝑠𝑠(𝑛𝑛‬
‫= )𝑠𝑠(𝐺𝐺 ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻨﻈﻮﺭ ﺍﺯ ﻗﻄﺐ ﺳﻴﺴﺘﻢ )‪ (s=p‬ﻣﻘﺪﺍﺭﻱ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭ‬
‫)𝑠𝑠(𝑑𝑑‬
‫ﺁﻥ ﺍﻧﺪﺍﺯﻩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺮﺍﺑﺮ ﺑﺎ ﺑﻲ ‌ﻧﻬﺎﻳﺖ ﻣﻲ‌ﺷﻮﺩ‪ .‬ﻣﻨﻈﻮﺭ ﺍﺯ ﺻﻔﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ )‪ (s=z‬ﻣﻘﺪﺍﺭﻱ ﻣﻲ ‌ﺑﺎﺷﺪ ﻛﻪ ﺩﺭ ﺁﻥ ﺍﻧﺪﺍﺯﻩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺮﺍﺑﺮ‬
‫ﻣﻲﺑﺎﺷﻨﺪ‬
‫ﻗﻄﺐﻫﺎ ﻭ ﺻﻔﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻧﺸﺎﻥ ﺩﻫﻨﺪﻩﻱ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ‌‬
‫‌‬ ‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺑﺎ ﺻﻔﺮ ‌‬

‫‪𝜔𝜔 𝑛𝑛 2‬‬
‫= )𝑠𝑠(𝐺𝐺 ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻴﺨﻮﺍﻫﻴﻢ ﻳﻚ‬
‫) 𝑛𝑛 𝜔𝜔𝜁𝜁‪𝑠𝑠(𝑠𝑠+2‬‬
‫ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺎﺯ‬ ‫ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﻗﻄﺐ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺎﺯ‪.‬‬
‫ﻗﻄﺐ ﺑﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﺍﺿﺎﻓﻪ ﻛﻨﻴﻢ ﺩﺭ ﻧﺘﻴﺠﻪ ﺩﺍﺭﻳﻢ‬

‫‪𝜔𝜔 𝑛𝑛 2‬‬
‫ﻣﻲﺷﻮﺩ‪ .‬ﻫﺮ ﭼﻘﺪﺭ ﻗﻄﺐ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ‬
‫‌‬ ‫ﺑﺎ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﻗﻄﺐ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﺻﻮﺭﺕ‬
‫𝜔𝜔𝜁𝜁‪𝑇𝑇𝑠𝑠 3 +(1+2‬‬ ‫𝑠𝑠)𝑇𝑇 𝑛𝑛‬
‫𝜔𝜔𝜁𝜁‪2 +2‬‬
‫𝑛𝑛 𝜔𝜔‪𝑛𝑛 𝑠𝑠+‬‬
‫‪2‬‬

‫ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗 ﻧﺰﺩﻳﻜﺘﺮ ﺑﺎﺷﺪ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻛﻤﺘﺮ ﻭ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻧﻴﺰ ﻛﻤﺘﺮ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺑﺎ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﺻﻔﺮ ﺣﻠﻘﻪ ﺑﺎﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﺻﻮﺭﺕ‬ ‫ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺎﺯ‪.‬‬
‫𝑛𝑛 𝜔𝜔‬
‫ﻣﻲﺷﻮﺩ‪ .‬ﻫﺮ ﭼﻘﺪﺭ ﻗﻄﺐ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗 ﻧﺰﺩﻳﻜﺘﺮ ﺑﺎﺷﺪ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﻴﺸﺘﺮ ﻣﻲﺷﻮﺩ‪.‬‬
‫‪𝑠𝑠 2 +(2𝜁𝜁𝜔𝜔 𝑛𝑛 +𝜔𝜔 𝑛𝑛 2 𝑇𝑇)𝑠𝑠+2𝜔𝜔 𝑛𝑛 2‬‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﺮﺩﻩ ﻭ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫ﺷﻜﻞ‪ .2‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ‪ 2‬ﻭ ﺍﻋﻤﺎﻝ ﻭﺭﻭﺩﻱ ﭘﻠﻪ‬

‫ﺑﺮﺍﻱ ﺭﺳﻢ ﺷﻜﻞ ﻓﻮﻕ ﺩﺭ ‪ ،simulink‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ‪ ،Continues‬ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ‪ ،Sources‬ﺍﺳﻜﻮپ ﺭﺍ ﺍﺯ‬
‫ﻗﺴﻤﺖ ‪ Sinks‬ﻭ ﻣﺎﻟﺘﻲ‌ﭘﻠﻜﺴﺘﺮ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ‪ Signal Routing‬ﻭﺍﺭﺩ ﻛﻨﻴﺪ‪ .‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﺎﻓﻲ ﺍﺳﺖ ﺩﻭﺑﺎﺭ ﺑﺮ ﺭﻭﻱ ﺑﻠﻮﻙ‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﺿﺮﺍﻳﺐ ﺻﻮﺭﺕ ﻭ ﻣﺨﺮﺝ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻭﺍﺭﺩ ﻛﻨﻴﺪ‪.‬‬

‫‪ .B‬ﺩﺭ ﺁﺯﻣﺎﻳﺶ ﻗﺒﻞ ﺍﺛﺮ ﺗﻐﻴﻴﺮ 𝑛𝑛𝜔𝜔 ﺑﻮﺳﻴﻠﻪﻱ ﻛﺪﻧﻮﻳﺴﻲ ﺑﺮﺭﺳﻲ ﮔﺮﺩﻳﺪ ﺍﻛﻨﻮﻥ ﻣﻲ ‌ﺧﻮﺍﻫﻴﻢ ﻧﺘﺎﻳﺞ ﺭﺍ ﻳﻜﺒﺎﺭ ﺩﻳﮕﺮ ﺑﻪ ﻛﻤﻚ ‪simulink‬‬
‫ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ ﻟﺬﺍ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ‪ .‬ﻗﻄﺒﻬﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﻴﺰ ﺩﺭ ﺷﻜﻞ‬
‫‪ ،Sources‬ﻭﺍﺭﺩ ﻛﻨﻴﺪ ﻭ ﺍﻛﻨﻮﻥ ﺩﺭ ﺍﻳﻦ‬ ‫ﻣﺸﺨﺺ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺭﺍ ﺑﺮﺩﺍﺷﺘﻪ ﻭ ﺑﻪ ﺟﺎﻱ ﺁﻥ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ‬
‫ﻣﺮﺣﻠﻪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ﺛﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .4‬ﺑﺮﺭﺳﻲ ﺗﻐﻴﻴﺮ 𝑛𝑛𝜔𝜔‬ ‫ﺷﻜﻞ‪ .3‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢﻫﺎ‬

‫𝑑𝑑𝑡𝑡‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝜔𝜔𝑛𝑛 = 0.5‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝜔𝜔𝑛𝑛 =1‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝜔𝜔𝑛𝑛 =2‬‬
‫ﺟﺪﻭﻝ‪.1‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫ﺷﻜﻞ‪ .6‬ﭘﺎﺳﺦ ﺷﻴﺐ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ‬ ‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ‬

‫‌‬ ‫ﺷﻜﻞ‪ .5‬ﭘﺎﺳﺦ ﭘﻠﻪ‬

‫ﻣﻲﺷﻮﺩ ﺍﻣﺎ ﺩﺭ ﺑﺎﻻ ﺍﻳﻦ ﺍﺗﻔﺎﻕ ﺭﻭﻱ ﻧﺪﺍﺩ ﻋﻠﺖ‬

‫ﻣﻲﺩﺍﻧﻴﻢ ﻛﻪ ﺑﺎ ﻧﺰﺩﻳﻚ ﺷﺪﻥ ﻗﻄﺒﻬﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗 ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺋﻢ ﻛﻢ ‌‬
‫‌‬
‫ﮔﻔﺘﻪﻱ ﺧﻮﺩ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻓﺮﻣﻮﻝ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺍﺛﺒﺎﺕ ﻛﻨﻴﺪ‪.‬‬
‫‌‬ ‫ﺍﻳﻦ ﺍﻣﺮ ﺭﺍ ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﻭ ﺳﭙﺲ‬

‫‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ‬ ‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺎﺯ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ‬
‫‌‬ ‫‪.C‬‬
‫ﻧﺘﺎﻳﺞ ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .7‬ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫𝑠𝑠𝑠𝑠𝑒𝑒‬ ‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬

‫ﺳﻴﺴﺘﻢ ﺍﻭﻟﻴﻪ‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ‬
‫ﺍﺿﺎﻓﻪ ﺷﺪﻥ‬
‫ﻗﻄﺐ ﺩﺭ‪-1‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ‬
‫ﺍﺿﺎﻓﻪ ﺷﺪﻥ‬
‫ﻗﻄﺐ ﺩﺭ ‪-0.5‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ‬
‫ﺍﺿﺎﻓﻪ ﺷﺪﻥ‬
‫ﻗﻄﺐ ﺩﺭ ‪-0.2‬‬

‫ﺷﻜﻞ‪ .8‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺟﺪﻭﻝ‪2‬‬

‫‪ .D‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ‬
‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺿﻤﻨﻲ ﻣﻘﺎﻳﺴﻪ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺛﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .9‬ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫ﺷﻜﻞ‪ .11‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ‬ ‫ﺷﻜﻞ‪ .10‬ﻗﻄﺐﻫﺎﻱ ﺍﺿﺎﻓﻪ ﺷﺪﻩ ﺑﻪ ﺳﻴﺴﺘﻢ‬

‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺎﺯ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ‬
‫‌‬ ‫‪.E‬‬
‫ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .12‬ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺳﻴﺴﺘﻢ ﺑﺪﻭﻥ ﺻﻔﺮ‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -3‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -2‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -0.5‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -0.2‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -0.1‬‬
‫ﺟﺪﻭﻝ‪ .3‬ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬

‫ﺷﻜﻞ‪ .14‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ‬ ‫ﺷﻜﻞ‪ .13‬ﺻﻔﺮﻫﺎﻱ ﺍﺿﺎﻓﻪ ﺷﺪﻩ ﺑﻪ ﺳﻴﺴﺘﻢ‬

‫‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ‬ ‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ‬
‫‌‬ ‫‪.F‬‬
‫ﻧﺘﺎﻳﺞ ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .15‬ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﺳﻴﺴﺘﻢ ﺑﺪﻭﻥ ﺻﻔﺮ‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -1‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -0.5‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ‪𝑧𝑧 = -0.25‬‬
‫ﺟﺪﻭﻝ‪ .4‬ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬

‫ﺷﻜﻞ‪ .17‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢﻫﺎ‬ ‫ﺷﻜﻞ‪ .16‬ﺻﻔﺮﻫﺎﻱ ﺍﺿﺎﻓﻪ ﺷﺪﻩ ﺑﻪ ﺳﻴﺴﺘﻢ‬

‫‪ .G‬ﻣﺪﻝ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﻣﻮﺗﻮﺭ ‪ DC‬ﻛﻪ ﺩﺭ ﺁﺯﻣﺎﻳﺶ ﺍﻭﻝ ﺑﻴﺎﻥ ﺷﺪ ﺭﺍ ﺩﺭ ‪ simulink‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪ .‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ‬
‫ﻣﺪﻝ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ Simulink‬ﺑﻠﻮﻙ ‪ State-Space‬ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ‪ Continues‬ﻭﺍﺭﺩ ﻛﻨﻴﺪ‪.‬‬

‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬ ‫𝑠𝑠𝑠𝑠𝑒𝑒‬

‫ﻣﻮﺗﻮﺭ ‪DC‬‬
‫ﺟﺪﻭﻝ‪ .5‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻣﻮﺗﻮﺭ ‪DC‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪ .1‬ﻗﻄﺒﻬﺎﻱ ﻏﺎﻟﺐ ﺩﺭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﭼﻴﺴﺖ؟ ﺑﺎ ﺩﻭ ﻣﺜﺎﻝ ﻗﻄﺐ ‌ﻫﺎﻱ ﻏﺎﻟﺐ ﺣﻘﻴﻘﻲ ﻭ ﻣﺨﺘﻠﻂ ﺩﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺷﺒﻴﻪ ‌ﺳﺎﺯﻱ‬
‫ﻧﺸﺎﻥ ﺩﻫﻴﺪ‪).‬ﺑﻪ ﻛﻤﻚ ‪(Simulink‬‬
‫‪ .2‬ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺩﺭ ﻣﺴﻴﺮ ﻓﻴﺪﺑﻚ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ Simulink‬ﻧﺸﺎﻥ ﺩﻫﻴﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺳﻮﻡ‬

‫‪ .3‬ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺳﻤﺖ ﺭﺍﺳﺖ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺎ ﻛﺸﻴﺪﻥ ﺷﻜﻞ ﺯﻳﺮ ﺩﺭ ‪ Simulink‬ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ‪.‬‬

‫ﺳﻴﺴﺘﻢ‬ ‫ﻗﻄﺐﻫﺎﻱ ﻏﺎﻟﺐ ﺳﻪ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﭘﻴﺪﺍ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺍﻟﻒ ﺭﺍ ﺑﺎ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﻳﻚ‪ ،‬ﻭ ﺳﻴﺴﺘﻢ ﺏ ﺭﺍ ﺑﺎ ﻳﻚ‬
‫‌‬ ‫‪.4‬‬
‫ﻣﺮﺗﺒﻪ ﺩﻭ ﺗﻘﺮﻳﺐ ﺑﺰﻧﻴﺪ‪.‬‬

‫)𝑠𝑠(𝐶𝐶‬ ‫)‪15.24(𝑠𝑠+2.1‬‬ ‫)𝑠𝑠(𝐶𝐶‬ ‫‪96‬‬ ‫)𝑠𝑠(𝐶𝐶‬ ‫‪32‬‬

‫=‬ ‫)‪(𝑠𝑠+16)(𝑠𝑠+2‬‬
‫ﺝ‪.‬‬ ‫ﺏ‪= (s+16)(s+3)(s+2).‬‬ ‫ﺍﻟﻒ‪= (s+2)(s+16) .‬‬
‫)𝑠𝑠(𝑅𝑅‬ ‫)‪R(s‬‬ ‫)‪R(s‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :4‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‬

‫ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺩﺭ ‪ MATLAB‬ﺁﺷﻨﺎ ﺷﺪﻩ‬

‫‌‬ ‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻭ ﺳﭙﺲ ﺑﻪ ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢ ﻫﺎ ﺑﻪ ﻛﻤﻚ ﻣﻜﺎﻥ ﺭﺳﻢ ﺷﺪﻩ ﻣﻲ ‌ﭘﺮﺩﺍﺯﺩ‪ .‬ﺩﺍﻧﺸﺠﻮ ﻫﻤﭽﻨﻴﻦ ﺑﺎ ﻧﺤﻮﻩ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﺍﺭﺍﻱ ﺗﺎﺧﻴﺮ ﺍﻧﺘﻘﺎﻟﻲ ﻭ ﻧﺤﻮﻩ ﺗﻘﺮﻳﺐ ﺗﺎﺧﻴﺮ ﺳﻴﺴﺘﻢﻫﺎ ﺩﺭ ‪ MATLAB‬ﺁﺷﻨﺎ ﻣﻲ‌ﺷﻮﺩ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺍﻧﺘﻈﺎﺭ ﻣﻲﺭﻭﺩ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ‬
‫ﺑﺎ ﻧﺤﻮﻩ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ‪ sisotool‬ﺁﺷﻨﺎ ﺷﻮﻧﺪ‬

‫‌ﻫﺎﻱ ﺣﻠﻘﻪ‬ ‫ﻣﺸﺨﺼﺎﺕ ﺍﺳﺎﺳﻲ ﭘﺎﺳﺦ ﮔﺬﺭﺍﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍﺑﻄﻪﺍﻱ ﺑﺴﻴﺎﺭ ﻧﺰﺩﻳﻚ ﺑﺎ ﻣﺤﻞ ﻗﻄﺐ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺑﺴﺘﻪ ﺩﺍﺭﺩ‪ .‬ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺑﻬﺮﻩﻱ ﺣﻠﻘﻪﻱ ﻣﺘﻐﻴﺮﻱ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﻣﻘﺪﺍﺭ ﺑﻬﺮﻩﻱ ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ ﺑﺮﺍﻱ ﺣﻠﻘﻪ‬
‫ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪ .‬ﭘﺲ ﺩﺍﻧﺴﺘﻦ ﭼﮕﻮﻧﮕﻲ ﺗﻐﻴﻴﺮ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﺻﻔﺤﻪﻱ ‪ S‬ﺑﺎ ﺗﻐﻴﻴﺮ ﺑﻬﺮﻩﻱ ﺣﻠﻘﻪ‪ ،‬ﺑﺮﺍﻱ ﻃﺮﺍﺡ ﻣﻬﻢ ﺍﺳﺖ‪ .‬ﺩﺭ‬
‫‌ﺷﻮﺩ‪ .‬ﭘﺲ ﻣﻲ ‌ﺗﻮﺍﻥ‬ ‫ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‪ ،‬ﺭﻳﺸﻪ ‌ﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺑﻪ ﺍﺯﺍﻱ ﺗﻤﺎﻡ ﻣﻘﺎﺩﻳﺮ ﻳﻚ ﭘﺎﺭﺍﻣﺘﺮ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻣﻲ‬
‫ﺭﻳﺸﻪﻫﺎﻱ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﻫﺮ ﻣﻘﺪﺍﺭ ﺧﺎﺹ ﺍﻳﻦ ﭘﺎﺭﺍﻣﺘﺮ ﺭﺍ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭ ﺣﺎﺻﻞ ﻣﺸﺨﺺ ﻛﺮﺩ‪ .‬ﺍﻳﻦ ﭘﺎﺭﺍﻣﺘﺮ ﻣﻌﻤﻮﻻً ﺑﻬﺮﻩ ﺍﺳﺖ‪ ،‬ﻭﻟﻲ ﻫﺮ ﭘﺎﺭﺍﻣﺘﺮ‬
‫‌‬
‫ﺩﻳﮕﺮﻱ ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﻧﻴﺰ ﻣﻲ ‌ﺗﻮﺍﻧﺪ ﺑﺎﺷﺪ‪ .‬ﺍﻳﺪﻩﻱ ﺍﺳﺎﺳﻲ ﻭﺭﺍﻱ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﻣﻘﺎﺩﻳﺮﻱ ﺍﺯ ‪ s‬ﻛﻪ‬
‫ﺑﺎﺯﺍﻱ ﺁﻥ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻮﻝ ﺣﻠﻘﻪ ‪ -1‬ﻣﻲ‌ﺷﻮﺩ‪ ،‬ﺑﺎﻳﺪ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺭﺿﺎ ﻛﻨﻨﺪ‪ .‬ﺑﺎ ﻓﺮﺽ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﺻﻮﺭﺕ‬
‫)𝑠𝑠(𝐶𝐶‬ ‫)‪G(s‬‬
‫‪ 1+G(s)H(s)=0‬ﻳﺎ ‪ G(s)H(s)=-1‬ﻣﻲﺷﻮﺩ‪ .‬ﭼﻮﻥ‬ ‫‪ ،‬ﺁﻧﮕﺎﻩ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ‬ ‫=‬
‫)‪R(s‬‬ ‫)‪1+G(s)H(s‬‬
‫)‪ G(s)H(s‬ﻳﻚ ﻛﻤﻴﺖ ﻣﺨﺘﻠﻂ ﺍﺳﺖ‪ ،‬ﻣﻌﺎﺩﻻﺕ ﺑﺎﻻ ﺭﺍ ﻣﻲ ‌ﺗﻮﺍﻥ ﺑﺎ ﺟﺪﺍ ﻛﺮﺩﻥ ﺍﻧﺪﺍﺯﻩ ﻭ ﻓﺎﺯ ﺩﻭ ﻃﺮﻑ ﻣﻌﺎﺩﻟﻪ ﺑﻪ ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﺗﺒﺪﻳﻞ ﻛﺮﺩ ﻭ‬
‫ﺩﺍﺭﻳﻢ‪:‬‬

‫) ‪∠𝐺𝐺(𝑠𝑠)𝐻𝐻(𝑠𝑠) = ±180∘ (2𝑘𝑘 + 1) (𝑘𝑘 = 0,1,2, … … . .‬‬ ‫ﺷﺮﻁ ﺯﺍﻭﻳﻪ‪:‬‬

‫‪|𝐺𝐺(𝑠𝑠)𝐻𝐻(𝑠𝑠)| = 1‬‬ ‫ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ‪:‬‬

‫ﻣﻘﺎﺩﻳﺮﻱ ﺍﺯ ‪ s‬ﻛﻪ ﻫﺮ ﺩﻭ ﺷﺮﻁ ﺑﺎﻻ ﺭﺍ ﺍﺭﺿﺎ ﻛﻨﻨﺪ‪ ،‬ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﻫﺴﺘﻨﺪ‪ .‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﻪ ﻃﺮﻳﻖ‬
‫ﺯﻳﺮ ﻣﻲ‌ﺑﺎﻳﺴﺖ ﻋﻤﻞ ﻛﺮﺩ‪:‬‬

‫‪ .1‬ﻳﺎﻓﺘﻦ ﻣﺠﻤﻮﻋﻪ ﺻﻔﺮﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ‪ .‬ﻧﺎﻡ ﺍﻳﻦ ﻣﺠﻤﻮﻋﻪ ﺭﺍ ‪‌ m‬‬

‫ﻣﻲﮔﺬﺍﺭﻳﻢ‪.‬‬
‫‪ .2‬ﻳﺎﻓﺘﻦ ﻣﺠﻤﻮﻋﻪ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ‪ .‬ﻧﺎﻡ ﺍﻳﻦ ﻣﺠﻤﻮﻋﻪ ﺭﺍ ‪ n‬ﻣﻲﮔﺬﺍﺭﻳﻢ‪.‬‬
‫‪ m‬ﻭ ‪ n‬ﻣﻲ ‌ﺑﺎﺷﺪ‪.‬‬ ‫‪ .3‬ﻳﺎﻓﺘﻦ ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎ‪ .‬ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎ ﺩﺭ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﺑﺮ ﺑﺎ ﻣﺎﻛﺰﻳﻤﻢ ﻣﻘﺎﺩﻳﺮ‬
‫}𝑛𝑛 ‪max {𝑚𝑚,‬‬
‫‪ .4‬ﻳﺎﻓﺘﻦ ﺗﻌﺪﺍﺩ ﻣﺠﺎﻧﺐﻫﺎ ﻭ ﺯﺍﻭﻳﻪﻱ ﺁﻥﻫﺎ‪.‬‬
‫ﺗﻌﺪﺍﺩ ﻣﺠﺎﻧﺐﻫﺎ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ |𝑚𝑚 ‪|𝑛𝑛 −‬‬ ‫•‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﺯﺍﻭﻳﻪﻱ ﻣﺠﺎﻧﺐﻫﺎ ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ )‪(k‬‬ ‫•‬
‫ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ ﻣﺜﺒﺖ ﺑﺎﺷﺪ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‬

‫��������� = ‪k‬‬
‫… … … … ‪0,1,2,‬‬
‫‪(2k+1)π‬‬
‫= ‪𝜃𝜃k‬‬ ‫| 𝑚𝑚‪|𝑛𝑛−‬‬ ‫ﺑﻪ ﺗﻌﺪﺍﺩ |𝑚𝑚 ‪|𝑛𝑛 −‬‬

‫ﺯﺍﻭﻳﻪﻱ ﻣﺠﺎﻧﺐﻫﺎ ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ )‪(k‬‬ ‫•‬
‫ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ ﻣﺜﺒﺖ ﺑﺎﺷﺪ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‬

‫‪2kπ‬‬ ‫‪k = 0,1,2,‬‬ ‫…………‬

‫���������‬
‫= ‪𝜃𝜃k‬‬
‫|𝑚𝑚 ‪|𝑛𝑛 −‬‬ ‫ﺑﻪ ﺗﻌﺪﺍﺩ |𝑚𝑚 ‪|𝑛𝑛 −‬‬

‫‪ .5‬ﻳﺎﻓﺘﻦ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﻣﺠﺎﻧﺐﻫﺎ‪ .‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﻣﺠﺎﻧﺐﻫﺎ ﻣﻲ ‌ﺗﻮﺍﻥ ﺍﺯ ﻓﺮﻣﻮﻝ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪ .‬ﻛﻪ ﺩﺭ ﺁﻥ 𝑎𝑎𝑠𝑠 ﻣﺤﻞ‬
‫ﻣﺠﻤﻮﻋﺼﻔﺮﻫﺎﻫﺎ‪−‬ﻣﺠﻤﻮﻉ ﺻﻔﺮﻫﺎ‬
‫ﻗﻄﺐ‬
‫= ‪𝑠𝑠a‬‬ ‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺑﺮﺧﻮﺭﺩ ﻣﺠﺎﻧﺐﻫﺎ ﺑﺎ ﻳﻜﺪﻳﮕﺮ ‌‬
‫ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎ‪−‬ﺗﻌﺪﺍﺩ‬

‫‪ .6‬ﺗﻌﻴﻴﻦ ﻧﻘﺎﻁ ﺑﺮﺧﻮﺭﺩ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﺎ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‪ .‬ﺍﻳﻦ ﻧﻘﺎﻁ ﺭﺍ ﻣﻲ ‌ﺗﻮﺍﻥ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﺭﻭﺙ ﻳﺎﻓﺖ‪ .‬ﺑﺪﻳﻦ‬
‫ﺗﺮﺗﻴﺐ ﻛﻪ ﺍﺑﺘﺪﺍ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺭﺍ ﻧﻮﺷﺘﻪ ﻭ ﻣﻌﻴﺎﺭ ﺭﻭﺙ ﺭﺍ ﺗﺸﻜﻴﻞ ﻣﻲﺩﻫﻴﻢ ﻭ ﺳﭙﺲ ﺑﻪ ﻫﺮ ﺗﻌﺪﺍﺩ ﻛﻪ ﺍﻣﻜﺎﻥ ﺻﻔﺮ ﻛﺮﺩﻥ‬
‫ﺳﻄﺮﻫﺎﻱ ﻓﺮﺩ ﻣﻌﻴﺎﺭ ﺭﻭﺙ ﺑﻮﺩ ﺁﻥ ﺳﻄﺮﻫﺎ ﺭﺍ ﺻﻔﺮ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ‪ k‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﺩﺭ ﻣﻌﺎﺩﻟﻪﻱ ﻛﻤﻜﻲ ﺟﺎﻳﮕﺰﻳﻦ ﻣﻲﻛﻨﻴﻢ ﺗﺎ‬
‫ﻧﻘﺎﻁ ﺑﺮﺧﻮﺭﺩ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﺎ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ ﺑﺪﺳﺖ ﺁﻳﺪ‪ .‬ﺭﻭﺵ ﺩﻳﮕﺮ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﻗﺮﺍﺭ ﺩﻫﻴﻢ‬
‫𝑗𝑗𝑗𝑗 = 𝑠𝑠‪ ،‬ﺑﺨﺶﻫﺎﻱ ﺣﻘﻴﻘﻲ ﻭ ﻣﻮﻫﻮﻣﻲ ﻣﻌﺎﺩﻟﻪﻱ ﺣﺎﺻﻞ ﺭﺍ ﺑﺮﺍﺑﺮ ﺻﻔﺮ ﻗﺮﺍﺭ ﺩﻫﻴﻢ ﻭ ﺑﺎ ﺣﻞ ﺁﻥﻫﺎ ‪ ω‬ﻭ ‪ k‬ﺭﺍ ﺑﻴﺎﺑﻴﻢ‪.‬‬
‫‪ .7‬ﺗﻌﻴﻴﻦ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ )ﻣﻜﺎﻥ ﺍﻭﻟﻴﻪ(‪ .‬ﻳﺮﺍﻱ ﺗﻌﻴﻴﻦ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﺑﺎﻳﺪ ﻳﻚ‬
‫ﻧﻘﻄﻪﻱ ﺁﺯﻣﻮﻥ ‪ s‬ﺑﺮﮔﺰﻳﻨﻴﻢ ﻭ ﺳﭙﺲ ﺷﺮﻁ ﺯﺍﻭﻳﻪ ﺭﺍ ﺑﺮﺍﻱ ﻧﻘﻄﻪ ﻣﺬﻛﻮﺭ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ ﻭ ﺍﮔﺮ ﺷﺮﻁ ﺯﺍﻭﻳﻪ ﺍﺭﺿﺎ ﺷﺪ ﺁﻥ ﻧﻘﻄﻪ ﺟﺰء‬
‫ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻧﻴﺰ ﻣﻜﺎﻥ ﺍﻭﻟﻴﻪ ﺭﺍ ﻳﺎﻓﺖ‪:‬‬
‫ﻣﻜﺎﻥ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻣﺎ ‌‬
‫ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ )‪ (k‬ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ‬ ‫•‬
‫ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ .‬ﻧﻘﻄﻪﺍﻱ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﺑﺮﻣﻲﮔﺰﻳﻨﻴﻢ ﺍﮔﺮ ﺗﻌﺪﺍﺩ ﻛﻞ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻘﻴﻘﻲ ﺳﻤﺖ ﺭﺍﺳﺖ ﺍﻳﻦ‬
‫ﻧﻘﻄﻪ ﻓﺮﺩ ﺑﺎﺷﺪ ﺍﻳﻦ ﻧﻘﻄﻪ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭﺍﻗﻊ ﺍﺳﺖ‪.‬‬
‫ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ )‪ (k‬ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ‬ ‫•‬
‫ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ .‬ﻧﻘﻄﻪﺍﻱ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﺑﺮﻣﻲﮔﺰﻳﻨﻴﻢ ﺍﮔﺮ ﺗﻌﺪﺍﺩ ﻛﻞ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻘﻴﻘﻲ ﺳﻤﺖ ﺭﺍﺳﺖ ﺍﻳﻦ‬
‫ﻧﻘﻄﻪ ﺯﻭﺝ ﺑﺎﺷﺪ ﺍﻳﻦ ﻧﻘﻄﻪ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭﺍﻗﻊ ﺍﺳﺖ‪.‬‬
‫‪ .8‬ﺗﻌﻴﻴﻦ ﻧﻘﺎﻁ ﺷﻜﺴﺖ‪ .‬ﻓﺮﺽ ﻛﻨﻴﺪ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺑﻪ ﺻﻮﺭﺕ ‪‌ 𝐵𝐵(𝑠𝑠) + 𝐾𝐾𝐾𝐾(𝑠𝑠) = 0‬‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﻧﻘﺎﻁ ﺷﻜﺴﺖ ﺭﺍ ﻣﻲﺗﻮﺍﻥ‬
‫𝑑𝑑𝑑𝑑‬ ‫)‪B ′ (s)A(s)−B(s)A ′ (s‬‬
‫‪=−‬‬ ‫ﺑﺎ ﻳﺎﻓﺘﻦ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﺯﻳﺮ ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪.‬‬
‫‪ds‬‬ ‫)‪A 2 (s‬‬
‫ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﻣﻬﻢ ﺍﺳﺖ ﻛﻪ ﻧﻘﺎﻁ ﺷﻜﺴﺖ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪﻱ ﻓﻮﻕ ﻫﺴﺘﻨﺪ‪ ،‬ﻭﻟﻲ ﺗﻤﺎﻡ ﺭﻳﺸﻪﻫﺎﻱ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﻧﻘﺎﻁ‬
‫ﺷﻜﺴﺖ ﻧﻴﺴﺘﻨﺪ‪ .‬ﻫﺮ ﺭﻳﺸﻪﻱ ﺣﻘﻴﻘﻲ ﻣﻌﺎﺩﻟﻪ ﻓﻮﻕ ﻛﻪ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺎﺷﺪ ﻳﻚ ﻧﻘﻄﻪ ﺷﻜﺴﺖ ﺍﺳﺖ‪ ،‬ﻭﻟﻲ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫‪ 𝑠𝑠 = 𝑠𝑠1‬ﻭ‬ ‫ﺭﻳﺸﻪﺍﻱ ﻛﻪ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﻧﻴﺴﺖ ﻧﻘﻄﻪﻱ ﺷﻜﺴﺖ ﻧﻴﺰ ﻧﻴﺴﺖ‪ .‬ﺍﮔﺮ ﻧﺪﺍﻧﻴﻢ ﺩﻭ ﺭﻳﺸﻪﻱ ﻣﺰﺩﻭﺝ ﻣﺨﺘﻠﻂ‬
‫∗ ‪ 𝑠𝑠 = 𝑠𝑠1‬ﻣﻌﺎﺩﻟﻪﻱ ﻓﻮﻕ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﻫﺴﺘﻨﺪ ﻳﺎ ﻧﻪ‪ ،‬ﺑﺎﻳﺪ ﻣﻘﺪﺍﺭ ‪ k‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺁﻧﻬﺎ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺍﮔﺮ ‪ k‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ‬
‫‪k‬ﻫﺎﻱ ﻣﺜﺒﺖ ﺭﺳﻢ ﻣﻲ ‌ﻛﻨﻴﻢ؛‬ ‫ﺭﻳﺸﻪﻱ ‪ 𝑠𝑠 = 𝑠𝑠1‬ﻣﻌﺎﺩﻟﻪﻱ ‪ 𝑑𝑑𝑑𝑑 ⁄dS = 0‬ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ ،‬ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﻣﻜﺎﻥ ﺭﺍ ﺑﺮﺍﻱ‬
‫ﻧﻘﻄﻪﻱ ‪ 𝑠𝑠 = 𝑠𝑠1‬ﻧﻘﻄﻪﻱ ﺷﻜﺴﺖ ﺍﺳﺖ‪ .‬ﺍﮔﺮ ‪ k‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺭﻳﺸﻪﻱ ‪ 𝑠𝑠 = 𝑠𝑠1‬ﻣﻌﺎﺩﻟﻪﻱ ‪ 𝑑𝑑𝑑𝑑 ⁄dS = 0‬ﻣﻨﻔﻲ ﺑﺎﺷﺪ‪ ،‬ﺑﺮﺍﻱ‬
‫ﺣﺎﻟﺘﻲ ﻛﻪ ﻣﻜﺎﻥ ﺭﺍ ﺑﺮﺍﻱ ‪k‬ﻫﺎﻱ ﻣﻨﻔﻲ ﺭﺳﻢ ﻣﻲﻛﻨﻴﻢ؛ ﻧﻘﻄﻪﻱ ‪ 𝑠𝑠 = 𝑠𝑠1‬ﻧﻘﻄﻪﻱ ﺷﻜﺴﺖ ﺍﺳﺖ‪.‬‬
‫‪ .9‬ﺗﻌﻴﻴﻦ ﺯﺍﻭﻳﻪﻱ ﺧﺮﻭﺝ )ﻳﺎ ﺯﺍﻭﻳﻪﻱ ﻭﺭﻭﺩ( ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﻪ ﻗﻄﺐ )ﻳﺎ ﺻﻔﺮ( ﻣﺨﺘﻠﻂ‪.‬‬
‫)‪ (k‬ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ ﻣﺜﺒﺖ‬ ‫ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ‬ ‫•‬
‫ﺑﺎﺷﺪ‪ .‬ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻓﺮﻣﻮﻝ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪:‬‬

‫)ﺟﻤﻊ ﺯﺍﻭﻳﻪﻱ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺍﺯ ﺑﻘﻴﻪﻱ ﻗﻄﺐﻫﺎ ﺑﻪ ﺁﻥ ﻗﻄﺐ( – ‪ = 180o‬ﺯﺍﻭﻳﻪﻱ ﺧﺮﻭﺝ ﺍﺯ ﻗﻄﺐ ﻣﺨﺘﻠﻂ‬
‫)ﺟﻤﻊ ﺯﺍﻭﻳﻪﻱ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺍﺯ ﺑﻘﻴﻪﻱ ﺻﻔﺮﻫﺎ ﺑﻪ ﺁﻥ ﻗﻄﺐ( ‪+‬‬

‫)‪ (k‬ﻣﻨﻔﻲ ﻭ ﻓﻴﺪﺑﻚ ﻣﻨﻔﻲ‬ ‫ﺑﺮﺍﻱ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ ) ‪ (k‬ﻣﺜﺒﺖ ﻭ ﻓﻴﺪﺑﻚ ﻣﺜﺒﺖ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﺣﺎﻟﺘﻲ ﻛﻪ ﺑﻬﺮﻩ ﺳﻴﺴﺘﻢ‬ ‫•‬
‫ﺑﺎﺷﺪ‪ .‬ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻓﺮﻣﻮﻝ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪:‬‬
‫)ﺟﻤﻊ ﺯﺍﻭﻳﻪﻱ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺍﺯ ﺑﻘﻴﻪﻱ ﺻﻔﺮﻫﺎ ﺑﻪ ﺁﻥ ﺻﻔﺮ( – ‪ = 180o‬ﺯﺍﻭﻳﻪﻱ ﻭﺭﻭﺩ ﺑﻪ ﺻﻔﺮ ﻣﺨﺘﻠﻂ‬
‫)ﺟﻤﻊ ﺯﺍﻭﻳﻪﻱ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺍﺯ ﺑﻘﻴﻪﻱ ﻗﻄﺐﻫﺎ ﺑﻪ ﺁﻥ ﺻﻔﺮ( ‪+‬‬

‫ﺗﻌﺎﻣﺪ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﻬﺮﻩ ﺛﺎﺑﺖ‪ .‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﻬﺮﻩﻱ ﺛﺎﺑﺖ ﺩﺭ ﺻﻔﺤﻪﻱ‪s‬‬
‫𝑘𝑘‬ ‫)‪𝑘𝑘(𝑠𝑠+2‬‬
‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺 ﻧﺸﺎﻥ ﺩﺍﺩﻩ‬ ‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺 ﻭ‬ ‫ﺑﺮ ﻫﻢ ﻋﻤﻮﺩﻧﺪ‪ .‬ﺍﻳﻦ ﻧﻜﺘﻪ ﺩﺭ ﺷﻜﻞ ‪ 1‬ﻭ ‪ 2‬ﺑﺮﺍﻱ ﺩﻭ ﺳﻴﺴﺘﻢ‬
‫)‪𝑠𝑠(𝑠𝑠+1)(𝑠𝑠+2‬‬ ‫‪𝑠𝑠 2 +2𝑠𝑠+3‬‬
‫ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .2‬ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺛﺎﺑﺖ ﺑﺮﺍﻱ‬ ‫ﺷﻜﻞ‪ .1‬ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺛﺎﺑﺖ ﺑﺮﺍﻱ‬

‫𝑘𝑘‬ ‫)‪𝑘𝑘(𝑠𝑠+2‬‬
‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‬ ‫ﺳﻴﺴﺘﻢ‬ ‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‬ ‫ﺳﻴﺴﺘﻢ‬
‫)‪𝑠𝑠(𝑠𝑠+1)(𝑠𝑠+2‬‬ ‫‪𝑠𝑠 2 +2𝑠𝑠+3‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺎ ‪ .MATLAB‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ‪ MATLAB‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﻛﻪ ﺑﻪ‬
‫ﻓﺮﻡ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻫﺴﺘﻨﺪ ﻣﻲ‌ﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭﺍﺕ )‪ rlocus(sys,k) ،rlocus(num,den,k) ،rlocus(sys) ،rlocus(num,den‬ﻛﻪ‬
‫ﺩﺭ ﺩﻭ ﺩﺳﺘﻮﺭ ﺁﺧﺮ ﺑﺎ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻥ ‪ k‬ﺑﺎﺯﻩﺍﻱ ﻛﻪ ﺩﺭ ﺁﻥ ﻣﻲ ‌ﺧﻮﺍﻫﻴﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﺎﺯﺍء ﺁﻥ ﺑﺎﺯﻩ ﺑﻬﺮﻩ ﺭﺳﻢ ﺷﻮﺩ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲ ‌ﻛﻨﻴﻢ‪.‬‬
‫)‪،rlocus(sys) ،rlocus(A,B,C,D‬‬ ‫ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﻛﻪ ﺑﻪ ﻓﺮﻡ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﻫﺴﺘﻨﺪ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭﺍﺕ‬
‫)‪ rlocus(sys,k) ،rlocus(A,B,C,D,k‬ﻛﻪ ﺩﺭ ﺩﻭ ﺩﺳﺘﻮﺭ ﺁﺧﺮ ﺑﺎ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻥ ‪ k‬ﺑﺎﺯﻩﺍﻱ ﻛﻪ ﺩﺭ ﺁﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ‬
‫ﺑﺎﺯﺍء ﺁﻥ ﺑﺎﺯﻩ ﺑﻬﺮﻩ ﺭﺳﻢ ﺷﻮﺩ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ‪.‬‬

‫ﺩﺳﺘﻮﺭﺍﺕ )‪ [R,K]=rlocus(sys‬ﻭ ﻳﺎ )‪ R=rlocus(sys,k‬ﻣﺎﺗﺮﻳﺲ ‪ R‬ﻛﻪ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ﺑﻬﺮﻩﻫﺎﻱ ‪k‬‬
‫ﻣﻲﺑﺎﺷﺪ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ )‪ [k,poles]=rlocfind(sys‬ﻣﻲ ‌ﺗﻮﺍﻧﻴﻢ ﺑﻬﺮﻩ ﺭﺍ ﺩﺭ ﻧﻘﻄﻪﻱ ﺩﻟﺨﻮﺍﻫﻲ ﺍﺯ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﻴﺎﺑﻴﻢ‪ .‬ﺩﺳﺘﮕﺎﻩ‬
‫‪ rlocfind‬ﻛﻪ ﺑﺎﻳﺪ ﺑﻪ ﺩﻧﺒﺎﻝ ﻳﻚ ﺩﺳﺘﻮﺭ ‪ rlocus‬ﺑﻪ ﻛﺎﺭ ﺭﻭﺩ‪ ،‬ﻳﻚ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ‪ xy‬ﻣﻨﻘﻮﻝ ﺭﻭﻱ ﺻﻔﺤﻪ ﺍﻳﺠﺎﺩ ﻣﻲﻛﻨﺪ‪ .‬ﻣﺒﺪﺍ ﺍﻳﻦ‬
‫ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻛﻤﻚ ﻣﺎﻭﺱ ﺑﺮ ﺭﻭﻱ ﻧﻘﻄﻪﻱ ﻣﻮﺭﺩ ﻧﻈﺮ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻗﺮﺍﺭ ﺩﺍﺩ ﻭ ﻛﻠﻴﺪ ﻣﺎﻭﺱ ﺭﺍ ﻓﺸﺮﺩ‪.‬‬
‫‪ MATLAB‬ﻣﺨﺘﺼﺎﺕ ﺁﻥ ﻧﻘﻄﻪ‪ ،‬ﺑﻬﺮﻩ ﺩﺭ ﺁﻥ ﻧﻘﻄﻪ‪ ،‬ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪﻱ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺁﻥ ﺑﻬﺮﻩ ﺭﺍ ﺭﻭﻱ ﺻﻔﺤﻪ ‪ command‬ﻧﺸﺎﻥ‬
‫ﻣﻲﺩﻫﺪ‪ MATLAB .‬ﺑﻪ ﺻﻮﺭﺕ ﭘﻴﺶ ﻓﺮﺽ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﺍ ﺑﺎﺯﺍء ‪k‬ﻫﺎﻱ ﻣﺜﺒﺖ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ‬
‫‌‬
‫ﺭﻳﺸﻪﻫﺎ ﺑﺎﺯﺍء ‪k‬ﻫﺎﻱ ﻣﻨﻔﻲ ﻣﻴﺘﻮﺍﻥ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﻳﻚ ﻣﻨﻔﻲ ﺿﺮﺏ ﻛﺮﺩ‪.‬‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬

‫‪ .1‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﺑﺎ ﻓﻴﺪﺑﻚ ﻭﺍﺣﺪ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫‪k‬‬ ‫)‪𝑘𝑘(𝑠𝑠 + 0.2‬‬ ‫)𝑠𝑠(𝐶𝐶‬ ‫)‪10(𝑠𝑠 + 1‬‬

‫= )𝑠𝑠(𝐺𝐺 ‪𝑎𝑎.‬‬ ‫= )𝑠𝑠(𝐺𝐺 ‪𝑏𝑏.‬‬ ‫‪𝑐𝑐.‬‬ ‫‪= 2‬‬
‫)‪s(s + 1)(s 2 + 4s + 5‬‬ ‫)‪𝑠𝑠 2 (𝑠𝑠 + 3.6‬‬ ‫‪𝑅𝑅(𝑠𝑠) 𝑠𝑠 + 7𝑠𝑠 + 10‬‬

‫‪ .2‬ﻧﻤﻮﺩﺍﺭ ﺑﻠﻮﻛﻲ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫‪ .3‬ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﺯﻳﺮ ﺑﺎ ﻓﻴﺪﺑﻚ ﻭﺍﺣﺪ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬‬

‫)‪𝑘𝑘(𝑠𝑠 + 𝑎𝑎)(𝑠𝑠 + 3‬‬

‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠 2 − 1‬‬
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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ∞ < 𝑘𝑘 < ∞‪ −‬ﺭﺍ ﺑﺎﺯﺍء ‪ a=5‬ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬ ‫•‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ∞ < 𝑎𝑎 < ∞‪ −‬ﺭﺍ ﺑﺎﺯﺍء ‪ K=5‬ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬ ‫•‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ﺷﻤﺎﺭﻩ ‪ 1‬ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ rlocus‬ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬
‫ﺩﺳﺘﻮﺭ )‪ [R,K]=rlocus(sys‬ﻣﺎﺗﺮﻳﺲ ﻣﻜﺎﻥ ﺭﻳﺸﻪﻫﺎ ﻭ ﺑﺮﺩﺍﺭ ﺑﻬﺮﻩﻫﺎ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻩ ﻭ ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ‬
‫ﺩﺳﺘﻮﺭ ‪ plot‬ﺍﺯ ﺭﻭﻱ ﻣﺎﺗﺮﻳﺲ ﻣﻜﺎﻥ ﺭﻳﺸﻪﻫﺎ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .5‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪c‬‬ ‫ﺷﻜﻞ‪ .4‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪b‬‬ ‫ﺷﻜﻞ‪ .3‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪a‬‬

‫‪ .B‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺑﺎ ﻓﻴﺪﺑﻚ ﻭﺍﺣﺪ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬ﻛﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ﺁﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ‌‬
‫ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫)‪𝑘𝑘(𝑠𝑠 2 +2𝑠𝑠+4‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠+4)(𝑠𝑠+6)(𝑠𝑠 2 +1.4𝑠𝑠+1‬‬

‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬ ‫•‬

‫ﺷﻜﻞ‪ .6‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﺍﺯﺍﻱ ‪ ζ = 0.707‬ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ grid‬ﻣﻲ‌ﺗﻮﺍﻧﻴﺪ ﻧﻤﻮﺩﺍﺭ ﺭﺍ ﺩﺭﺟﻪ ‌ﺑﻨﺪﻱ ﻛﻨﻴﺪ‪ .‬ﻭﻟﻲ‬ ‫•‬
‫ﺑﺮﺍﻱ ﺩﺭﺟﻬﺒﻨﺪﻱ ﻧﻤﻮﺩﺍﺭ ﺑﺮﺍﻱ ﻳﻚ ﻭ ﻳﺎ ﭼﻨﺪ ‪ ζ‬ﺧﺎﺹ ﻭ ﻫﻤﭽﻨﻴﻦ ﻳﻚ ﻳﺎ ﭼﻨﺪ ‪ ωn‬ﺧﺎﺹ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ sgrid‬ﺑﻪ ﺻﻮﺭﺕ‬
‫)� ‪ω‬ﻫﺎﻱ ﻣﻮﺭﺩ ﻧﻈﺮ � ‪ζ � ,‬ﻫﺎﻱ ﻣﻮﺭﺩ ﻧﻈﺮ �(𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪.‬‬
‫𝑛𝑛‬
‫ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺑﺎ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗 ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻩ ﻭ ﺑﻬﺮﻩ ﺩﺭ ﺍﻳﻦ ﻧﻘﺎﻁ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﺳﭙﺲ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﺷﺎﺧﻪﻫﺎﻱ‬ ‫•‬
‫ﺩﻳﮕﺮ ﺑﺎﺯﺍﻱ ﺍﻳﻦ ﺑﻬﺮﻩ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪ .‬ﺍﺯ ﺩﺳﺘﻮﺭ ‪ rlocfind‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫ﻗﻄﺐﻫﺎﻱ ﺩﻳﮕﺮ ﺳﻴﺴﺘﻢ‬ ‫ﺑﻬﺮﻩ ﺩﺭ ﺍﻳﻦ ﻧﻘﺎﻁ‬ ‫ﻣﻜﺎﻥ ﺑﺮﺧﻮﺭﺩ‬

‫ﺑﺎﺯﺍﻱ ﺍﻳﻦ ﺑﻬﺮﻩ‬
‫ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ‪ 1‬ﺑﺎ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗‬
‫ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ‪ 2‬ﺑﺎ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗‬
‫ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ‪ 3‬ﺑﺎ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗‬
‫ﺟﺪﻭﻝ‪ .1‬ﺑﺮﺧﻮﺭﺩ ﻣﻜﺎﻥ ﺑﺎ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‬

‫‪ .C‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪‌2‬ﻭ‪ 3‬ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ rlocus‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﺩﺭ ﺻﻮﺭﺕ ﺑﺮﺧﻮﺭﺩ‬
‫ﻣﻜﺎﻥ ﺑﺎ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ ﺍﻳﻦ ﻧﻘﺎﻁ ﻭ ﺑﻬﺮﻩ ﺍﻳﻦ ﻧﻘﺎﻁ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻭ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺑﺮﺍﻱ ∞ < 𝑎𝑎 < ∞‪−‬‬ ‫ﺷﻜﻞ‪ .9‬ﻣﻜﺎﻥ ﺗﻤﺮﻳﻦ ‪3‬‬ ‫∞ < 𝑘𝑘 < ∞‪−‬‬ ‫ﺷﻜﻞ‪ .8‬ﻣﻜﺎﻥ ﺗﻤﺮﻳﻦ ‪ 3‬ﺑﺮﺍﻱ‬ ‫ﺷﻜﻞ‪ .7‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺗﻤﺮﻳﻦ ‪2‬‬

‫‪ .D‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﺍﺭﺍﻱ ﺗﺎﺧﻴﺮ ﺯﻳﺮ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫𝑠𝑠‪𝐾𝐾𝑒𝑒 −‬‬ ‫‪𝑠𝑠+2‬‬

‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪a.‬‬ ‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪b.‬‬ ‫𝑠𝑠‪𝑒𝑒 −1.5‬‬
‫‪𝑠𝑠+1‬‬ ‫‪𝑠𝑠 2 +2𝑠𝑠+10‬‬

‫‌ﺗﻮﺍﻥ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﻣﺴﺘﻘﻴﻤﺎً ﺍﺯ‬ ‫ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﺍﺭﺍﻱ ﺗﺎﺧﻴﺮ ﻧﻤﻲ‬
‫ﺩﺳﺘﻮﺭ‪ rlocus‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﻠﻜﻪ ﺍﺑﺘﺪﺍ ﺑﺎﻳﺪ ﺗﺎﺧﻴﺮ ﻣﻮﺟﻮﺩ ﺩﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻘﺮﻳﺐ ﺯﺩ ﻭﺳﭙﺲ ﻣﻜﺎﻥ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﺳﻢ ﻧﻤﻮﺩ ﺑﺮﺍﻱ‬
‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ pade‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪.‬‬
‫ﺗﻘﺮﻳﺐ ﺗﺎﺧﻴﺮ ﺳﻴﺴﺘﻢﻫﺎ ‌‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫)‪[num,den]=pade(T,N‬‬

‫ﺩﺳﺘﻮﺭ ﻓﻮﻕ ‪N‬ﺍﻣﻴﻦ ﻣﺮﺗﺒﻪ ﺗﻘﺮﻳﺐ ﺗﺎﺧﻴﺮ ‪ pade‬ﺑﺮﺍﻱ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ ‪ T‬ﺛﺎﻧﻴﻪ ﺭﺍ ﺑﺮ ﻣﻲ ‌ﮔﺮﺩﺍﻧﺪ‪ .‬ﻛﻪ ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﻘﺮﻳﺒﻲ‬
‫ﺗﺎﺧﻴﺮ ﻣﻲ‌ﺑﺎﻳﺴﺖ ﺍﺯ ﺩﺳﺘﻮﺭ )‪ tf(num,den‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻜﺎﻥ ﺳﻴﺴﺘﻢ ‪ a‬ﻣﻲ‌ﺑﺎﻳﺴﺖ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ‬
‫ﻋﻤﻞ ﻛﺮﺩ‪.‬‬

‫)‪s=tf('s');G1=1/(s+1);[num,den]=pade(1,5);delay=tf(num,den);rlocus(G1*delay‬‬

‫‪-N‬ﺍﻣﻴﻦ ﻣﺮﺗﺒﻪ ﺗﻘﺮﻳﺐ ﺗﺎﺧﻴﺮ‬ ‫ﺍﮔﺮ ﺩﺳﺘﻮﺭ ‪ pade‬ﺭﺍ ﺑﺪﻭﻥ ﺁﺭﮔﻮﻣﺎﻥ ﺧﺮﻭﺟﻲ ﺗﻌﺮﻳﻒ ﻛﻨﻴﻢ ﺁﻧﮕﺎﻩ ﭘﺎﺳﺦ ﭘﻠﻪ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺍﻱ‬
‫ﻣﻲﻛﻨﺪ‪.‬‬
‫‪ pade‬ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﺑﺎ ﭘﺎﺳﺦﻫﺎﻱ ﺩﻗﻴﻖ ﻣﺪﻝ ﺑﻪ ﻫﻤﺮﺍﻩ ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ ‪ T‬ﻣﻘﺎﻳﺴﻪ ‌‬

‫ﺷﻜﻞ‪ .11‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪b‬‬ ‫ﺷﻜﻞ‪ .10‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ‪a‬‬

‫‪ .E‬ﮔﺮﺩﺍﻧﻨﺪﻩ ﺩﻳﺴﻚ ﻓﻼﭘﻲ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻣﻮﻗﻌﻴﺖ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭ ﺁﻥ ﻫﺪ � ﻧﻮﺷﺘﻦ‪/‬ﺧﻮﺍﻧﺪﻥ ﺑﺮ ﺭﻭﻱ ﺩﻳﺴﻚ ﻣﻐﻨﺎﻃﻴﺴﻲ ﻗﺮﺍﺭ‬
‫‪F1‬‬

‫ﻣﻲﮔﻴﺮﺩ‪ .‬ﺳﻴﺴﺘﻢ ﺑﻪ ﺩﺳﺘﻮﺭﺍﺕ ﺩﺭﻳﺎﻓﺘﻲ ﺍﺯ ﻃﺮﻑ ﻛﺎﻣﭙﻴﻮﺗﺮ ﭘﺎﺳﺦ ﺩﺍﺩﻩ ﻭ ﺧﻮﺩ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﻣﺴﻴﺮ ﺧﺎﺻﻲ ﺍﺯ ﺩﻳﺴﻚ ﻗﺮﺍﺭ ﻣﻲ ‌ﺩﻫﺪ ﺑﻴﺎﻥ‬
‫‌‬
‫ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢ ﻭ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻛﻨﺘﺮﻟﻲ ﺩﺭ ﺷﻜﻞ ‪12‬ﻭ‪ 13‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪.12‬ﻣﺪﻝ ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢ‬

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‫‪Head‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﺷﻜﻞ‪.12‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻛﻨﺘﺮﻟﻲ‬

‫ﻣﻲﺷﻮﺩ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫ﺑﻪ ﻛﻤﻚ ‪ sisotool‬ﺑﻬﺮﻩ ‪ k‬ﻛﻪ ﻣﻨﺠﺮ ﺑﻪ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ‪ 0.1s‬ﺭﺍ ‌‬ ‫•‬
‫ﻣﻲﺑﺎﺷﺪ؟‬
‫ﺩﺭﺻﺪ ﻓﺮﺍﺟﻬﺶ ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﭼﻘﺪﺭ ‌‬ ‫•‬
‫ﺭﻧﺞ ﺑﻬﺮﻩﺍﻱ ﻛﻪ ﺩﺭ ﺁﻥ ﺳﻴﺴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻣﻲﺑﺎﺷﺪ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬ ‫•‬

‫‪ RTI‬ﻛﻨﺘﺮﻝ ﻣﻲ ‌ﺷﻮﺩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬ ‫‪ .F‬ﺩﺭ ﻣﺪﻝ ﺧﻄﻲ ﺑﻴﻤﺎﺭﻱ ‪ HIV/AIDS‬ﻛﻪ ﺩﺭ ﺁﻥ ﺳﻄﺢ ﻭﻳﺮﻭﺱ ﺑﻮﺳﻴﻠﻪ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺩﺍﺭﻭﻱ‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻛﻨﺘﺮﻟﻲ ﻧﻴﺰ ﺩﺭ ﺷﻜﻞ ‪ 13‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ‌‬

‫)𝑠𝑠(𝑌𝑌‬ ‫‪−520𝑠𝑠 − 10.3844‬‬

‫= )𝑠𝑠(𝑃𝑃‬ ‫‪= 3‬‬
‫‪𝑈𝑈1 (𝑠𝑠) 𝑠𝑠 + 2.6817𝑠𝑠 2 + 0.11𝑠𝑠 + 0.0126‬‬

‫)‪G(s‬‬ ‫ﻣﻘﺪﺍﺭ ﺩﺍﺭﻭﻱ ‪RTI‬ﺍﻱ ﻛﻪ ﺑﻪ ﻣﺮﻳﺾ ﺩﺍﺩﻩ ﻣﻲ ‌ﺷﻮﺩ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺩﻛﺎﺭ ﺑﺎ ﻗﺮﺍﺭﺩﺍﺩﻥ ﺑﻴﻤﺎﺭ ﺩﺭ ﺣﻠﻘﻪﻱ ﻛﻨﺘﺮﻟﻲ ﺑﻪ ﻋﻨﻮﺍﻥ‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﻣﺤﺎﺳﺒﻪ ‌‬

‫ﺷﻜﻞ‪ .13‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻛﻨﺘﺮﻟﻲ‬

‫ﺩﺭ ﺳﺎﺩﻩﺗﺮﻳﻦ ﺣﺎﻟﺖ ﻣﻤﻜﻦ ‪ G(s)=k‬ﺑﺎ ‪ k>0‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪ ‌ﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺎﺯﺍﻱ ‪ k<0‬ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪) .‬ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﺭﺍ ﺩﺭ ‪ sisotool‬ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ‪(.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﺷﻜﻞ‪ .15‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ‪K<0‬‬ ‫ﺷﻜﻞ‪ .14‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ‪k>0‬‬

‫‪ .G‬ﺭﺑﺎﺕﻫﺎﻱ ﺻﻨﻌﺘﻲ ﻛﺎﺭﺑﺮﺩﻫﺎﻱ ﺑﻴﺸﻤﺎﺭﻱ ﺩﺭ ﺻﻨﻌﺖ ﺩﺍﺭﻧﺪ‪ .‬ﺷﻜﻞ ‪ 16‬ﻳﻚ ﻧﻤﻮﻧﻪ ﺍﺯ ﺍﻳﻦ ﺭﻭﺑﺎﺕﻫﺎ ﻛﻪ ﺑﺮﺍﻱ ﺟﺎﺑﻪ ‌ﺟﺎﻳﻲ ﻛﻴﺴﻪﻫﺎﻱ ‪55‬‬
‫ﭘﻮﻧﺪﻱ ﻧﻤﻚ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺭﻭﺑﺎﺕ ﻗﺎﺑﻠﻴﺖ ﺟﺎﺑﻬﺠﺎﻳﻲ ‪ 12‬ﺑﺴﺘﻪ ﺩﺭ ﺩﻗﻴﻘﻪ ﺭﺍ ﺩﺍﺭﺍﺳﺖ�‪.‬‬
‫‪F12‬‬

‫ﺷﻜﻞ‪ .16‬ﺭﻭﺑﺎﺕ ﻛﻪ ﺩﻭ ﻛﻴﺴﻪ ﻧﻤﻚ ﺭﺍ ﺑﻠﻨﺪ ﻛﺮﺩﻩ ﺍﺳﺖ‬

‫ﻣﻲﺑﺎﺷﺪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫ﻓﺮﺽ ﻛﻨﻴﺪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻛﻪ ﺷﺎﻣﻞ ﻛﻨﺘﺮﻟﺮ ﻭ ﭘﻼﻧﺖ ﺳﻴﺴﺘﻢ ‌‬

‫)‪ωo (s‬‬ ‫‪K‬‬

‫= )‪𝐺𝐺e (s‬‬ ‫=‬
‫)‪Vi (s‬‬ ‫)‪(s + 10)(s + 4s + 10‬‬
‫‪2‬‬

‫ﻛﻪ )‪ ωo (s‬ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﺳﺮﻋﺖ ﭼﺮﺧﺸﻲ ﺧﺮﻭﺟﻲ ﺭﻭﺑﺎﺕ ﻭ )‪ Vi (s‬ﻭﻟﺘﺎژ ﺍﻋﻤﺎﻟﻲ ﺑﻪ ﻛﻨﺘﺮﻟﺮ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪ sisotool‬ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺭﺍ ﻳﺎﻓﺘﻪ ﻭ ﺩﺭ ﺟﺪﻭﻝ ﺯﻳﺮ ﻳﺎﺩﺩﺍﺷﺖ ﻧﻤﺎﻳﻴﺪ‪ ).‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﭘﺎﺭﺍﻣﺘﺮﻫﺎ ﺍﺯ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬ ‫•‬
‫ﻧﻤﺎﻳﻴﺪ‪(.‬‬

‫‪1‬‬
‫‪Schneider ,1992‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﭼﻬﺎﺭﻡ‬

‫ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﻴﺰ ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﺤﺚ ﻛﻨﻴﺪ‪).‬ﺑﻪ ﻛﻤﻚ ‪(sisotool‬‬ ‫•‬

‫𝑟𝑟𝑡𝑡‬ ‫𝑝𝑝𝑡𝑡‬ ‫𝑠𝑠𝑡𝑡‬ ‫𝑝𝑝𝑀𝑀‬

‫ﺷﻜﻞ‪ .14‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ‬ ‫ﺟﺪﻭﻝ‪.2‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪ .1‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﻛﻤﻚ ‪ sisotool‬ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻳﻚ ﺻﻔﺮ ﺣﻘﻴﻘﻲ ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ﻗﺴﻤﺖ ‪ Graphical Tuning‬ﺩﺭ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬ ‫•‬
‫‪ sisotool‬ﻭ ﺟﺎﺑﻪﺟﺎﻳﻲ ﺁﻥ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ‪.‬‬
‫ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻳﻚ ﻗﻄﺐ ﺣﻘﻴﻘﻲ ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ﻗﺴﻤﺖ ‪ Graphical Tuning‬ﺩﺭ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬ ‫•‬
‫‪ sisotool‬ﻭ ﺟﺎﺑﻪﺟﺎﻳﻲ ﺁﻥ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ‪.‬‬
‫‪ .2‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫)‪𝑘𝑘(𝑠𝑠+1)(𝑠𝑠 2 +2‬‬ ‫𝑠𝑠)‪𝑘𝑘(𝑠𝑠 2 +25‬‬ ‫𝑠𝑠‪𝑘𝑘𝑒𝑒 −2‬‬

‫= )𝑠𝑠(𝐺𝐺‪a.‬‬ ‫= )𝑠𝑠(𝐺𝐺‪b.‬‬ ‫)‪c.𝐺𝐺(𝑠𝑠) = (𝑠𝑠+1)(𝑠𝑠+3‬‬
‫)‪(𝑠𝑠+3)(𝑠𝑠−3‬‬ ‫‪𝑠𝑠 4 +404𝑠𝑠 2 +1600‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :5‬ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﻪ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‬

‫ﭘﻴﺶﻓﺎﺯ‪-‬ﭘﺲﻓﺎﺯ ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪.‬‬

‫‌‬ ‫ﺁﺯﻣﺎﻳﺶ‪ :‬ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻧﺤﻮﻩ ﻋﻤﻠﻜﺮﺩ ﻭ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﭘﻴﺶﻓﺎﺯ‪ ،‬ﭘﺲﻓﺎﺯ ﻭ‬ ‫ﻫﺪﻑ‬
‫ﻫﻤﭽﻨﻴﻦ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻧﺤﻮﻩ ﺍﻋﻤﺎﻝ ﻛﻨﺘﺮﻟﺮ ﺑﻪ ﭘﻼﻧﺖ ﺩﺭ ‪ sisotool‬ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪ .‬ﺳﭙﺲ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ‬
‫ﻣﻲﭘﺮﺩﺍﺯﺩ‪.‬‬
‫ﻣﻌﻠﻖ ﺑﻪ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ‌‬

‫ﺍﺳﺎﺱ ﻃﺮﺍﺣﻲ ﺑﻪ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‪ ،‬ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ ﻭ ﺻﻔﺮ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺍﺳﺖ‪ ،‬ﺑﻪ ﻧﺤﻮﻱ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻛﻪ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺗﻐﻴﻴﺮ ﻛﺮﺩﻩ‪ ،‬ﺍﺯ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻄﻠﻮﺏ ﺑﮕﺬﺭﺩ‪ .‬ﻭﻳﮋﮔﻲ ﻃﺮﺍﺣﻲ ﺑﻪ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‬
‫ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺍﻳﻦ ﺭﻫﻴﺎﻓﺖ ﺑﺮ ﺍﻳﻦ ﻓﺮﺽ ﻣﺒﺘﻨﻲﺳﺖ ﻛﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻳﻚ ﺯﻭﺝ ﻗﻄﺐ ﺣﻠﻘﻪ ﺑﺴﺘﻪﻱ ﻏﺎﻟﺐ ﺩﺍﺭﺩ‪.‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﮔﺮﺩﺩ‪:‬‬

‫‪1‬‬
‫‪s+‬‬ ‫‪T1 s + 1‬‬
‫‪𝐺𝐺c (s) = k c‬‬ ‫‪T‬‬ ‫‪=k‬‬ ‫)‪(0 < 𝑎𝑎 < 1‬‬
‫‪1‬‬ ‫‪T2 s + 1‬‬
‫‪s+‬‬
‫‪aT‬‬
‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ ﺑﺮﺍﻱ ﺑﻬﺒﻮﺩ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﮔﺬﺭﺍﻱ ﺳﻴﺴﺘﻢ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ ﻭ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﻴﺰ ﺑﻴﺸﺘﺮ ﻣﻲﻛﻨﺪ‪ .‬ﺁﺭﺍﻳﺶ ﺻﻔﺮ‬
‫ﻧﺰﺩﻳﻚﺗﺮ‬
‫‌‬ ‫ﻭ ﻗﻄﺐ ﺑﺮﺍﻱ ﺷﺒﻜﻪ ﭘﻴﺶﻓﺎﺯ ﺩﺭ ﺷﻜﻞ ‪ 1‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﺻﻔﺮ ﻧﺴﺒﺖ ﺑﻪ ﻗﻄﺐ ﺑﻪ ﻣﺤﻮﺭ 𝑗𝑗𝑗𝑗‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﺁﺭﺍﻳﺶ ﺻﻔﺮ ﻭﻗﻄﺐ ﺑﺮﺍﻱ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﻴﺶﻓﺎﺯ‬

‫ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﻗﺪﺍﻡ ﻛﻨﻴﺪ‪:‬‬

‫‪ .1‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺸﺨﺼﺎﺕ ﻋﻤﻠﻜﺮﺩ‪ ،‬ﻣﺤﻞ ﻣﻄﻠﻮﺏ ﺑﺮﺍﻱ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻏﺎﻟﺐ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬
‫‪ .2‬ﺑﺎ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ ﺁﻳﺎ ﺑﺎ ﺗﻨﻈﻴﻢ ﺑﻬﺮﻩ ﻣﻲﺗﻮﺍﻥ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﻪ ﻣﻜﺎﻥ ﻣﻄﻠﻮﺏ ﺑﺮﺩ ﻳﺎ ﻧﻪ‪ .‬ﺩﺭ‬
‫ﺻﻮﺭﺕ ﻣﻨﻔﻲ ﺑﻮﺩﻥ ﺟﻮﺍﺏ ﻛﻤﺒﻮﺩ ﺯﺍﻭﻳﻪﻱ ‪ φ‬ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﻛﻨﻴﺪ‪ .‬ﺍﻳﻦ ﻛﻤﺒﻮﺩ ﺯﺍﻭﻳﻪﺍﻱ ﺍﺳﺖ ﻛﻪ ﺟﺒﺮﺍﻥ ﻛﻨﻨﺪﻩﻱ ﭘﻴﺶﻓﺎﺯ ﺑﺎﻳﺪ ﺍﺿﺎﻓﻪ‬
‫ﻛﻨﺪ ﺗﺎ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺟﺪﻳﺪ ﺍﺯ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪﻱ ﻣﻄﻠﻮﺏ ﺑﮕﺬﺭﺩ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫‪ .3‬ﻣﺤﻞ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺟﺒﺮﺍﻧﺴﺎﺯ )ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ‪ a‬ﻭ ‪ (T‬ﺭﺍ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻛﻪ ﻛﻤﺒﻮﺩ ﻓﺎﺯ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﮔﺮﺩﺩ‪.‬‬
‫‪ .4‬ﺑﻬﺮﻩ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﺷﺪﻩ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺑﻬﺮﻩ ﺟﺒﺮﺍﻧﺴﺎﺯ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪.‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﮔﺮﺩﺩ‪:‬‬

‫‪1‬‬
‫‪s+‬‬
‫‪𝐺𝐺c (s) = k� c‬‬ ‫‪T = k T1 s + 1‬‬
‫‪1‬‬ ‫‪T2 s + 1‬‬
‫‪s+‬‬
‫‪βT‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﺑﺮﺍﻱ ﺑﻬﺒﻮﺩ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﺩﺍﺋﻢ ﺳﻴﺴﺘﻢ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﺗﺎ ﺣﺪﻱ ﺍﺯ ﺳﺮﻋﺖ ﭘﺎﺳﺦ ﻣﻲﻛﺎﻫﺪ‪.‬‬
‫ﺁﺭﺍﻳﺶ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺑﺮﺍﻱ ﺷﺒﻜﻪ ﭘﺲﻓﺎﺯ ﺩﺭ ﺷﻜﻞ ‪ 2‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﻗﻄﺐ ﻧﺴﺒﺖ ﺑﻪ ﺻﻔﺮ ﺑﻪ ﻣﺤﻮﺭ‬
‫𝑗𝑗𝑗𝑗 ﻧﺰﺩﻳﻚﺗﺮ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .2‬ﺁﺭﺍﻳﺶ ﺻﻔﺮ ﻭﻗﻄﺐ ﺑﺮﺍﻱ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﺲﻓﺎﺯ‬

‫ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﻗﺪﺍﻡ ﻛﻨﻴﺪ‪:‬‬

‫‪ .1‬ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎﻱ ﻣﺸﺨﺺ ﺷﺪﻩ ﺩﺭ ﻣﺴﺌﻠﻪ ﺭﺍ ﺣﺴﺎﺏ ﻛﻨﻴﺪ‪.‬‬

‫‪ .2‬ﻣﻴﺰﺍﻥ ﺍﻓﺰﺍﻳﺶ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎ ﺑﺮﺍﻱ ﺑﺮﺁﻭﺭﺩﻩ ﺷﺪﻥ ﻣﺸﺨﺼﺎﺕ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬
‫‪ .3‬ﻣﻜﺎﻥ ﻗﻄﺐ ﻭ ﺻﻔﺮ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﺲﻓﺎﺯ ﺑﺮﺍﻱ ﺍﻓﺰﺍﻳﺶ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎ‪ ،‬ﺑﺪﻭﻥ ﺗﻐﻴﻴﺮ ﻣﺤﺴﻮﺱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‪ ،‬ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪.‬‬
‫‪ .4‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﺷﺪﻩ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻏﺎﻟﺐ ﺭﺍ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‬
‫ﻣﺸﺨﺺ ﻛﻨﻴﺪ‪.‬‬
‫‪ .5‬ﺑﻬﺮﻩﻱ ‪ k� c‬ﺟﺒﺮﺍﻧﺴﺎﺯ ﺭﺍﺑﺮ ﺍﺳﺎﺱ ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ ﻃﻮﺭﻱ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻏﺎﻟﺐ ﺩﺭ ﻣﺤﻞﻫﺎﻱ ﻣﻄﻠﻮﺏ ﻗﺮﺍﺭ‬
‫ﮔﻴﺮﻧﺪ‪ k� c ).‬ﺗﻘﺮﻳﺒﺎً ﺑﺮﺍﺑﺮ ﺑﺎ ﻳﻚ ﺍﺳﺖ‪(.‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ‪-‬ﭘﺲﻓﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﮔﺮﺩﺩ‪:‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫‪1‬‬ ‫‪1‬‬
‫‪s+T s+T‬‬
‫‪1‬‬ ‫‪2‬‬
‫‪𝐺𝐺c (s) = k c‬‬ ‫‪γ‬‬
‫‪s+‬‬ ‫‪1‬‬
‫‪T1 s + βT2‬‬

‫ﺍﮔﺮ ﻫﺪﻑ ﺑﻬﺒﻮﺩ ﺳﺮﻋﺖ ﭘﺎﺳﺦ ﻭ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﺎﺷﺪ‪ ،‬ﺑﺎﻳﺪ ﻫﻢ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﻭ ﻫﻢ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺑﻪ ﻛﺎﺭ ﺑﺮﺩ‪ .‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬
‫ﻳﻚ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪-‬ﭘﺲﻓﺎﺯ ﺑﻪ ﺟﺎﻱ ﺩﻭ ﺟﺒﺮﺍﻥﺳﺎﺯ ﻣﺠﺰﺍ ﺑﻪ ﺻﺮﻓﻪﺗﺮ ﺍﺳﺖ‪ .‬ﺩﺭ ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﻴﺶﻓﺎﺯ‪-‬ﭘﺲﻓﺎﺯ ﺩﻭ ﺣﺎﻟﺖ ‪γ ≠ β‬‬
‫ﻭ ‪ γ = β‬ﺭﺍ ﺟﺪﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪:‬‬

‫ﺣﺎﻟﺖ‪ . γ ≠ β .1‬ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻣﻲﺗﻮﺍﻥ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﻃﻲ ﻛﺮﺩ‪:‬‬

‫‪ .1‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺸﺨﺼﺎﺕ ﻋﻤﻠﻜﺮﺩ‪ ،‬ﻣﺤﻞ ﻣﻄﻠﻮﺏ ﺑﺮﺍﻱ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻏﺎﻟﺐ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬
‫‪ .2‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ )‪ G(s‬ﻛﻤﺒﻮﺩ ﻓﺎﺯ ‪ φ‬ﺑﺮﺍﻱ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﻣﺤﻞ ﻣﻄﻠﻮﺏ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪ .‬ﺑﺨﺶ‬
‫ﭘﻴﺶﻓﺎﺯ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺑﺎﻳﺪ ﺍﻳﻦ ﺯﺍﻭﻳﻪ ﺭﺍ ﺟﺒﺮﺍﻥ ﻛﻨﺪ‪.‬‬
‫‪ .3‬ﭘﺲ ﺍﺯ ﺗﻌﻴﻴﻦ ﻣﺤﻞ ﺻﻔﺮ ﻭﻗﻄﺐ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ) ‪𝑇𝑇1‬ﻭ‪ ، ( γ‬ﺳﭙﺲ ﻣﻘﺪﺍﺭ ‪ k c‬ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪:‬‬

‫‪1‬‬
‫‪s1 + T‬‬
‫‪1‬‬
‫‪�k c‬‬ ‫‪γ G(s1 )� = 1‬‬
‫‪s1 +‬‬
‫‪T1‬‬

‫‪ .4‬ﺍﮔﺮ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ ‪ k v‬ﻣﺸﺨﺺ ﺷﺪﻩ ﺑﺎﺷﺪ‪ β ،‬ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ ﺧﻮﺍﺳﺘﻪﻱ ﻣﺮﺑﻮﻁ ﺑﻪ ‪ k v‬ﺗﺎﻣﻴﻦ ﺷﻮﺩ‪:‬‬

‫‪β‬‬
‫)‪k v = lim sGc (s)G(s) = limsk c G(s‬‬
‫‪s→0‬‬ ‫‪s→0‬‬ ‫‪γ‬‬

‫ﺣﺎﻟﺖ‪ . γ = β.2‬ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻣﻲﺗﻮﺍﻥ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﻃﻲ ﻛﺮﺩ‪:‬‬

‫‪ .1‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺸﺨﺼﺎﺕ ﻋﻤﻠﻜﺮﺩ‪ ،‬ﻣﺤﻞ ﻣﻄﻠﻮﺏ ﺑﺮﺍﻱ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻏﺎﻟﺐ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ‪.‬‬
‫‪ .2‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ )‪ G(s‬ﻛﻤﺒﻮﺩ ﻓﺎﺯ ‪ φ‬ﺑﺮﺍﻱ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﻣﺤﻞ ﻣﻄﻠﻮﺏ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪ .‬ﺑﺨﺶ‬
‫ﭘﻴﺶﻓﺎﺯ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺑﺎﻳﺪ ﺍﻳﻦ ﺯﺍﻭﻳﻪ ﺭﺍ ﺟﺒﺮﺍﻥ ﻛﻨﺪ‪.‬‬
‫‪ .3‬ﭘﺲ ﺍﺯ ﺗﻌﻴﻴﻦ ﻣﺤﻞ ﺻﻔﺮ ﻭﻗﻄﺐ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ) ‪𝑇𝑇1‬ﻭ‪ ، ( γ‬ﺳﭙﺲ ﻣﻘﺪﺍﺭ ‪ k c‬ﺭﺍ ﻣﻴﺎﺑﻴﻢ‪.‬‬

‫)‪k v = limsGc (s)G(s) = limsk c G(s‬‬

‫‪s→0‬‬ ‫‪s→0‬‬

‫‪ .4‬ﺑﺮﺍﻱ ﺑﺨﺶ ﭘﺲﻓﺎﺯ ‪ γ = β‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﺮﺍﻱ ‪ 𝑇𝑇2‬ﻧﻴﺰ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ‪ β‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ‪ 𝑇𝑇2‬ﺭﺍ ﻃﻮﺭﻱ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ‪:‬‬

‫) ‪𝑠𝑠1 + (1⁄T2‬‬ ‫) ‪𝑠𝑠1 + (1⁄T2‬‬

‫�‬ ‫‪�≈1‬‬ ‫‪,‬‬ ‫∠ < ‪−5o‬‬ ‫‪< 0o‬‬
‫) ‪𝑠𝑠1 + (1⁄βT2‬‬ ‫) ‪𝑠𝑠1 + (1⁄βT2‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬

‫‪ 𝑠𝑠1,2 = −2 ± j2√3‬ﻗﺮﺍﺭ ﮔﻴﺮﺩ‬ ‫‪ .1‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 3‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﻣﻄﻠﻮﺏ ﺳﻴﺴﺘﻢ ﺩﺭ‬
‫ﺟﺒﺮﺍﻧﺴﺎﺯ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪.3‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬

‫‪ .2‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺛﺎﺑﺖ ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 5‬ﺷﻮﺩ‪ .‬ﻛﻨﺘﺮﻟﺮ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ‬
‫ﺯﻳﺮ ﻃﺮﺍﺣﻲ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫‪1‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠 + 2)(𝑠𝑠 + 1‬‬

‫‪ .3‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﻣﻄﻠﻮﺏ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ 𝑠𝑠1,2 = −2 ± j2√3‬ﻗﺮﺍﺭ ﮔﻴﺮﺩ ﻭ ﺛﺎﺑﺖ‬
‫ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 50‬ﺷﻮﺩ ﺟﺒﺮﺍﻧﺴﺎﺯ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ‪.‬‬

‫‪1‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠 + 2)(𝑠𝑠 + 5‬‬

‫‪ .4‬ﺑﺎ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺪﺍﺭﻫﺎﻱ ﺷﻜﻞﻫﺎﻱ ‪ 4‬ﺑﻴﺎﻥ ﻛﻨﻴﺪ ﻛﻪ ﻫﺮ ﻛﺪﺍﻡ ﺍﺯ ﺍﻳﻦ ﻣﺪﺍﺭﻫﺎ ﺷﺒﻜﻪ ﭘﻴﺶﻓﺎﺯ ﻫﺴﺘﻨﺪ ﻳﺎ ﭘﺲﻓﺎﺯ؟‬

‫ﺷﻜﻞ‪4‬‬

‫‪ .5‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻓﺮﺁﻳﻨﺪ ﮔﻮﻱ ﻣﻌﻠﻖ‪ ،‬ﻛﻪ ﺁﺯﻣﺎﻳﺶ ﺁﻥ ﺑﻪ ﺻﻮﺭﺕ ﻋﻤﻠﻲ ﺩﺭ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺍﻧﺠﺎﻡ ﺧﻮﺍﻫﺪ ﺷﺪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬

‫)𝑠𝑠(𝑌𝑌‬ ‫‪2.58‬‬
‫=‬
‫)‪U(s) s(s + 20.4‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺗﻤﺎﻡ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬ ‫•‬
‫ﻛﻨﺘﺮﻟﺮ ﻣﻨﺎﺳﺒﻲ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﻛﻤﺘﺮ ﺍﺯ ‪ 0.1‬ﺛﺎﻧﻴﻪ ﻭ ﺩﺭﺻﺪ ﻓﺮﺍﺟﻬﺶ ﻛﻤﺘﺮ ﺍﺯ ‪ 5%‬ﺷﻮﺩ‪.‬‬ ‫•‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﻛﻨﺘﺮﻟﺮﻱ ﻛﻪ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪ ‌1‬ﻃﺮﺍﺣﻲ ﻧﻤﻮﺩﻳﺪ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ ﻛﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﻣﺤﻞ‬
‫ﻗﻄﺐﻫﺎﻱ ﻣﻄﻠﻮﺏ ﺭﺳﻴﺪﻩ ﺍﺳﺖ ﻳﺎ ﺧﻴﺮ؟ ﻫﻤﭽﻨﻴﻦ ﻛﻨﺘﺮﻟﺮﻱ ﻛﻪ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪ ‌2‬ﻃﺮﺍﺣﻲ ﻧﻤﻮﺩﻳﺪ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬
‫ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ ﻛﻪ ﺛﺎﺑﺖ ﺧﻄﺎ ﺑﻪ ﻣﻘﺪﺍﺭ ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﺳﻴﺪﻩﺍﺳﺖ ﻳﺎ ﺧﻴﺮ؟ ﺍﻳﻦ ﻓﺮﺁﻳﻨﺪ ﺭﺍ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ﺷﻤﺎﺭﻩ ‪ 3‬ﻧﻴﺰ‬
‫ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪.‬‬

‫‪ .B‬ﺑﺪﻭﻥ ﻃﺮﺍﺣﻲ ﺗﺌﻮﺭﻱ ﻧﻴﺰ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻛﻤﻚ ‪ sisotool‬ﻭ ﺑﺎ ﺳﻌﻲ ﻭ ﺧﻄﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﻃﺮﺍﺣﻲ ﻛﺮﺩ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻓﺮﺽ ﻛﻨﻴﺪ‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺯﻳﺮ ﺩﺍﺩﻩ ﺷﺪﻩ ﺑﺎﺷﺪ ﻭ ﻣﻲ ‌ﺧﻮﺍﻫﻴﻢ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻛﻤﺘﺮ ﺍﺯ ‪ 4‬ﺛﺎﻧﻴﻪ ﺑﺮﺳﺎﻧﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﻪ‬
‫ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻣﻲﻛﻨﻴﻢ ‪:‬‬

‫‪1‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫‪𝑠𝑠 2‬‬ ‫𝑠𝑠‪+ 0.8‬‬

‫ﻣﻲﻛﻨﻴﻢ‪.‬‬ ‫‪ .1‬ﺍﺑﺘﺪﺍ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻓﻮﻕ ﺭﺍ ﺗﻌﺮﻳﻒ ‌‬

‫ﻣﻲﻛﻨﻴﻢ ﻭ ﺳﭙﺲ ﻭﺍﺭﺩ ‪‌ sisotool‬‬
‫‪ .2‬ﺳﭙﺲ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ sisotool‬ﺭﺳﻢ ﻣﻲ ‌ﻛﻨﻴﻢ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 5‬ﺩﺭ ﻣﻲﺁﻳﺪ‪.‬‬
‫ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺩﺭ ﺷﻜﻞ ‪ 6‬ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻣﻲﺑﻴﻨﻴﺪ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 8.41‬ﺛﺎﻧﻴﻪ‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ‬ ‫ﺷﻜﻞ‪ .5‬ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﺪﻭﻥ ﻛﻨﺘﺮﻟﺮ‬

‫‪ .3‬ﺍﻛﻨﻮﻥ ﻣﺤﺪﻭﺩﻳﺖ 𝑠𝑠‪ 𝑡𝑡𝑠𝑠 < 4‬ﺭﺍ ﻣﻲ‌ﺑﺎﻳﺴﺖ ﻭﺍﺭﺩ ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﺮ ﺭﻭﻱ ﻣﻜﺎﻥ ﺭﺳﻢ ﺷﺪﻩ ﺭﺍﺳﺖ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﺍﺯ‬
‫ﻗﺴﻤﺖ ”‪ “Design Requirements‬ﺑﺮ ﺭﻭﻱ ”‪ “new‬ﻛﻠﻴﻚ ﻣﻲ ‌ﻛﻨﻴﻢ)ﺷﻜﻞ ‪ (7‬ﻛﻪ ﭘﻨﺠﺮﻩﺍﻱ ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 8‬ﺑﺎﺯ‬
‫ﻣﻲﺷﻮﺩ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ ‪.8‬ﺗﻌﺮﻳﻒ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻣﺤﺪﻭﺩﻳﺖﻫﺎﻱ ﻃﺮﺍﺣﻲ‬ ‫ﺷﻜﻞ‪ .7‬ﺍﻓﺰﻭﺩﻥ ﻣﺤﺪﻭﺩﻳﺖﻫﺎﻱ ﻃﺮﺍﺣﻲ ﺑﺮ ﺭﻭﻱ ﻣﻜﺎﻥ‬

‫‪ .4‬ﭘﺲ ﺍﺯ ﺗﻌﺮﻳﻒ ﻣﺤﺪﻭﺩﻳﺖ ﻃﺮﺍﺣﻲ)ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪ 4‬ﺛﺎﻧﻴﻪ(‪ ،‬ﺷﻜﻞ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﺎ ﻣﺤﺪﻭﺩﻳﺖ ﺍﻋﻤﺎﻝ ﺷﺪﻩ ﺑﻪ ﺻﻮﺭﺕ‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺷﻜﻞ ‪‌ 9‬‬

‫ﺷﻜﻞ‪ .9‬ﺍﻋﻤﺎﻝ ﻣﺤﺪﻭﺩﻳﺖ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪4‬ﺛﺎﻧﻴﻪ‬

‫‪ .5‬ﺑﺮﺍﻱ ﺍﻳﻨﻜﻪ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪ 4‬ﺛﺎﻧﻴﻪ ﺷﻮﺩ ﻣﻲﺑﺎﻳﺴﺖ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ )ﻣﺮﺑﻌﺎﺕ ﺻﻮﺭﺗﻲ ﺭﻧﮓ( ﺍﺯ ﻗﺴﻤﺖ‬
‫ﺯﺭﺩﺭﻧﮓ ﺧﺎﺭﺝ ﺷﻮﺩ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﺑﺎ ﺗﻐﻴﻴﺮ ﺑﻬﺮﻩ‪ ،‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻗﺴﻤﺖ ﺯﺭﺩﺭﻧﮓ ﺧﺎﺭﺝ ﻧﻤﻲﺷﻮﻧﺪ‬
‫ﭘﺲ ﻧﺎﭼﺎﺭﺍً ﺑﺎﻳﺪ ﺷﺎﺧﻪﻫﺎﻱ ﻣﻜﺎﻥ ﺭﺍ ﺑﻪ ﺳﻤﺖ ﭼﭗ ﻛﺸﻴﺪ ﻛﻪ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﻳﻚ ﺻﻔﺮ ﺣﻘﻴﻘﻲ ﺍﺿﺎﻓﻪ ﻣﻲﻛﻨﻴﻢ‪ .‬ﺑﺎ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ‬
‫ﺍﻳﻦ ﺻﻔﺮ ﺷﻜﻞ ﻣﻜﺎﻥ ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 10‬ﺩﺭ ﻣﻲﺁﻳﺪ‪ .‬ﻛﻨﺘﺮﻟﺮ ﺍﻛﻨﻮﻥ ﺩﺍﺭﺍﻱ ﻳﻚ ﺻﻔﺮ ﻣﻲ ‌ﺑﺎﺷﺪ ﻭ ﻧﺎﺳﺮﻩ ﻣﻲﺑﺎﺷﺪ ﺑﺮﺍﻱ ﺍﻳﻨﻜﻪ‬
‫𝑗𝑗𝑗𝑗 ﺍﺿﺎﻓﻪ ﻣﻲ ‌ﻛﻨﻴﻢ ﻛﻪ ﺑﻪ‬ ‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻟﺮ ﻧﺎﺳﺮﻩ ﻧﺒﺎﺷﺪ ﻳﻚ ﻗﻄﺐ ﻧﻴﺰ ﺩﺭ ﻣﻜﺎﻥﻫﺎﻱ ﺩﻭﺭﺗﺮ ﺍﺯ ﺻﻔﺮ ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭ‬
‫ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 11‬ﺩﺭ ﻣﻲﺁﻳﺪ‪.‬‬

‫ﺷﻜﻞ‪ .11‬ﻣﻜﺎﻥ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺣﻘﻴﻘﻲ‬ ‫ﺷﻜﻞ‪ .10‬ﻣﻜﺎﻥ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺣﻘﻴﻘﻲ‬

‫‪42‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫‪ (12‬ﻭ ﺳﭙﺲ ﭘﺎﺳﺦ ﭘﻠﻪ ﺭﺍ‬ ‫‪ .6‬ﺍﻛﻨﻮﻥ ﺑﺎ ﺟﺎﺑﻪﺟﺎﻱ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ،‬ﺁﻥﻫﺎ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ﺯﺭﺩﺭﻧﮓ ﺧﺎﺭﺝ ﻣﻲﻛﻨﻴﻢ)ﺷﻜﻞ‬
‫ﻣﺸﺎﻫﺪﻩ ﻣﻲﻛﻨﻴﻢ )ﺷﻜﻞ ‪ (13‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪ 4‬ﺛﺎﻧﻴﻪ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .13‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ‬ ‫ﺷﻜﻞ‪ .12‬ﺧﺎﺭﺝ ﻛﺮﺩﻥ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻣﻨﻄﻘﻪ ﺗﻴﺮﻩ‬

‫𝑘𝑘‬
‫= )𝑠𝑠(𝐺𝐺 ﻭ ﻣﺤﺪﻭﺩﻳﺖﻫﺎﻱ 𝑠𝑠‪ 𝑡𝑡s < 2‬ﻭ ‪ 𝑃𝑃𝑃𝑃 < 20%‬ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ ﻭ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ‬ ‫ﻓﺮﺁﻳﻨﺪ ﻓﻮﻕ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ‬
‫)‪𝑠𝑠(𝑠𝑠+3)(𝑠𝑠+6‬‬
‫ﻛﻨﻴﺪ‪.‬‬

‫‪ .C‬ﺷﻜﻞ ‪ 14‬ﻳﻚ ﻓﺮﺁﻳﻨﺪ ﺗﺒﺎﺩﻝ ﮔﺮﻣﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﻫﺪﻑ ﺍﺯ ﺍﻳﻦ ﻓﺮﺁﻳﻨﺪ ﻧﮕﻪ ﺩﺍﺷﺘﻦ ﺩﻣﺎﻱ ﻣﺎﻳﻊ ﺑﺮ ﺭﻭﻱ ﻳﻚ ﺩﺭﺟﻪ ﺧﺎﺹ‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺩﻣﺎ ﺑﻮﺳﻴﻠﻪ ﺳﻨﺴﻮﺭ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﻣﻲﺷﻮﺩ ﻭ ﻓﺮﺳﺘﻨﺪﻩ ‪ TT 22‬ﺩﻣﺎﻱ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﺷﺪﻩ ﺭﺍ ﺑﻪ ﻛﻨﺘﺮﻟﺮ ‪ TC 22‬ﻣﻲﻓﺮﺳﺘﺪ‪.‬‬
‫‪ TC 22‬ﺩﻣﺎﻱ ﻭﺍﻗﻌﻲ ﺭﺍ ﺑﺎ ﺩﻣﺎﻱ ﻣﻄﻠﻮﺏ )‪ (sp‬ﻣﻘﺎﻳﺴﻪ ﻣﻲﻛﻨﺪ‪ .‬ﻛﻨﺘﺮﻟﺮ ﺑﻪ ﺻﻮﺭﺕ ﺍﺗﻮﻣﺎﺗﻴﻚ ﺷﻴﺮ ﺭﺍ ﺑﺎﺯ ﻭ ﻳﺎ ﺑﺴﺘﻪ ﻣﻲﻛﻨﺪ ﺗﺎ ﺍﺟﺎﺯﻩ‬
‫‪ 15‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬ ‫ﺩﻫﺪ ﻭ ﻳﺎ ﻣﺎﻧﻊ ﺷﻮﺩ ﻛﻪ ﺑﺨﺎﺭ ﺑﺮﺍﻱ ﺗﻐﻴﻴﺮ ﺩﻣﺎ ﺑﻪ ﻣﺨﺰﻥ ﺑﺮﺳﺪ‪ .‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﺭ ﺷﻜﻞ‬
‫ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻓﺮﺽ ﻛﻨﻴﺪ‪.‬‬
‫‪0.02‬‬ ‫‪70‬‬ ‫‪1‬‬
‫= )𝑠𝑠( 𝑣𝑣𝐺𝐺‬ ‫= )𝑠𝑠( 𝑝𝑝𝐺𝐺‬ ‫= )𝑠𝑠(𝐻𝐻‬
‫‪4𝑠𝑠 + 1‬‬ ‫‪50𝑠𝑠 + 1‬‬ ‫‪12𝑠𝑠 + 1‬‬

‫ﺷﻜﻞ‪.14‬ﻓﺮﺁﻳﻨﺪ ﺗﺒﺎﺩﻝ ﮔﺮﻣﺎ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪.15‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻓﺮﺁﻳﻨﺪ ﺗﺒﺎﺩﻝ ﮔﺮﻣﺎ‬

‫‪𝜁 = 0.7‬‬ ‫ﺍﺑﺘﺪﺍ ﻓﺮﺽ ﻛﻨﻴﺪ ﻛﻪ 𝑘𝑘 = )𝑠𝑠( 𝑐𝑐𝐺𝐺 ﻣﻘﺪﺍﺭ ﺑﻬﺮﻩ ﺭﺍ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ ﻗﻄﺐﻫﺎﻱ ﻏﺎﻟﺐ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ‬ ‫•‬
‫ﺑﺎﺷﻨﺪ‪.‬‬
‫ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻛﻪ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺭﺍ ‪ 20%‬ﻛﻤﺘﺮ ﻛﻨﺪ‪.‬‬ ‫•‬

‫‪‌ .D‬‬
‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺁﺯﻣﺎﻳﺶ ﻣﺮﺑﻮﻁ ﺑﻪ ﮔﻮﻱ ﻣﻌﻠﻖ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﻢ ﻭ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﭘﺒﺶ ﻓﺎﺯ ﻭ ﭘﺲﻓﺎﺯ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ‬
‫ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﻫﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪:‬‬

‫ﺑﺨﺶ‪ .1‬ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﭘﻴﺶﻓﺎﺯ‬

‫‪ .1‬ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ LinCon‬ﺭﺍ ﺍﺟﺮﺍ ﻛﻨﻴﺪ ﻭ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝑝𝑝 = 50‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 0 ،𝑘𝑘I = 0 ،offset=7.8‬ﻭ‬ ‫‪.2‬‬
‫‪ .3‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .4‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ .5‬ﺍﻛﻨﻮﻥ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ lead-lag‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .6‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑇𝑇2 = 0.05 ،𝑇𝑇1 = 0.1 ،offset=7.8‬ﻭ ‪ 𝑘𝑘 = 50‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺑﺎ ﺍﻳﻦ‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﻋﻤﻞ ﺑﻪ ﺳﻴﺴﺘﻢ ﻳﻚ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻩﺍﻳﺪ ﭼﻮﻥ ‪ 𝑇𝑇1 > 𝑇𝑇2‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ ﻳﺎ ‪‌ lead‬‬
‫‪ .7‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪ .‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ‬
‫ﻛﻨﻴﺪ‪.‬‬
‫‪ .8‬ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﺍﺿﺎﻓﻪ ﺷﺪﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺑﻪ ﺳﻴﺴﺘﻢ ﭼﻪ ﺗﺎﺛﻴﺮﻱ ﺩﺭ ﻋﻤﻠﻜﺮﺩ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺩﺍﺷﺘﻪ ﺍﺳﺖ‪ ).‬ﺯﻣﺎﻥ ﺻﻌﻮﺩ‪ ،‬ﺯﻣﺎﻥ‬
‫ﻧﺸﺴﺖ‪ ،‬ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ ﻭ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ(‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺑﺨﺶ‪ .2‬ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﭘﺲﻓﺎﺯ‬

‫‪ .1‬ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ LinCon‬ﺭﺍ ﺍﺟﺮﺍ ﻛﻨﻴﺪ ﻭ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝑝𝑝 = 60‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬ ‫‪ .2‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 0 ،𝑘𝑘I = 0 ،offset=7.8‬ﻭ‬
‫‪ .3‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .4‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ .5‬ﺍﻛﻨﻮﻥ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ lead-lag‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .6‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑇𝑇2 = 1 ،𝑇𝑇1 = 0.4 ،offset=7.8‬ﻭ ‪ 𝑘𝑘 = 60‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺑﺎ ﺍﻳﻦ ﻋﻤﻞ ﺑﻪ‬
‫ﺳﻴﺴﺘﻢ ﻳﻚ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻩﺍﻳﺪ ﭼﻮﻥ ‪ 𝑇𝑇2 > 𝑇𝑇1‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﻳﺎ ‪ lag‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪ .7‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪ .‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ‬
‫ﻛﻨﻴﺪ‪.‬‬
‫‪ .8‬ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﺍﺿﺎﻓﻪ ﺷﺪﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺑﻪ ﺳﻴﺴﺘﻢ ﭼﻪ ﺗﺎﺛﻴﺮﻱ ﺩﺭ ﻋﻤﻠﻜﺮﺩ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺩﺍﺷﺘﻪ ﺍﺳﺖ‪ ).‬ﺯﻣﺎﻥ ﺻﻌﻮﺩ‪،‬‬
‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ‪ ،‬ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ‪ ،‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻭ ﻧﻮﺳﺎﻧﻲ ﺑﻮﺩﻥ ﺧﺮﻭﺟﻲ(‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﺍﻱ ﻛﻪ ﺑﺮﺍﻱ ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ﺷﻤﺎﺭﻩ ‪ 5‬ﻃﺮﺍﺣﻲ ﻛﺮﺩﻳﺪ ﺭﺍ ﺍﺑﺘﺪﺍ ﻭﺍﺭﺩ ‪ sisotool‬ﻛﺮﺩﻩ ﻭ ﺗﻤﺎﻡ‬ ‫‪.E‬‬
‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﻭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢ ﺑﻪ ﻫﻤﺮﺍﻩ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺍﻳﻦ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬
‫ﺳﭙﺲ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﻭﺍﺭﺩ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ LinCon‬ﻛﺮﺩﻩ ﻭ ‪ offset=7.8‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ‪ .‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ‬
‫ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪ .‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫ﺍﻛﻨﻮﻥ ﻧﺘﺎﻳﺞ ﻗﺴﻤﺖ ﺷﺒﻴﻪﺳﺎﺯﻱ ﻭ ﻋﻤﻠﻲ ﺭﺍ ﺑﺎ ﻫﻢ ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‪.‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪.1‬ﺗﻮﺳﻂ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ MATLAB‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﻴﺶﻓﺎﺯ ﺑﺮﺍﻱ ﮔﻮﻱ ﻣﻌﻠﻖ ﭼﻨﺎﻥ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻳﻚ ﻗﻄﺐ ﻏﺎﻟﺐ‬

‫ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﻭ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ -10‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬

‫‪ .2‬ﺗﻮﺳﻂ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ MATLAB‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲﻓﺎﺯ ﺑﺮﺍﻱ ﮔﻮﻱ ﻣﻌﻠﻖ ﭼﻨﺎﻥ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻳﻚ ﻗﻄﺐ ﻏﺎﻟﺐ‬
‫ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﻭ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ -8‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ .‬ﻧﺴﺒﺖ ﻗﻄﺐ ﺑﻪ ﺻﻔﺮ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 2‬ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :6‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻧﺤﻮﻩ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ)ﺑﻮﺩ‪ ،‬ﻧﺎﻳﻜﻮﻳﻴﺴﺖ‪ ،‬ﻧﻴﻜﻮﻝﺱ ( ﺑﻪ ﻛﻤﻚ ﻧﺮﻡﺍﻓﺰﺍﺭ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫‪ MATLAB‬ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪ .‬ﺳﭙﺲ ﺑﻪ ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢﻫﺎ ﺑﻪ ﻛﻤﻚ ﻧﻤﻮﺩﺍﺭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺳﻢ ﺷﺪﻩ ﻣﻲﭘﺮﺩﺍﺯﺩ‪.‬‬

‫ﻣﻨﻈﻮﺭ ﺍﺯ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺭﻭﺩﻱ ﺳﻴﻨﻮﺳﻲ ﺍﺳﺖ‪ .‬ﻣﻨﻈﻮﺭ ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫𝜔𝜔 ﺍﺳﺖ‪ ،‬ﺑﺎ ﺩﺍﻣﻨﻪ ﻭ‬ ‫ﺳﻴﻨﻮﺳﻲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻠﻲ ﺑﺮ ﺣﺴﺐ 𝑗𝑗𝑗𝑗 ﺑﻪ ﺟﺎﻱ ‪ s‬ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﻨﻮﺳﻲ‪ ،‬ﻛﻪ ﻛﻤﻴﺘﻲ ﻣﺨﺘﻠﻂ ﻭ ﻭﺍﺑﺴﺘﻪ ﺑﻪ‬
‫ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﻣﺸﺨﺺ ﻣﻲﺷﻮﺩ‪ ،‬ﺑﺮﺍﻱ ﻧﻤﺎﻳﺶ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﻨﻮﺳﻲ ‪ 3‬ﺭﻭﺵ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪:‬‬

‫‪ .1‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ ﻳﺎ ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻤﻲ‬

‫‪ .2‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻳﺎ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‬
‫‪ .٣‬ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﻓﺎﺯ ﻳﺎ ﻧﻤﻮﺩﺍﺭ ﻧﻴﻜﻮﻟﺲ‬

‫ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ‪ .‬ﺩﺭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺑﺎ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﻣﺠﺰﺍ ﻧﻤﺎﻳﺶ ﻣﻲﺩﻫﻨﺪ؛ ﻳﻚ ﻧﻤﻮﺩﺍﺭ ﺗﻐﻴﻴﺮﺍﺕ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﻓﺮﻛﺎﻧﺲ ﻭ‬
‫ﺩﻳﮕﺮﻱ ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﺭﺍ ﺑﺮ ﺣﺴﺐ ﻓﺮﻛﺎﻧﺲ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﻴﺎﻥ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ )𝑗𝑗𝑗𝑗(𝐺𝐺 ‪ 20 log 𝐺𝐺(𝑗𝑗𝑗𝑗) ،‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺯﺍﻭﻳﻪﻱ‬
‫ﻓﺎﺯ ﻧﻴﺰ ﺑﺮ ﺣﺴﺐ ﺩﺭﺟﻪ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﺤﻮﺭ ﺍﻓﻘﻲ ﻫﺮ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﻧﻴﺰ ﺑﺮ ﺣﺴﺐ ﻓﺮﻛﺎﻧﺲ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﻟﮕﺎﺭﻳﺘﻤﻲ ﻣﻘﻴﺎﺱ ﺑﻨﺪﻱ ﺷﺪﻩ‬
‫ﺍﺳﺖ‪ .‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻘﻴﺎﺱ ﻟﮕﺎﺭﻳﺘﻤﻲ ﺑﺮﺍﻱ ﻓﺮﻛﺎﻧﺲ ﺑﻪ ﺧﺎﻃﺮ ﺑﺎﺯ ﺷﺪﻥ ﻧﺎﺣﻴﻪﻱ ﻓﺮﻛﺎﻧﺲﻫﺎﻱ ﭘﺎﻳﻴﻦ ﺑﺴﻴﺎﺭ ﻣﻬﻢ ﺍﺳﺖ‪ ،‬ﺯﻳﺮﺍ ﺑﺮﺍﻱ ﺍﻛﺜﺮ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻋﻤﻠﻲ ﻣﺸﺨﺼﺎﺕ ﻓﺮﻛﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺑﺴﻴﺎﺭ ﻣﻬﻢ ﻫﺴﺘﻨﺪ‪ .‬ﺍﻳﻦ ﻛﻪ ﺑﻪ ﺧﺎﻃﺮ ﻟﮕﺎﺭﻳﺘﻤﻲ ﺑﻮﺩﻥ ﻓﺮﻛﺎﻧﺲ ﻧﻤﻲﺗﻮﺍﻥ ﻣﻨﺤﻨﻲﻫﺎ ﺭﺍ ﺗﺎ‬
‫ﻓﺮﻛﺎﻧﺲ ﺻﻔﺮ ﺭﺳﻢ ﻛﺮﺩ ﻣﺸﻜﻞ ﺟﺪﻱ ﺍﻳﺠﺎﺩ ﻧﻤﻲﻛﻨﺪ‪ .‬ﻣﺰﻳﺖ ﺍﺻﻠﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺿﺮﺏ ﺩﺍﻣﻨﻪﻫﺎ ﺑﻪ ﺟﻤﻊ ﺗﺒﺪﻳﻞ‬
‫ﻣﻲﺷﻮﺩ‪ .‬ﺷﻜﻞ‪ 1‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﻧﻤﻮﺩﺍﺭﻫﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ‬

‫ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪ .‬ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﻨﻮﺳﻲ )𝑗𝑗𝑗𝑗(𝐺𝐺 ﻧﻤﻮﺩﺍﺭ ﺩﺍﻣﻨﻪ )𝑗𝑗𝑗𝑗(𝐺𝐺 ﺑﺮ ﺣﺴﺐ ﺯﺍﻭﻳﻪ )𝑗𝑗𝑗𝑗(𝐺𝐺 ﺩﺭ ﻣﺨﺘﺼﺎﺕ ﻗﻄﺒﻲ‬
‫ﺍﺳﺖ‪ ،‬ﻭﻗﺘﻲ ﻛﻪ 𝜔𝜔 ﺍﺯ ﺻﻔﺮ ﺗﺎ ﺑﻴﻨﻬﺎﻳﺖ ﺗﻐﻴﻴﺮ ﻣﻲﻛﻨﺪ‪ .‬ﭘﺲ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﺮﺩﺍﺭﻫﺎﻱ ﺯﻳﺮ‬

‫)𝑗𝑗𝑗𝑗(𝐺𝐺∠|)𝑗𝑗𝑗𝑗(𝐺𝐺|‬
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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫𝜔𝜔 ﺍﺳﺖ‪ .‬ﻳﻚ ﻣﺰﻳﺖ ﻧﻤﻮﺩﺍﺭ‬ ‫ﺑﺎ ﺗﻐﻴﻴﺮ 𝜔𝜔 ﺍﺯ ﺻﻔﺮ ﺗﺎ ﺑﻴﻨﻬﺎﻳﺖ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻫﺮ ﻧﻘﻄﻪﻱ ﺍﻳﻦ ﻣﻨﺤﻨﻲ ﺳﺮ ﻳﻚ ﺑﺮﺩﺍﺭ ﺑﻪ ﺍﺯﺍﻱ ﻣﻘﺪﺍﺭ ﺧﺎﺻﻲ ﺍﺯ‬
‫ﻗﻄﺒﻲ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ ﺩﺭ ﺗﻤﺎﻡ ﮔﺴﺘﺮﻩﻱ ﻓﺮﻛﺎﻧﺴﻲ ﺭﻭﻱ ﻳﻚ ﻧﻤﻮﺩﺍﺭ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﻳﻚ ﻋﻴﺐ ﺍﻳﻦ‬
‫ﻧﻤﻮﺩﺍﺭ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺍﺛﺮ ﻫﺮ ﻋﺎﻣﻞ ﺗﺸﻜﻴﻞ ﺩﻫﻨﺪﻩﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺭﺍ ﺑﻪ ﻭﺿﻮﺡ ﻧﺸﺎﻥ ﻧﻤﻲﺩﻫﺪ‪ .‬ﺷﻜﻞ ‪ 2‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﻧﻤﻮﺩﺍﺭﻫﺎ‬
‫ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .2‬ﻧﻤﻮﺩﺍﺭﻗﻄﺒﻲ‬

‫ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮﺣﺴﺐ ﻓﺎﺯ‪ .‬ﺭﺍﻩ ﺩﻳﮕﺮ ﻧﻤﺎﻳﺶ ﺗﺮﺳﻴﻤﻲ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ‬
‫ﺣﺴﺐ ﻓﺎﺯﺳﺖ‪ .‬ﺩﺭ ﺍﻳﻦ ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﺩﺳﻴﺒﻞ‪ ،‬ﺑﺮ ﺣﺴﺐ ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﻳﺎ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ‪ ،‬ﺩﺭ ﮔﺴﺘﺮﻩﻱ ﻓﺮﻛﺎﻧﺴﻲ ﻣﻮﺭﺩ ﻧﻈﺮ‬
‫ﺭﺳﻢ ﻣﻲﺷﻮﺩ‪ .‬ﻣﻨﺤﻨﻲ ﺣﺎﺻﻞ ﺑﺮ ﺣﺴﺐ 𝜔𝜔 ﻣﻘﺪﺍﺭﮔﺬﺍﺭﻱ ﻣﻲ‌ﺷﻮﺩ ﺍﻳﻦ ﮔﻮﻧﻪ ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﺭﺍ ﻣﻌﻤﻮ ًﻻ ﻧﻤﻮﺩﺍﺭ‬
‫ﻧﻴﻜﻮﻟﺲ ﻣﻲﻧﺎﻣﻨﺪ‪.‬‬

‫ﺷﻜﻞ‪.3‬ﻧﻤﻮﺩﺍﺭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﻓﺎﺯ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺣﺎﺷﻴﻪﻫﺎﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ‪ .‬ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎ ﺑﻪ ﻛﻤﻚ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺣﺎﺷﻴﻪﻫﺎﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ‬
‫‌‬
‫ﻛﻤﻚ ﮔﺮﻓﺖ‪.‬‬

‫ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ‪ .‬ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ‪ ،‬ﻋﻜﺲ ﺩﺍﻣﻨﻬﻲ |)𝑗𝑗𝑗𝑗(𝐺𝐺| ﺩﺭ ﻓﺮﻛﺎﻧﺴﻲ ﻛﻪ ﺯﺍﻭﻳﻪ ﻓﺎﺯ 𝑜𝑜‪ −180‬ﻣﻲﺷﻮﺩ ﺍﺳﺖ‪ .‬ﺍﮔﺮ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺯﺍﻭﻳﻪ ﻱ‬
‫ﻓﺎﺯ ‪ 𝜔𝜔1‬ﺭﺍ ﻓﺮﻛﺎﻧﺴﻲ ﺗﻌﺮﻳﻒ ﻛﻨﻴﻢ ﻛﻪ ﺩﺭ ﺁﻥ ﺯﺍﻭﻳﻪﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ 𝑜𝑜‪ −180‬ﻣﻲﺷﻮﺩ‪ ،‬ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ‪ 𝑘𝑘g‬ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ‪:‬‬

‫‪1‬‬
‫= ‪𝑘𝑘g‬‬
‫|) ‪|𝐺𝐺(𝑗𝑗𝜔𝜔1‬‬

‫ﻭ ﺑﺮ ﺣﺴﺐ ﺩﺳﻴﺒﻞ |) ‪ 𝑘𝑘g 𝑑𝑑𝑑𝑑 = 20𝑙𝑙𝑜𝑜𝑜𝑜𝑘𝑘𝑔𝑔 = −20𝑙𝑙𝑙𝑙𝑙𝑙|𝐺𝐺(𝑗𝑗𝜔𝜔1‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺣﺎﺷﻴﻪ‌ﻱ ﺑﻬﺮﻩ ﺑﺮ ﺣﺴﺐ ﺩﺳﻴﺒﻞ ﻣﺜﺒﺖ ﺍﺳﺖ ﺍﮔﺮ‬
‫‪ 𝑘𝑘g‬ﺍﺯ ﻳﻚ ﺑﺰﺭﮔﺘﺮ ﺑﺎﺷﺪ ﻭ ﻣﻨﻔﻲ ﺍﺳﺖ ﺍﮔﺮ ‪ 𝑘𝑘g‬ﺍﺯ ﻳﻚ ﻛﻮﭼﻜﺘﺮ ﺑﺎﺷﺪ‪ .‬ﭘﺲ ﺣﺎﺷﻴﻪ ﻱ ﺑﻬﺮﻩ ﻣﺜﺒﺖ )ﺑﺮ ﺣﺴﺐ ﺩﺳﻴﺒﻞ( ﺑﻪ ﻣﻌﻨﻲ ﭘﺎﻳﺪﺍﺭ‬
‫ﺑﻮﺩﻥ ﺳﻴﺴﺘﻢ ﺍﺳﺖ ﻭ ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ ﻣﻨﻔﻲ )ﺑﺮ ﺣﺴﺐ ﺩﺳﻴﺒﻞ( ﺑﻪ ﻣﻌﻨﻲ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺑﻮﺩﻥ ﺳﻴﺴﺘﻢ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﻲﻧﻴﻤﻢ ﻓﺎﺯ‬
‫ﭘﺎﻳﺪﺍﺭ‪ ،‬ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﺑﻬﺮﻩ ﺭﺍ ﭼﻘﺪﺭ ﻣﻲﺗﻮﺍﻥ ﺯﻳﺎﺩ ﻛﺮﺩ ﺑﺪﻭﻥ ﺍﻳﻨﻜﻪ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ‪ .‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ‬
‫ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭ ﺷﺪﻥ ﺳﻴﺴﺘﻢ ﺑﺎﻳﺪ ﺑﻬﺮﻩ ﺭﺍ ﭼﻘﺪﺭ ﻛﻢ ﻛﺮﺩ‪.‬‬

‫ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻋﺒﺎﺭﺕ ﺍﺳﺖ ﺍﺯ ﻣﻘﺪﺍﺭ ﭘﺴﻔﺎﺯﻱ ﻻﺯﻡ ﺩﺭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ‪ ،‬ﺑﺮﺍﻱ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﺳﻴﺴﺘﻢ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ‪.‬‬
‫‌‬ ‫ﺣﺎﺷﻴﻪ ﻓﺎﺯ‪.‬‬
‫ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﻓﺮﻛﺎﻧﺴﻲ ﺍﺳﺖ ﻛﻪ ﺩﺭ ﺁﻥ |)𝑗𝑗𝑗𝑗(𝐺𝐺| ﻳﻌﻨﻲ ﺩﺍﻣﻨﻪﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺮﺍﺑﺮ ﺑﺎ ﻳﻚ ﻣﻲﺷﻮﺩ‪ .‬ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ‪، γ‬‬
‫ﺣﺎﺻﻞ ﺟﻤﻊ 𝑜𝑜‪ 180‬ﻭ ﻓﺎﺯ ‪ ϕ‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﺍﺳﺖ‪ ،‬ﻳﺎ‬

‫‪γ = 180𝑜𝑜 + ϕ‬‬

‫ﺑﺮﺍﻱ ﺍﻳﻦ ﻛﻪ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﻲ‌ﻧﻴﻤﻢﻓﺎﺯ ﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﺪ‪ ،‬ﺑﺎﻳﺪ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﺁﻥ ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ .‬ﺷﻜﻞﻫﺎﻱ ‪5 ،4‬ﻭ‪ 6‬ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﻭ ﻓﺎﺯ ﻳﻚ ﺳﻴﺴﺘﻢ‬
‫ﭘﺎﻳﺪﺍﺭ ﻭ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺭﺍ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩﻩ‪ ،‬ﻗﻄﺒﻲ)ﻧﺎﻳﻜﻮﻳﻴﺴﺖ( ﻭ ﻟﮕﺎﺭﻳﺘﻢ ﺩﺍﻣﻨﻪ ﺑﺮ ﺣﺴﺐ ﻓﺎﺯ)ﻧﻴﻜﻮﻟﺲ( ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .4‬ﺣﺎﺷﻴﻪﻫﺎﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ‪ .‬ﺳﻤﺖ ﺭﺍﺳﺖ ﻳﻚ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻭ ﺳﻤﺖ ﭼﭗ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪ .5‬ﺣﺎﺷﻴﻪﻫﺎﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪ .‬ﺳﻤﺖ ﺭﺍﺳﺖ ﻳﻚ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻭ ﺳﻤﺖ ﭼﭗ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﺣﺎﺷﻴﻪﻫﺎﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻧﻤﻮﺩﺍﺭ ﻧﻴﻜﻮﻟﺲ‪ .‬ﺳﻤﺖ ﺭﺍﺳﺖ ﻳﻚ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻭ ﺳﻤﺖ ﭼﭗ ﻳﻚ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺭﺍ ﻧﺸﺎﻥ‬
‫ﻣﻲﺩﻫﺪ‪.‬‬

‫ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ‪ .‬ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﺮﺣﺴﺐ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ‬
‫ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﺪ‪.‬‬

‫ﺍﮔﺮ ﻣﺴﻴﺮ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺩﺭ ﺻﻔﺤﻪﻱ ‪ Z ، s‬ﺻﻔﺮ ﻭ ‪ P‬ﻗﻄﺐ ﺗﺎﺑﻊ )‪ 1+G(s)H(s‬ﺭﺍ ﺩﺭ ﺟﻬﺖ ﺳﺎﻋﺘﮕﺮﺩ ﺩﻭﺭ ﺑﺰﻧﺪ ﻭ ﺍﺯ ﻫﻴﭻ ﻳﻚ ﺍﺯ ﻗﻄﺐﻫﺎ‬
‫ﻭ ﺻﻔﺮﻫﺎﻱ ﺗﺎﺑﻊ )‪ 1+G(s)H(s‬ﻧﮕﺬﺭﺩ‪ ،‬ﻣﺴﻴﺮ ﻣﺘﻨﺎﻇﺮ ﺩﺭ ﺻﻔﺤﻪﻱ )‪ G(s)H(s‬ﻧﻘﻄﻪﻱ ‪ -1+j0‬ﺭﺍ ‪ N=Z-P‬ﺑﺎﺭ ﺩﺭ ﺟﻬﺖ ﺳﺎﻋﺘﮕﺮﺩ‬
‫ﺩﻭﺭ ﻣﻲﺯﻧﺪ‪ N) .‬ﻣﻨﻔﻲ ﺑﻪ ﻣﻌﻨﺎﻱ ﺩﻭﺭ ﺯﺩﻥ ﺩﺭ ﺟﻬﺖ ﭘﺎﺩﺳﺎﻋﺘﮕﺮﺩ ﺍﺳﺖ‪(.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﻪ ﻛﻤﻚ ‪.MATLAB‬‬

‫‪ bode‬ﺑﺪﻭﻥ ﺁﺭﮔﻮﻣﺎﻥ ﺳﻤﺖ ﭼﭗ ﺑﻪ‬ ‫ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ‪ .‬ﺩﺳﺘﻮﺭ ‪ bode‬ﺩﺍﻣﻨﻪ ﻭ ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺍﮔﺮ ﺩﺳﺘﻮﺭ‬
‫ﻣﻲﺗﻮﺍﻥ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬
‫ﻛﺎﻣﭙﻴﻮﺗﺮ ﺩﺍﺩﻩ ﺷﻮﺩ‪ MATLAB ،‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ ﺭﺍ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺩﺳﺘﻮﺭ ‪ bode‬ﺭﺍ ﺑﻪ ﻓﺮﻡﻫﺎﻱ ﺯﻳﺮ ‌‬

‫)‪bode(num,den) – bode(num,den,w) – bode (A,B,C,D) – bode(A,B,C,D,w) – bode (sys‬‬

‫)'‪bode(sys1,sys2,...,sysN) - bode(sys1,'PlotStyle1',...,sysN,'PlotStyleN‬‬

‫ﺩﺳﺘﻮﺭ ‪ bode‬ﺑﺎ ﺁﺭﮔﻮﻣﺎﻥﻫﺎﻱ ﺳﻤﺖ ﭼﭗ‪ ،‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﻪ ﺻﻮﺭﺕ )‪ [mag,phase,w]=bode(num,den‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺩﺭ‬
‫ﺁﺭﺍﻳﻪﻫﺎﻱ ‪3‬ﺑﻌﺪﻱ ‪ phase ، mag‬ﻭ ﻣﺎﺗﺮﻳﺲ ‪ w‬ﺛﺒﺖ ﻣﻲ‌ﻛﻨﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﻧﻤﻮﺩﺍﺭﻱ ﺑﺮ ﺭﻭﻱ ﺻﻔﺤﻪ ﺭﺳﻢ ﻧﻤﻲﺷﻮﺩ‪ .‬ﻣﺘﻐﻴﺮﻫﺎﻱ ‪mag‬‬
‫ﻭ ‪ phase‬ﺩﺍﻣﻨﻪ ﻭ ﻓﺎﺯ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﺤﺎﺳﺒﻪ ﺷﺪﻩ ﺩﺭ ﻓﺮﻛﺎﻧﺲﻫﺎﻱ ﻗﻴﺪ ﺷﺪﻩ ﺩﺭ ﺑﺮﺩﺍﺭ ‪ w‬ﺭﺍ ﺩﺭ ﺑﺮ ﺩﺍﺭﻧﺪ‪ mag .‬ﻭ ‪، phase‬‬
‫ﺁﺭﺍﻳﻪﻫﺎﻱ ‪3‬ﺑﻌﺪﻱ ﺑﺎ ﺍﺑﻌﺎﺩ )ﺗﻌﺪﺍﺩ ﺧﺮﻭﺟﻲﻫﺎ(*)ﺗﻌﺪﺍﺩ ﻭﺭﻭﺩﻱﻫﺎ(*)ﻃﻮﻝ ﺑﺮﺩﺍﺭ ‪ (w‬ﻣﻲﺑﺎﺷﻨﺪ‪ .‬ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ ﺑﺮ ﺣﺴﺐ ﺩﺭﺟﻪ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺩﺍﻣﻨﻪ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﺎ ﺩﺳﺘﻮﺭ ﺯﻳﺮ ﺑﻪ ﺩﺳﻴﺒﻞ ﺗﺒﺪﻳﻞ ﻛﺮﺩ‪:‬‬

‫)‪magdB=20*log10(mag‬‬

‫)‪magdB = mag2db(mag‬‬ ‫ﻳﺎ ﺑﻪ ﺭﺍﺣﺘﻲ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ﺭﻭﺑﻪﺭﻭ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪:‬‬

‫)‪mag = mag2db(magdB‬‬ ‫ﺑﻪﺭﻭ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫ﺑﺮﺍﻱ ﺗﺒﺪﻳﻞ ﺍﺯ ﺩﺳﻴﺒﻞ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ﺭﻭ ‌‬

‫ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ‪ .‬ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻧﻴﺰ ﻣﺎﻧﻨﺪ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩﻩ ﺑﺮﺍﻱ ﻧﻤﺎﻳﺶ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ ﻭ‬
‫‪ nyquist‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﻣﻲﻛﻨﺪ‪ .‬ﻭﻗﺘﻲ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﺑﺪﻭﻥ‬ ‫ﻣﺴﺘﻘﻞ ﺍﺯ ﺯﻣﺎﻥ ﺑﺴﻴﺎﺭ ﺑﻪ ﻛﺎﺭ ﻣﻲﺭﻭﺩ‪ .‬ﺩﺳﺘﻮﺭ‬
‫ﺁﺭﮔﻮﻣﺎﻥ ﺳﻤﺖ ﭼﭗ ﺑﻪ ﻛﺎﺭ ﺭﻭﺩ ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﻭﻱ ﺻﻔﺤﻪ ﺭﺳﻢ ﻣﻲﺷﻮﺩ‪ .‬ﺩﺳﺘﻮﺭ ‪ nyquist‬ﺭﺍ ﺑﻪ ﻓﺮﻡﻫﺎﻱ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻥ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﻧﻤﻮﺩ‪:‬‬

‫)‪nyquist(num,den) – nyquist(num,den,w) – nyquist(A,B,C,D) - nyquist(A,B,C,D,w‬‬

‫)‪nyquist(A,B,C,D,iu,w) - nyquist(sys) - nyquist(sys,w) - nyquist(sys1,sys2,...,sysN,w‬‬

‫‪ w‬ﻣﺸﺨﺺ ﺷﺪﻩ ﺍﺳﺖ‪،‬‬ ‫ﺩﺭ ﺩﺳﺘﻮﺭﻫﺎﻳﻲ ﻛﻪ ﺑﺮﺩﺍﺭ ﻓﺮﻛﺎﻧﺲ ﺗﻮﺳﻂ ﻛﺎﺭﺑﺮ ﺗﻌﻴﻴﻦ ﻣﻲﺷﻮﺩ ﺍﺯ ﻓﺮﻛﺎﻧﺲﻫﺎﻳﻲ ﻛﻪ ﺗﻮﺳﻂ ﻛﺎﺭﺑﺮ ﺩﺭ ﺑﺮﺩﺍﺭ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺮﺩﺍﺭ ‪ w‬ﻓﺮﻛﺎﻧﺲﻫﺎﻳﻲ ﺭﺍ ﻛﻪ ﺩﺭ ﺁﻥﻫﺎ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻣﺤﺎﺳﺒﻪ ﻣﻲﺷﻮﺩ‪ ،‬ﺑﺮ ﺣﺴﺐ ﺭﺍﺩﻳﺎﻥ ﺑﺮ ﺛﺎﻧﻴﻪ ﺩﺭ ﺑﺮ ﺩﺍﺭﺩ‪ .‬ﺩﺳﺘﻮﺭ‬
‫)‪ [re,im,w]=nyquist(sys‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺩﺭ ﺁﺭﺍﻳﻪﻫﺎﻱ‬ ‫‪ nyquist‬ﺑﺎ ﺁﺭﮔﻮﻣﺎﻥﻫﺎﻱ ﺳﻤﺖ ﭼﭗ‪ ،‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﻪ ﺻﻮﺭﺕ‬
‫‪3‬ﺑﻌﺪﻱ ‪ im ، re‬ﻭ ﻣﺎﺗﺮﻳﺲ ‪ w‬ﺛﺒﺖ ﻣﻲﻛﻨﺪ ﻭ ﻧﻤﻮﺩﺍﺭﻱ ﺭﻭﻱ ﺻﻔﺤﻪ ﺭﺳﻢ ﻧﻤﻲﺷﻮﺩ‪ .‬ﺁﺭﺍﻳﻪﻫﺎﻱ ‪3‬ﺑﻌﺪﻱ ‪ re‬ﻭ ‪ im‬ﺑﻪ ﺗﺮﺗﻴﺐ ﺑﺨﺶﻫﺎﻱ‬
‫ﺣﻘﻴﻘﻲ ﻭ ﻣﻮﻫﻮﻣﻲ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺑﺮ ﺩﺍﺭﻧﺪ‪ .‬ﺁﺭﺍﻳﻪﻫﺎﻱ ‪3‬ﺑﻌﺪﻱ ‪ re‬ﻭ ‪) im‬ﺗﻌﺪﺍﺩ ﺧﺮﻭﺟﻲﻫﺎ(*)ﺗﻌﺪﺍﺩ ﻭﺭﻭﺩﻱﻫﺎ(*)ﻃﻮﻝ‬
‫ﺑﺮﺩﺍﺭ ‪ (w‬ﻣﻲﺑﺎﺷﻨﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﻧﻤﻮﺩﺍﺭ ﻧﻴﻜﻮﻟﺲ‪ .‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﻧﻴﻜﻮﻟﺲ ﻣﻲ ‌ﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ nichols‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺩﺳﺘﻮﺭ ‪ nichols‬ﺑﺎ ﺁﺭﮔﻮﻣﺎﻥﻫﺎﻱ ﺳﻤﺖ‬
‫ﭼﭗ‪ ،‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﻪ ﺻﻮﺭﺕ )‪ [mag,phase,w]=nichols(sys‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺩﺭ ﺁﺭﺍﻳﻪﻫﺎﻱ ‪3‬ﺑﻌﺪﻱ ‪ phase ، mag‬ﻭ‬
‫ﻣﺎﺗﺮﻳﺲ ‪ w‬ﺛﺒﺖ ﻣﻲﻛﻨﺪ‪ .‬ﻓﺎﺯ ﺭﺍ ﺑﺮ ﺣﺴﺐ ﺩﺭﺟﻪ ﻭ ﻓﺮﻛﺎﻧﺲ ﺭﺍ ﺑﺮ ﺣﺴﺐ ﺭﺍﺩﻳﺎﻥ ﺑﺮ ﺛﺎﻧﻴﻪ ﺑﺮ ﻣﻲﮔﺮﺩﺍﻧﺪ‪ mag .‬ﻭ ‪ phase‬ﺁﺭﺍﻳﻪﻫﺎﻱ ﺳﻪ‬
‫ﺑﻌﺪﻱ ﺷﺒﻴﻪ ﺁﻥ ﭼﻴﺰﻱ ﻛﻪ ﺩﺭ ﺩﺳﺘﻮﺭ ‪ bode‬ﺗﻮﻟﻴﺪ ﺷﺪﻧﺪ ﻣﻲﺑﺎﺷﻨﺪ‪.‬‬

‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺣﺎﺷﻴﻪ ﻓﺎﺯ‪ ،‬ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ‪،‬‬ ‫ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ‪ ،‬ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ‪ ،‬ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﻓﺎﺯ ﻭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ‪.‬‬
‫ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﻓﺎﺯ ﻭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫)‪[Gm,pm,wcp,wcg]=margin(sys‬‬

‫ﻛﻪ ﺩﺭ ﺁﻥ ‪ pm‬ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ‪ Gm ،‬ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ‪ wcp ،‬ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﻓﺎﺯ‪ wcg ،‬ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ‪Gm‬‬
‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬
‫ﺑﺮﺣﺴﺐ ﺩﺳﻴﺒﻞ ‌‬

‫)‪Gmdb= mag2db (Gm‬‬

‫ﻳﺎﻓﺘﻦ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺩﺭ ﻳﻚ ﻓﺮﻛﺎﻧﺲ ﺧﺎﺹ‪ .‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺩﺭ ﻳﻚ ﻓﺮﻛﺎﻧﺲ ﺧﺎﺹ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ evalfr‬ﻣﻲﺗﻮﺍﻥ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺩﺭ ﭼﻨﺪ ﻓﺮﻛﺎﻧﺲ ﻣﺨﺘﻠﻒ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ freqresp‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫)‪H = freqresp(sys,w‬‬

‫‪ p=bodeoptions‬ﻭ‬ ‫ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺕ‬ ‫ﺍﻧﺠﺎﻡ ﺗﻨﻈﻴﻤﺎﺕ ﺩﻟﺨﻮﺍﻩ ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‪.‬‬
‫ﻛﻨﻴﺪ ﻣﺜﻼً‬ ‫‪ p=nicholsoptions‬ﻣﻲ ﺗﻮﺍﻥ ﻟﻴﺴﺘﻲ ﺍﺯ ﻣﻮﺍﺭﺩﻱ ﻛﻪ ﺩﺭ ﺭﺳﻢ ﺍﻳﻦ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﺭﻋﺎﻳﺖ ﺷﺪﻩ ﺍﺳﺖ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﺩ‪ .‬ﻓﺮﺽ‬
‫ﺩﺳﺘﻮﺭ ‪ p=bodeoptions‬ﺭﺍ ﺗﺎﻳﭗ ﻛﺮﺩﻩﺍﻳﻢ ﻭ ﺍﻛﻨﻮﻥ ﻣﺜﻼً ﻣﻲﺧﻮﺍﻫﻴﻢ ﻓﻘﻂ ﻧﻤﻮﺩﺍﺭ ﺩﺍﻣﻨﻪ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﻭ ﻧﻤﻮﺩﺍﺭ ﻓﺎﺯ ﺭﺍ ﻧﺪﺍﺷﺘﻪ‬
‫ﺑﺎﺷﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺩﺳﺘﻮﺭ ‘ ‪ p.phasevisible=’off‬ﺭﺍ ﺗﺎﻳﭗ ﻣﻲﻛﻨﻴﻢ‪.‬‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬

‫‪ .1‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﺯﻳﺮ ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺣﺎﺷﻴﻪ ﻓﺎﺯ‪ ،‬ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ‪ ،‬ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﻭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﻓﺎﺯ ﺭﺍ‬
‫ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫)‪10(1+𝑠𝑠 ⁄0.1‬‬ ‫)𝑠𝑠‪5(1+0.1‬‬

‫= )𝑠𝑠(𝑔𝑔‪a.‬‬ ‫= )𝑠𝑠(𝐻𝐻‪b.‬‬ ‫‪0.6‬‬ ‫‪𝑠𝑠 2‬‬
‫𝑠𝑠‪1+‬‬ ‫) � ‪𝑠𝑠(1+0.5𝑠𝑠)(1+ 50 𝑠𝑠+�50‬‬

‫‪ .2‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﺭﺳﻢ ﻛﻨﻴﺪ ﺳﭙﺲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ‬
‫ﺳﻴﺴﺘﻢﻫﺎ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫‪10‬‬ ‫𝑘𝑘‬ ‫𝑘𝑘‬

‫= )𝑠𝑠(𝐺𝐺‪a.‬‬ ‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪b.‬‬ ‫𝑇𝑇( = )𝑗𝑗𝑗𝑗(𝐻𝐻)𝑗𝑗𝑗𝑗(𝐺𝐺‪c.‬‬
‫)‪𝑠𝑠(𝑠𝑠+1‬‬ ‫)‪𝑠𝑠 2 (𝑇𝑇𝑇𝑇+1‬‬ ‫)‪1 𝑗𝑗𝑗𝑗 +1)(𝑇𝑇2 𝑗𝑗𝑗𝑗 +1‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫‪ .3‬ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﺑﻮﺩ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ ﺭﺍ ﺩﺭ ﻫﺮ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫)‪10(𝑠𝑠+0.5‬‬
‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪d.‬‬
‫)‪𝑠𝑠 2 (𝑠𝑠+2)(𝑠𝑠+10‬‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫ﺑﻮﺩ‪ ،‬ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﻧﻴﻜﻮﻟﺲ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭﺍﺕ ‪MATLAB‬‬ ‫‪ .A‬ﺑﺮﺍﻱ ﻋﻮﺍﻣﻞ ﭘﺎﻳﻪﺍﻱ ﻣﺸﺘﻖﮔﻴﺮ ﻭ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻫﺮ ﺳﻪ ﻧﻤﻮﺩﺍﺭ‬
‫ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﻭ ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ ﺩﺳﺘﻮﺭ ‪ margin‬ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫ﺷﻜﻞ‪ .8‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻣﺸﺘﻖﮔﻴﺮ ﻭ ﺍﻧﺘﮕﺮﻝﮔﻴﺮ‬ ‫ﺷﻜﻞ‪.7‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﻣﺸﺘﻖﮔﻴﺮ ﻭ ﺍﻧﺘﮕﺮﻝﮔﻴﺮ‬

‫ﺷﻜﻞ‪ .9‬ﻧﻤﻮﺩﺍﺭ ﻧﻴﻜﻮﻟﺲ ﻣﺸﺘﻖﮔﻴﺮ ﻭ ﺍﻧﺘﮕﺮﻝﮔﻴﺮ‬

‫‪ .B‬ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪﻱ ﻳﻚ‪ ،‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻭ ﻗﺴﻤﺖ ‪ Graphical Tuning‬ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ ﻣﻮﺍﺭﺩ‬
‫ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺭﺍ ﻧﻴﺰ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪ .10‬ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪2‬‬

‫‪ .C‬ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪﻱ ﺩﻭ‪ ،‬ﺑﺎ ﻓﺮﺽ ‪ k=1,T=2‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻭ ﻗﺴﻤﺖ ‪Analysis‬‬
‫ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ ﺭﺍ‬
‫ﻧﻴﺰ ﺑﻴﺎﺑﻴﺪ‪.‬‬
‫‪ .D‬ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ﺳﻪ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ ﻭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻭ ﻗﺴﻤﺖ ‪ Analysis‬ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺣﺎﺷﻴﻪ‬
‫ﻓﺎﺯ ﻭ ﺑﻬﺮﻩ ﺭﺍ ﻧﻴﺰ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﺳﭙﺲ ﺑﻬﺮﻩ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺑﻪ ﺻﻮﺭﺕ ﭘﻴﻮﺳﺘﻪ ﺗﻐﻴﻴﺮ ﺩﻫﻴﺪ ﻭ ﺑﻪ ﺻﻮﺭﺕ ﻫﻤﺰﻣﺎﻥ‬
‫ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ ﻭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﺑﺎ ﺍﻓﺰﺍﻳﺶ ﺑﻬﺮﻩ ﺩﺭ ﻣﻮﺭﺩ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻭ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﻭ ﻫﻤﭽﻨﻴﻦ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ‬
‫ﺑﺤﺚ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .12‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﻭ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺑﻬﺮﻩ‬ ‫ﺷﻜﻞ‪ .11‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺑﻬﺮﻩ‬

‫‌ﺍﻱ ﺑﻨﻮﻳﺴﻴﺪ ﻛﻪ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﻭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﺑﺮﺍﻱ ﺣﺎﻟﺖﻫﺎﻱ‬ ‫‪ 2‬ﺯﻳﺮ ﺭﺍ ﻓﺮﺽ ﻛﻨﻴﺪ‪ .‬ﺑﺮﻧﺎﻣﻪ‬ ‫‪ .E‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ‬
‫‪ 𝜁 = 0.1,0.3,0.5,0.7,0.9‬ﺭﺳﻢ ﻛﻨﺪ‪ 𝜔𝜔𝑛𝑛 ) .‬ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 2‬ﻓﺮﺽ ﻛﻨﻴﺪ(‬
‫‪ωn 2‬‬
‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‬
‫‪s2 + 2ζωn s + ωn 2‬‬
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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪ .14‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﻭ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺑﻬﺮﻩ‬ ‫ﺷﻜﻞ‪ .13‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺑﻬﺮﻩ‬

‫‪ .F‬ﻣﻲ ﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺗﺎﺧﻴﺮ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺒﻴﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﺮﺍﻱ ﺍﻟﻤﺎﻥ ﺗﺎﺧﻴﺮ ) 𝑇𝑇𝑇𝑇‪ ( 𝑒𝑒 −‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﻭ ﺑﺮﺍﻱ‬
‫ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﻧﻴﻜﻮﻟﺲ ﺭﺍ ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫𝑗𝑗𝑗𝑗‪𝑒𝑒 −‬‬
‫= )𝑗𝑗𝑗𝑗(𝐺𝐺‬
‫)𝑗𝑗𝑗𝑗‪(1 + 5‬‬

‫ﺷﻜﻞ‪ .16‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ‬ ‫ﺷﻜﻞ‪ .15‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺑﺮﺍﻱ ﺍﻟﻤﺎﻥ ﺗﺎﺧﻴﺮ‬

‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻏﻴﺮﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺯﻳﺮ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ ﻭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫‌‬ ‫‪ .G‬ﺑﺮﺍﻱ‬

‫‪1‬‬ ‫)‪2(𝑠𝑠+3‬‬
‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪a.‬‬ ‫= )𝑠𝑠(𝐻𝐻)𝑠𝑠(𝐺𝐺‪b.‬‬
‫)‪𝑠𝑠(𝑠𝑠−1‬‬ ‫)‪𝑠𝑠(𝑠𝑠−1‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪ .18‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺳﻴﺴﺘﻢ ‪a‬‬ ‫ﺷﻜﻞ‪ .17‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ ‪a‬‬

‫ﺷﻜﻞ‪ .20‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺳﻴﺴﺘﻢ ‪b‬‬ ‫ﺷﻜﻞ‪ .19‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ ‪b‬‬

‫‪ .H‬ﻗﻄﻌﻪﺍﻱ ﺗﺤﺖ ﻋﻨﻮﺍﻥ � ‪ CCD‬ﺩﺭ ﺩﻭﺭﺑﻴﻦﻫﺎﻱ ﻓﻴﻠﻢﺑﺮﺩﺍﺭﻱ ﺑﺮﺍﻱ ﺗﺒﺪﻳﻞ ﺗﺼﺎﻭﻳﺮ ﺑﻪ ﺳﻴﮕﻨﺎﻝﻫﺎﻱ ﺍﻟﻜﺘﺮﻳﻜﻲ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ‬
‫‪13F‬‬

‫ﻣﻲﮔﻴﺮﺩ‪ .‬ﺍﻳﻦ ﻗﻄﻌﻪ ﻫﻤﭽﻨﻴﻦ ﺑﻪ ﻋﻨﻮﺍﻥ ﺑﺨﺸﻲ ﺍﺯ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ ﺩﺭ ﺩﻭﺭﺑﻴﻦﻫﺎ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪ .‬ﻓﻮﻛﺎﺱ‬
‫ﺍﺗﻮﻣﺎﺗﻴﻚ ﺑﺎ ﻣﺘﻤﺮﻛﺰ ﻛﺮﺩﻥ ﻣﺮﻛﺰ ﺗﺼﻮﻳﺮ ﺑﺮ ﺭﻭﻱ ﺁﺭﺍﻳﻪﻱ ‪ CCD‬ﺍﺯ ﻃﺮﻳﻖ ﺩﻭ ﻟﻨﺰ ﺻﻮﺭﺕ ﻣﻲﮔﻴﺮﺩ‪ .‬ﺟﺪﺍﻳﻲ ﻭ ﻳﺎ ﺗﻔﻜﻴﻚ ﺩﻭ ﺗﺼﻮﻳﺮ‬
‫ﺑﺮ ﺭﻭﻱ ‪ CCD‬ﺑﻪ ﻓﻮﻛﺎﺱ ﻣﺮﺑﻮﻁ ﻣﻲﺷﻮﺩ‪ .‬ﺩﻭﺭﺑﻴﻦ ﺟﺪﺍﻳﻲ ﺩﻭ ﺗﺼﻮﻳﺮ ﺭﺍ ﺣﺲ ﻣﻲﻛﻨﺪ‪ ،‬ﻭ ﻛﺎﻣﭙﻴﻮﺗﺮ ﻟﻨﺰ ﺭﺍ ﺩﺭﺍﻳﻮ ﻣﻲﻛﻨﺪ ﻭ ﺗﺼﻮﻳﺮ ﺭﺍ‬
‫ﻓﻮﻛﺎﺱ ﻣﻲﻛﻨﺪ‪ .‬ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻣﻮﻗﻌﻴﺖ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻛﻪ ﻣﻜﺎﻥ ﻣﻄﻠﻮﺏ ﻟﻨﺰﻫﺎ ﻭﺭﻭﺩﻱ ﺳﻴﺴﺘﻢ‬
‫‪ 21‬ﻳﻚ ﻧﻤﻮﻧﻪ ﺍﺯ‬ ‫ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺑﺎ ﺍﺷﺎﺭﻩ ﻛﺮﺩﻥ ﺩﻭﺭﺑﻴﻦ ﺑﺮ ﺭﻭﻱ ﺷﻲ ﺍﻧﺘﺨﺎﺏ ﻣﻲﺷﻮﺩ‪ .‬ﺧﺮﻭﺟﻲ‪ ،‬ﻣﻜﺎﻥ ﻭﺍﻗﻌﻲ ﻟﻨﺰﻫﺎ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺷﻜﻞ‬
‫‌‬
‫ﺍﻳﻦ ﺩﻭﺭﺑﻴﻦﻫﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺷﻜﻞ ‪ 22‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻣﻮﻗﻌﻴﺖ ﻧﺸﺎﻥ‬
‫ﻣﻲﺩﻫﺪ‪ .‬ﻓﺮﺽ ﻛﻨﻴﺪ ﻛﻪ ﻣﺪﻝ ﺳﺎﺩﻩ ﺷﺪﻩ ﻣﻄﺎﺑﻖ ﺷﻜﻞ ‪ 23‬ﺑﺎﺷﺪ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ‪ ،‬ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﻧﻴﻜﻮﻟﺰ ﺭﺍ ﺭﺳﻢ ﻛﺮﺩﻩ ﻭ ﺑﻪ ﻛﻤﻚ‬
‫ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ ﺭﺳﻢ ﺷﺪﻩ ﺩﺭﺻﺪ ﻓﺮﺍﺟﻬﺶ ﺑﺮﺍﻱ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺭﺍ ﺗﺨﻤﻴﻦ ﺑﺰﻧﻴﺪ‪.‬‬

‫‪1‬‬
‫‪Charge-coupled device‬‬
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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺷﻜﻞ‪ .21‬ﻧﻤﺎﻳﻲ ﺍﺯ ﺑﺮﺵ ﻋﺮﺿﻲ ﺑﺮ ﺭﻭﻱ ﻳﻚ ﺩﻭﺭﺑﻴﻦ ﺩﻳﺠﻴﺘﺎﻟﻲ ﻛﻪ ﻗﺴﻤﺖﻫﺎﻳﻲ ﺍﺯ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ ‪ CCD‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‬

‫ﺷﻜﻞ‪ .22‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ‬

‫ﺷﻜﻞ‪ .23‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﺎﺩﻩ ﺷﺪﻩﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ‬

‫ﺷﻜﻞ‪ .25‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ‬ ‫ﺷﻜﻞ‪ .24‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ ﻓﻮﻛﺎﺱ ﺍﺗﻮﻣﺎﺗﻴﻚ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺷﺸﻢ‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪ sisotool‬ﺑﻬﺮﻩﻱ ‪ k‬ﺭﺍ ﺑﻪ‬ ‫‪ .1‬ﺷﻜﻞ ﺯﻳﺮ ﻧﻤﻮﺩﺍﺭ ﺑﻠﻮﻛﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻳﻚ ﻓﻀﺎﭘﻴﻤﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬
‫ﮔﻮﻧﻪﺍﻱ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﻛﻪ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ‪ 50o‬ﺑﺎﺷﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﭼﻘﺪﺭ ﺍﺳﺖ؟ ﺣﺪﺍﻛﺜﺮ ﻣﻴﺰﺍﻥ ﺗﺎﺧﻴﺮﻱ ﻛﻪ ﻣﻲﺗﻮﺍﻥ ﺑﻪ‬
‫ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻛﺮﺩ ﻭ ﺳﻴﺴﺘﻢ ﻫﻤﭽﻨﺎﻥ ﭘﺎﻳﺪﺍﺭ ﺑﻤﺎﻧﺪ ﺭﺍ ﻣﺸﺨﺺ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪.26‬ﻧﻤﻮﺩﺍﺭ ﺑﻠﻮﻛﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻓﻀﺎﭘﻴﻤﺎ‬

‫‪ .2‬ﻛﻨﺘﺮﻝ ﺳﺮﻋﺖ ﻛﺎﺭﺑﺮﺩ ﺑﺴﻴﺎﺭ ﺯﻳﺎﺩﻱ ﺩﺭ ﺻﻨﻌﺖ ﺩﺍﺭﺩ‪ .‬ﺷﻜﻞ ‪ 27‬ﻳﻜﻲ ﺍﺯ ﺍﻳﻦ ﻛﺎﺭﺑﺮﺩﻫﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ :‬ﻛﻨﺘﺮﻝ ﻓﺮﻛﺎﻧﺲ ﺧﺮﻭﺟﻲ‬
‫ﺣﺎﺻﻞ ﺍﺯ ﺟﻔﺖ ﺗﻮﺭﺑﻴﻦ ﻭ ژﻧﺮﺍﺗﻮﺭ ﺩﺭ ﻧﻴﺮﻭﮔﺎﻩ ﺍﻟﻜﺘﺮﻳﻜﻲ‪ .‬ﺑﺎ ﺗﻨﻈﻴﻢ ﻛﺮﺩﻥ ﺳﺮﻋﺖ‪ ،‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺍﻃﻤﻴﻨﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﻓﺮﻛﺎﻧﺲ‬
‫ﺗﻮﻟﻴﺪ ﺷﺪﻩ ﺩﺭ ﻳﻚ ﺗﻠﺮﺍﻧﺲ ﻣﻌﻴﻦ ﺑﺎﻗﻲ ﻣﻲﻣﺎﻧﺪ‪ .‬ﺍﻧﺤﺮﺍﻓﺎﺕ ﺍﺯ ﺳﺮﻋﺖ ﻣﻄﻠﻮﺏ ﺣﺲ ﻣﻲﺷﻮﺩ ﻭ ﺩﺭﻳﭽﻪ ﺑﺨﺎﺭ ﺑﺮﺍﻱ ﺟﺒﺮﺍﻥ ﻛﺮﺩﻥ‬
‫ﺧﻄﺎﻱ ﺳﺮﻋﺖ ﺗﻐﻴﻴﺮ ﻣﻲﻛﻨﺪ‪ .‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﻴﺴﺘﻢ ﺩﺭ ﺷﻜﻞ ‪ 28‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ‪ ،‬ﺑﻮﺩ ﻭ ﻧﻴﻜﻮﻟﺰ ﺭﺍ‬
‫ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻭ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﺭﺍ ﻧﻴﺰ ﺑﻴﺎﺑﻴﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﺩﺭ‬
‫ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪27‬‬

‫ﺷﻜﻞ‪ .29‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺳﺮﻋﺖ ﺑﺮﺍﻱ ﺷﻜﻞ‪28‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ : 7‬ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺑﻪ ﺭﻭﺵ ﺗﺤﻠﻴﻞ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻫﺎﻱ ﭘﻴﺶﻓﺎﺯ ﻭ ﭘﺲﻓﺎﺯ ﺑﻪ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺭﺳﻲ ﻣﻲﮔﺮﺩﺩ‪ .‬ﺳﭙﺲ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ ﺑﻪ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﻪ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﭘﺮﺩﺍﺯﺩ‪.‬‬

‫ﺁﺯﻣﺎﻳﺶ ‪ :‬ﺩﺭ ﻃﺮﺍﺣﻲ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ‪ ،‬ﻋﻤﻠﻜﺮﺩ ﺣﻮﺯﻩ ﺯﻣﺎﻥ ﻣﻌﻤﻮﻻً ﻣﻬﻤﺘﺮﻳﻦ ﻋﻤﻠﻜﺮﺩ ﺍﺳﺖ‪ .‬ﺩﺭ ﺭﻫﻴﺎﻓﺖ ﭘﺎﺳﺦ‬ ‫ﺗﺌﻮﺭﻱ‬
‫ﻓﺮﻛﺎﻧﺴﻲ ﻋﻤﻠﻜﺮﺩ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﻏﻴﺮ ﻣﺴﺘﻘﻴﻢ ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺭﻫﻴﺎﻓﺖ ﻋﻤﻠﻜﺮﺩ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﺑﺮ ﺣﺴﺐ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ‪،‬‬
‫ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ‪ ،‬ﺩﺍﻣﻨﻪﻱ ﻗﻠﻪﻱ ﺗﺸﺪﻳﺪ‪ ،‬ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ‪ ،‬ﻓﺮﻛﺎﻧﺲ ﺗﺸﺪﻳﺪ‪ ،‬ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻭ ﺛﺎﺑﺖﻫﺎﻱ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻴﺎﻥ‬
‫ﻣﻲﺷﻮﺩ‪ .‬ﻃﺮﺍﺣﻲ ﺩﺭ ﺣﻮﺯﻩ ﻓﺮﻛﺎﻧﺲ ﺳﺎﺩﻩ ﻭ ﺳﺮﺭﺍﺳﺖ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻧﻤﻮﺩﺍﺭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﻪ ﺭﻭﺷﻨﻲ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﺳﻴﺴﺘﻢ ﭼﮕﻮﻧﻪ ﺑﺎﻳﺪ‬
‫ﺍﺻﻼﺡ ﺷﻮﺩ‪ ،‬ﻫﺮﭼﻨﺪ ﭘﻴﺶﺑﻴﻨﻲ ﺩﻗﻴﻖ ﻭ ﻛﻤﻲ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﮔﺬﺭﺍ ﻣﻤﻜﻦ ﻧﻴﺴﺖ‪.‬‬

‫ﻃﺮﺍﺣﻲ ﺩﺭ ﺣﻮﺯﻩ ﻓﺮﻛﺎﻧﺲ ﺩﻭ ﺭﻭﺵ ﺍﺳﺎﺳﻲ ﺩﺍﺭﺩ‪ ،‬ﻳﻜﻲ ﺭﻭﺵ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪ ،‬ﻭﻳﻜﻲ ﺭﻭﺵ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩﻩ‪ .‬ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﺟﺒﺮﺍﻥﺳﺎﺯ ﻧﻤﻮﺩﺍﺭ‬
‫ﻗﻄﺒﻲ ﺗﻐﻴﻴﺮ ﺷﻜﻞ ﻣﻲﺩﻫﺪ ﻭ ﺑﺎﻳﺪ ﻧﻤﻮﺩﺍﺭ ﺩﻳﮕﺮﻱ ﺭﺳﻢ ﺷﻮﺩ‪ ،‬ﺍﻳﻦ ﻛﺎﺭﻱ ﻭﻗﺖﮔﻴﺮ ﺍﺳﺖ ﻭﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻨﺎﺳﺐ ﻧﻴﺴﺖ‪ .‬ﻭﻟﻲ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ‬
‫ﺟﺒﺮﺍﻥﺳﺎﺯ ﺭﺍ ﺑﻪ ﺳﺎﺩﮔﻲ ﻣﻲﺗﻮﺍﻥ ﺑﺎ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺍﺻﻠﻲ ﺟﻤﻊ ﻛﺮﺩ‪.‬‬

‫ﻛﺎﺭ ﺍﺻﻠﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﻴﺶﻓﺎﺯ ﺗﻐﻴﻴﺮ ﺷﻜﻞ ﺩﺍﺩﻥ ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ‬ ‫ﺟﺒﺮﺍﻥﺳﺎﺯﻱ ﭘﻴﺶﻓﺎﺯ ﺑﺮ ﺍﺳﺎﺱ ﺭﻫﻴﺎﻓﺖ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‪.‬‬
‫ﻓﺮﻛﺎﻧﺴﻲ ﺍﺳﺖ‪ ،‬ﺑﻪ ﻧﺤﻮﻱ ﻛﻪ ﺯﺍﻭﻳﻪﻱ ﭘﻴﺸﻔﺎﺯﻱ ﻻﺯﻡ ﺑﺮﺍﻱ ﺟﺒﺮﺍﻥ ﭘﺴﻔﺎﺯﻱ ﺍﺿﺎﻓﻲ ﺍﻳﺠﺎﺩ ﺷﺪﻩ ﺗﻮﺳﻂ ﺳﻴﺴﺘﻢ ﺍﺻﻠﻲ ﺍﻳﺠﺎﺩ ﺷﻮﺩ‪ .‬ﺭﻭﻧﺪ‬
‫ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﺑﺎ ﺭﻫﻴﺎﻓﺖ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺍﺯ ﺍﻳﻦ ﻗﺮﺍﺭ ﺍﺳﺖ‪:‬‬

‫‪ .1‬ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪1‬‬
‫‪s+‬‬ ‫‪𝑇𝑇𝑇𝑇 + 1‬‬
‫‪𝐺𝐺c (s) = k c‬‬ ‫‪T‬‬ ‫‪= kc α‬‬ ‫‪,‬‬ ‫‪0 < 𝛼𝛼 < 1‬‬
‫‪1‬‬ ‫‪αTs + 1‬‬
‫‪s+‬‬
‫‪αT‬‬
‫‪𝑇𝑇𝑇𝑇+1‬‬
‫𝑘𝑘 = )‪ 𝐺𝐺c (s‬ﭘﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥﺷﺪﻩ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬ ‫ﻓﺮﺽ ﻛﻨﻴﺪ 𝑘𝑘 = ‪ k c α‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫‪αTs +1‬‬

‫‪𝑇𝑇𝑇𝑇 + 1‬‬ ‫‪𝑇𝑇𝑇𝑇 + 1‬‬

‫𝑘𝑘 = )𝑠𝑠(𝐺𝐺)‪𝐺𝐺c (s‬‬ ‫= )𝑠𝑠(𝐺𝐺‬ ‫)𝑠𝑠( 𝐺𝐺‬
‫‪𝛼𝛼𝛼𝛼𝛼𝛼 + 1‬‬ ‫‪𝛼𝛼𝛼𝛼𝛼𝛼 + 1 1‬‬

‫ﻛﻪ ﺩﺭ ﺁﻥ )𝑠𝑠(𝑘𝑘𝑘𝑘 = )𝑠𝑠( ‪ 𝐺𝐺1‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻛﻨﻮﻥ ﺑﻬﺮﻩﻱ ‪ k‬ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ ﻛﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻳﻤﺎﻥ ﺩﺭ ﻣﻮﺭﺩ ﺛﺎﺑﺖ ﺧﻄﺎﻱ‬
‫ﺍﻳﺴﺘﺎ ﺑﺮﺁﻭﺭﺩﻩ ﺷﻮﺩ‪.‬‬
‫‪ .2‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ k‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ )𝑗𝑗𝑗𝑗( ‪ ،𝐺𝐺1‬ﻳﻌﻨﻲ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﻧﺸﺪﻩ ﻭﻟﻲ ﺩﺍﺭﺍﻱ ﺑﻬﺮﻩﻱ ﺗﻨﻈﻴﻢ ﺷﺪﻩ‪ ،‬ﺭﺍ ﺭﺳﻢ ‌‬
‫ﻣﻲﻛﻨﻴﻢ ﻭ‬
‫ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﺭﺍ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫‪ .3‬ﺯﺍﻭﻳﻪﻱ ﭘﻴﺶﻓﺎﺯﻱ ﻻﺯﻡ 𝜙 ﺑﺮﺍﻱ ﺍﻓﺰﻭﺩﻥ ﺑﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ‪ 5o .‬ﺗﺎ ‪ 12o‬ﺑﻪ ﺯﺍﻭﻳﻪﻱ ﭘﻴﺶﻓﺎﺯﻱ ﻻﺯﻡ ﺍﺿﺎﻓﻪ ﻣﻲﻛﻨﻴﻢ ﺯﻳﺮﺍ‬
‫ﺑﺎ ﮔﺬﺍﺷﺘﻦ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩ ﺑﻪ ﺳﻤﺖ ﺭﺍﺳﺖ ﻣﻲﺭﻭﺩ ﻭ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻛﻢ ﻣﻲﺷﻮﺩ‪.‬‬
‫‪ .4‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﺎﺩﻟﻪﻱ‬
‫)𝛼𝛼‪(1−‬‬
‫= 𝑚𝑚𝜙𝜙 𝑠𝑠𝑠𝑠𝑠𝑠 ﺿﺮﻳﺐ ﺗﻀﻌﻴﻒ ‪ α‬ﺭﺍ ﺑﺪﺳﺖ ﻣﻲﺁﻭﺭﻳﻢ‪ .‬ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﻛﻪ ﺩﺭ ﺁﻥ ﺩﺍﻣﻨﻪﻱ ﺳﻴﺴﺘﻢ‬
‫)𝛼𝛼‪(1+‬‬
‫‪1‬‬
‫ﺟﺒﺮﺍﻥ ﻧﺸﺪﻩﻱ )𝑗𝑗𝑗𝑗( ‪ 𝐺𝐺1‬ﺑﺮﺍﺑﺮ ) (‪ −20 log‬ﺍﺳﺖ ﻣﻲﻳﺎﺑﻴﻢ‪ .‬ﺍﻳﻦ ﻓﺮﻛﺎﻧﺲ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ‬
‫𝛼𝛼√‬
‫‪1‬‬
‫= 𝑚𝑚‪ ω‬ﻣﺘﻨﺎﻇﺮ ﺍﺳﺖ ﻭ ﻣﺎﻛﺰﻳﻤﻢ ﺯﺍﻭﻳﻪﻱ ﻓﺎﺯ 𝑚𝑚𝜙𝜙 ﺩﺭ ﺁﻥ ﺭﺥ ﻣﻲﺩﻫﺪ‪.‬‬ ‫ﺑﺮﻣﻲﮔﺰﻳﻨﻴﻢ‪ .‬ﺍﻳﻦ ﻓﺮﻛﺎﻧﺲ ﺑﺎ‬
‫𝛼𝛼√ ‪T‬‬
‫‪ .5‬ﻓﺮﻛﺎﻧﺲﻫﺎﻱ ﮔﻮﺷﻪﺍﻱ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ‪:‬‬

‫‪1‬‬
‫=‪ω‬‬ ‫ﺻﻔﺮ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪:‬‬
‫𝑇𝑇‬

‫‪1‬‬
‫=‪ω‬‬ ‫ﻗﻄﺐ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪:‬‬
‫𝑇𝑇𝛼𝛼‬

‫‪ .6‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ k‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﮔﺎﻡ ‪ 1‬ﻭ ‪ α‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﮔﺎﻡ ‪ 4‬ﺛﺎﺑﺖ ‪ 𝑘𝑘c‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﻣﺤﺎﺳﺒﻪ ﻣﻲﻛﻨﻴﻢ‪.‬‬
‫𝑘𝑘‬
‫= 𝑐𝑐𝑘𝑘‬
‫𝛼𝛼‬
‫‪ .7‬ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ ﺭﺍ ﺑﺮﺭﺳﻲ ﻣﻲﻛﻨﻴﻢ ﺗﺎ ﺍﺯ ﺭﺿﺎﻳﺘﺒﺨﺶ ﺑﻮﺩﻥ ﺁﻥ ﺍﻃﻤﻴﻨﺎﻥ ﺣﺎﺻﻞ ﻛﻨﻴﻢ‪ .‬ﺍﮔﺮ ﭼﻨﻴﻦ ﻧﺒﻮﺩ ﻓﺮﺁﻳﻨﺪ ﻃﺮﺍﺣﻲ ﺭﺍ ﺑﺎ ﺍﺻﻼﺡ‬
‫ﻣﺤﻞ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎ ﺗﻜﺮﺍﺭ ﻣﻲﻛﻨﻴﻢ ﺗﺎ ﻧﺘﺎﻳﺞ ﺩﻟﺨﻮﺍﻩ ﺣﺎﺻﻞ ﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ ﻳﻚ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‬

‫ﺟﺒﺮﺍﻥﺳﺎﺯﻱ ﭘﺲﻓﺎﺯ ﺑﺮ ﺍﺳﺎﺱ ﺭﻫﻴﺎﻓﺖ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‪ .‬ﻛﺎﺭ ﺍﺻﻠﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ ﭘﺲﻓﺎﺯ ﺍﻳﺠﺎﺩ ﺗﻀﻌﻴﻒ ﺩﺭ ﻓﺮﻛﺎﻧﺲﻫﺎﻱ ﺑﺎﻻﺳﺖ‪ ،‬ﺑﻪ‬
‫ﻧﺤﻮﻱ ﻛﻪ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﺳﻴﺴﺘﻢ ﺑﻪ ﺣﺪ ﻣﻄﻠﻮﺏ ﺑﺮﺳﺪ‪ . .‬ﺭﻭﻧﺪ ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺑﺎ ﺭﻫﻴﺎﻓﺖ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺍﺯ ﺍﻳﻦ ﻗﺮﺍﺭ ﺍﺳﺖ‪:‬‬

‫‪ .1‬ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪1‬‬
‫‪s+‬‬ ‫‪𝑇𝑇𝑇𝑇 + 1‬‬
‫‪𝐺𝐺c (s) = k c‬‬ ‫‪T‬‬ ‫‪= kc β‬‬ ‫‪,‬‬ ‫‪𝛽𝛽 > 1‬‬
‫‪1‬‬ ‫‪βTs + 1‬‬
‫‪s+‬‬
‫‪βT‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫‪𝑇𝑇𝑇𝑇+1‬‬
‫𝑘𝑘 = )‪ 𝐺𝐺c (s‬ﭘﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥﺷﺪﻩ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬ ‫ﻓﺮﺽ ﻛﻨﻴﺪ 𝑘𝑘 = ‪ k c β‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫‪βTs +1‬‬

‫‪𝑇𝑇𝑇𝑇 + 1‬‬ ‫‪𝑇𝑇𝑇𝑇 + 1‬‬

‫𝑘𝑘 = )𝑠𝑠(𝐺𝐺)‪𝐺𝐺c (s‬‬ ‫= )𝑠𝑠(𝐺𝐺‬ ‫)𝑠𝑠( 𝐺𝐺‬
‫‪𝛽𝛽𝛽𝛽𝛽𝛽 + 1‬‬ ‫‪𝛽𝛽𝛽𝛽𝛽𝛽 + 1 1‬‬

‫ﻛﻪ ﺩﺭ ﺁﻥ )𝑠𝑠(𝑘𝑘𝑘𝑘 = )𝑠𝑠( ‪ 𝐺𝐺1‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻛﻨﻮﻥ ﺑﻬﺮﻩﻱ ‪ k‬ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ ﻛﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻳﻤﺎﻥ ﺩﺭ ﻣﻮﺭﺩ ﺛﺎﺑﺖ ﺧﻄﺎﻱ‬
‫ﺍﻳﺴﺘﺎ ﺑﺮﺁﻭﺭﺩﻩ ﺷﻮﺩ‪.‬‬
‫‪ .2‬ﺍﮔﺮ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﻧﺸﺪﻩﻱ )𝑗𝑗𝑗𝑗(𝑘𝑘𝑘𝑘 = )𝑗𝑗𝑗𝑗( ‪ 𝐺𝐺1‬ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻭ ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩﻱ ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺭﺍ ﻧﺪﺍﺭﺩ‪ ،‬ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﻛﻪ ﺩﺭ‬
‫ﺁﻥ ﻓﺎﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ -180‬ﺩﺭﺟﻪ ﺑﻪ ﺍﺿﺎﻓﻪﻱ ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻻﺯﻡ ﻣﻲﺷﻮﺩ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪ .‬ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ﻻﺯﻡ‪ ،‬ﺣﺎﺷﻴﻪﻱ‬
‫ﻓﺎﺯ ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺑﻪ ﺍﺿﺎﻓﻪﻱ ‪ 5o‬ﺗﺎ ‪ 12o‬ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﻓﺮﻛﺎﻧﺲ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ ﺑﺮﮔﺰﻳﻨﻴﺪ‪.‬‬
‫‪ .3‬ﺑﺮﺍﻱ ﭘﻴﺸﮕﻴﺮﻱ ﺍﺯ ﺍﺛﺮ ﺗﺎﺧﻴﺮ ﻓﺎﺯ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﻗﻄﺐ ﻭ ﺻﻔﺮ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺑﺎﻳﺪ ﭘﺎﻳﻴﻦﺗﺮ ﺍﺯ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ‬
‫ﻗﺮﺍﺭ ﺩﺍﺩﻩ ﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻓﺮﻛﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ 𝑇𝑇‪) ω = 1⁄‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺻﻔﺮ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ( ﺭﺍ ﻳﻚ ﺍﻛﺘﺎﻭ ﺗﺎ ﻳﻚ ﺩﻫﻪ ﻗﺒﻞ ﺍﺯ‬
‫ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ ﺑﺮ ﻣﻲﮔﺰﻳﻨﻴﻢ‪ ).‬ﺍﮔﺮ ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲﻫﺎﻱ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺧﻴﻠﻲ ﺑﺰﺭگ ﻧﺒﺎﺷﺪ‪ ،‬ﻓﺮﻛﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ‬
‫𝑇𝑇‪ ω = 1⁄‬ﺭﺍ ﺑﺎﻳﺪ ﻳﻚ ﺩﻫﻪ ﻗﺒﻞ ﺍﺯ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﻢ‪(.‬‬
‫‪ .4‬ﺗﻀﻌﻴﻒ ﻻﺯﻡ ﺑﺮﺍﻱ ‪ 0dB‬ﺷﺪﻥ ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺩﺭ ﻓﺮﻛﺎﻧﺲ ﻋﺒﻮﺭ ﺑﻬﺮﻩﻱ ﺟﺪﻳﺪ ﺭﺍ ﺗﻌﻴﻴﻦ ﻣﻲﻛﻨﻴﻢ‪ .‬ﭼﻮﻥ ﺍﻳﻦ ﺗﻀﻌﻴﻒ 𝛽𝛽 ‪−20 log‬‬
‫‪1‬‬
‫= ‪ ω‬ﺑﺪﺳﺖ‬ ‫ﺍﺳﺖ‪ ،‬ﻣﻘﺪﺍﺭ 𝛽𝛽 ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪ .‬ﺳﭙﺲ ﻓﺮﻛﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ ﺩﻳﮕﺮ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﻗﻄﺐ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺍﺯ ﺭﺍﺑﻄﻪﻱ‬
‫𝑇𝑇𝛽𝛽‬
‫ﻣﻲﺁﻳﺪ‪.‬‬
‫‪ .5‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ‪ k‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﮔﺎﻡ ‪ 1‬ﻭ 𝛽𝛽 ﺗﻌﻴﻴﻦ ﺷﺪﻩ ﺩﺭ ﮔﺎﻡ ‪ 4‬ﺛﺎﺑﺖ ‪ 𝑘𝑘c‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﻣﺤﺎﺳﺒﻪ ﻣﻲﻛﻨﻴﻢ‪.‬‬
‫𝑘𝑘‬
‫= 𝑐𝑐𝑘𝑘‬
‫𝛽𝛽‬

‫ﺷﻜﻞ ﺩﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪.2‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬

‫‪ .1‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 3‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯﻱ ﻃﺮﺡ ﻛﻨﻴﻢ ﺗﺎ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ‬
‫‪ ،𝑘𝑘v = 20sec −1‬ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﺣﺪﺍﻗﻞ ‪ 50‬ﺩﺭﺟﻪ ﻭ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﺣﺪﺍﻗﻞ ‪ 10 dB‬ﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .3‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ‬

‫‪ .2‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 4‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﺑﻪ ﻛﻤﻚ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﺟﺒﺮﺍﻥ ﻛﻨﻴﻢ ﻛﻪ ﺛﺎﺑﺖ ﺧﻄﺎﻱ‬
‫ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ ‪ ،𝑘𝑘v = 5sec −1‬ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﺣﺪﺍﻗﻞ ‪ 40‬ﺩﺭﺟﻪ ﻭ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﺣﺪﺍﻗﻞ ‪ 10 dB‬ﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .4‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ‬

‫‪ .3‬ﺳﻴﺴﺘﻤﻲ ﺑﺎ ﻓﻴﺪﺑﻚ ﻭﺍﺣﺪ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫𝑘𝑘‬
‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠 + 1)(𝑠𝑠 + 2‬‬

‫‪ ،𝑘𝑘v = 10sec −1‬ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﺣﺪﺍﻗﻞ ‪50‬‬ ‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪ -‬ﭘﺲﻓﺎﺯﻱ ﻃﺮﺡ ﻛﻨﻴﻢ ﺗﺎ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ‬
‫ﺩﺭﺟﻪ ﻭ ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ ﺣﺪﺍﻗﻞ ‪ 10 dB‬ﻳﺎ ﺑﻴﺸﺘﺮ ﺑﺎﺷﺪ‪.‬‬

‫‪ .4‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﻬﺮﻩﻱ ‪ k‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 50‬ﺑﺮﮔﺰﻳﻨﻴﺪ ﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ )‪ 50G(s‬ﺭﺍ ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪ .‬ﻛﻨﺘﺮﻝ‬
‫ﻛﻨﻨﺪﻩﻱ ﭘﻴﺶﻓﺎﺯﻱ ﻃﺮﺍﺣﻲ ﻧﻤﺎﻳﻴﺪ ﺗﺎ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ‪ 45‬ﺩﺭﺟﻪ ﺑﻬﺒﻮﺩ ﻳﺎﺑﺪ‪.‬‬

‫‪2.58‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫)‪𝑠𝑠(𝑠𝑠 + 20.4‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﻃﺮﺍﺣﻲ ﺷﺪﻩ ﺭﺍ ﺑﻪ ﻓﺮﺁﻳﻨﺪ ﺍﻋﻤﺎﻝ ﻛﻨﻴﺪ ﻭ ﻧﺘﺎﻳﺞ ﺷﺒﻴﻪﺳﺎﺯﻱ ﺧﻮﺩ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ .5‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﻬﺮﻩﻱ ‪ k‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 80‬ﺑﺮﮔﺰﻳﻨﻴﺪ‪ .‬ﻭ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ )‪ 80G(s‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﭘﺲ ﻓﺎﺯ ﭼﻨﺎﻥ‬
‫ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﺁﻥ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 80‬ﺩﺭﺟﻪ ﺑﺎﺷﺪ‪ .‬ﻛﻪ ﺩﺭ ﺁﻥ )‪ G(s‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻓﺮﺁﻳﻨﺪ ﺍﺳﺖ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﺑﺎ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ‬ ‫‪ .A‬ﻛﻨﺘﺮﻟﺮﻫﺎﻳﻲ ﻛﻪ ﺑﺮﺍﻱ ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ ﻳﻚ‪ ،‬ﺩﻭ ﻭ ﺳﻪ ﻃﺮﺍﺣﻲ ﻧﻤﻮﺩﻳﺪ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬
‫ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ ﻛﻪ ﺁﻳﺎ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﺑﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻣﻄﺮﺡ ﺷﺪﻩ ﺭﺳﻴﺪﻩﺍﻧﺪ؟‬
‫ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻓﻮﻕ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﺍ ﻧﻴﺰ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬
‫‪ .B‬ﻭﺳﺎﻳﻞ ﻧﻘﻠﻴﻪﺍﻱ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺩﻛﺎﺭ ﻫﺪﺍﻳﺖ � ﻣﻲﺷﻮﻧﺪ ﻣﺎﻧﻨﺪ ﻣﻮﺭﺩﻱ ﻛﻪ ﺩﺭ ﺷﻜﻞ ‪ 5‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﺩﺭ ﻛﺎﺭﺧﺎﻧﻪﻫﺎ ﺑﺮﺍﻱ‬
‫‪F14‬‬

‫ﺍﻧﺘﻘﺎﻝ ﻣﺤﺼﻮﻻﺕ ﺍﺯ ﺍﻳﺴﺘﮕﺎﻫﻲ ﺑﻪ ﺍﻳﺴﺘﮕﺎﻩ ﺩﻳﮕﺮ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪ .‬ﻳﻚ ﻃﺮﻳﻖ ﻫﺪﺍﻳﺖ ﺍﻳﻦ ﻭﺳﺎﻳﻞ ﻧﻘﻠﻴﻪ ﻗﺮﺍﺭ ﺩﺍﺩﻥ‬
‫ﺳﻴﻤﻲ ﺑﺮ ﺭﻭﻱ ﺯﻣﻴﻦ ﺑﺮﺍﻱ ﻫﺪﺍﻳﺖ ﺍﻳﻦ ﻭﺳﺎﻳﻞ ﻧﻘﻠﻴﻪ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺭﻭﺵ ﺩﻳﮕﺮ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻳﻚ ﻛﺎﻣﭙﻴﻮﺗﺮ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ﻭ ﻫﻤﭽﻨﻴﻦ‬
‫ﻳﻚ ﺩﺳﺘﮕﺎﻩ ﻟﻴﺰﺭ ﺑﺮﺍﻱ ﺗﺠﺴﺲ ﺩﺭ ﻣﺤﻴﻂ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺳﻴﻠﻪ ﻧﻘﻠﻴﻪ ﺍﺟﺎﺯﻩ ﺣﺮﻛﺖ ﺑﻪ ﻫﺮﺟﺎ ﺭﺍ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .5‬ﻭﺳﻴﻠﻪ ﻧﻘﻠﻴﻪﺍﻱ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺩﻛﺎﺭ ﻫﺪﺍﻳﺖ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ ‪ 6‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﺎﺩﻩ ﺷﺪﻩﻱ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻳﺎﺗﺎﻗﺎﻥ � ﻭﺳﻴﻠﻪ ﻧﻘﻠﻴﻪ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﺮﺍﻱ ﺩﺍﺷﺘﻦ ﻓﺮﺍﺟﻬﺶ ‪ %11‬ﺑﻬﺮﻩ ‪k‬‬
‫‪F15‬‬

‫ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 2‬ﺍﻧﺘﺨﺎﺏ ﮔﺮﺩﻳﺪﻩ ﺍﺳﺖ‪ .‬ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯﻱ ﺑﻪ ﻛﻤﻚ ﺗﻜﻨﻴﻚﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺧﻄﺎﻱ‬
‫ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ‪ 30%‬ﺑﻬﺒﻮﺩ ﺑﺨﺸﺪ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﺎﺩﻩ ﺷﺪﻩ‬

‫‪1‬‬
‫‪Self-guided vehicle‬‬
‫‪2‬‬
‫‪Bearing control system‬‬
‫‪62‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﻔﺘﻢ‬

‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺁﺯﻣﺎﻳﺶ ﻣﺮﺑﻮﻁ ﺑﻪ ﮔﻮﻱ ﻣﻌﻠﻖ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﻢ‪.‬‬ ‫‪.C‬‬

‫ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪.‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﻃﺮﺍﺣﻲ ﺷﺪﻩ ﺩﺭ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪ 4‬ﺭﺍ ﺑﻪ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ﮔﻮﻱ ﻣﻌﻠﻖ ﺍﻋﻤﺎﻝ ﻧﻤﻮﺩﻩ ﻭ ﺁﻓﺴﺖ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 7.8‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ‪.‬‬ ‫‪.1‬‬
‫ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬ ‫‪.2‬‬
‫ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬ ‫‪.3‬‬
‫ﻧﺘﺎﻳﺞ ﺭﺍ ﺑﺎ ﻧﺘﻴﺞ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‪.‬‬ ‫‪.4‬‬

‫ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ‪.‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﻃﺮﺍﺣﻲ ﺷﺪﻩ ﺩﺭ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪ ‪ 5‬ﺭﺍ ﺑﻪ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ﮔﻮﻱ ﻣﻌﻠﻖ ﺍﻋﻤﺎﻝ ﻧﻤﻮﺩﻩ ﻭ ﺁﻓﺴﺖ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 7.8‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ‪.‬‬ ‫‪.1‬‬
‫ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬ ‫‪.2‬‬
‫ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬ ‫‪.3‬‬
‫ﻧﺘﺎﻳﺞ ﺭﺍ ﺑﺎ ﻧﺘﻴﺞ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‪.‬‬ ‫‪.4‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫‪ .1‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 7‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺟﺒﺮﺍﻥﺳﺎﺯﻱ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻃﺮﺡ ﻛﻨﻴﻢ ﺗﺎ ﺛﺎﺑﺖ ﺧﻄﺎﻱ ﺍﻳﺴﺘﺎﻱ ﺳﺮﻋﺖ‬
‫‪ ، 4𝑠𝑠𝑠𝑠𝑠𝑠 −1‬ﺣﺎﺷﻴﻪﻱ ﻓﺎﺯ ‪ 50‬ﺩﺭﺟﻪ ﻭ ﺣﺎﺷﻴﻪﻱ ﺑﻬﺮﻩ ‪ 8dB‬ﻭ ﻳﺎ ﺑﻴﺸﺘﺮ ﺑﺎﺷﺪ‪ .‬ﻣﻨﺤﻨﻲﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ‪ ،‬ﭘﺎﺳﺦ ﭘﻠﻪ ﻭ‬
‫ﭘﺎﺳﺦ ﺷﻴﺐ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥ ﺷﺪﻩ ﺭﺍ ﺭﺳﻢ ﻧﻤﺎﻳﺪ‪ .‬ﺳﭙﺲ ﺑﺮﺭﺳﻲ ﻧﻤﺎﻳﻴﺪ ﻛﻪ ﺳﻴﺴﺘﻢ ﺟﺒﺮﺍﻥﺷﺪﻩ ﺑﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻣﺴﺌﻠﻪ ﺭﺳﻴﺪﻩ‬
‫ﺍﺳﺖ؟‬

‫ﺷﻜﻞ‪ .7‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ‬

‫‪63‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ : 8‬ﻛﻨﺘﺮﻟﺮ ‪PID‬‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻧﺤﻮﻩ ﻋﻤﻠﻜﺮﺩ ﻭ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ PID‬ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪ .‬ﺳﭙﺲ ﺩﺍﻧﺸﺠﻮ ﺑﺎ ﻃﺮﺍﺣﻲ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﺑﻪ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﭘﺮﺩﺍﺯﺩ‪.‬‬

‫ﺁﺯﻣﺎﻳﺶ ‪ :‬ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻫﺎﻱ ﺻﻨﻌﺘﻲ ﻛﻪ ﺍﻣﺮﻭﺯ ﺑﻪ ﻛﺎﺭ ﻣﻲﺭﻭﻧﺪ ﺍﺯ ﻃﺮﺡﻫﺎﻱ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﻛﻨﻨﺪ‪.‬‬ ‫ﺗﺌﻮﺭﻱ‬
‫ﭼﻮﻥ ﺍﻏﻠﺐ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻫﺎﻱ ‪ PID‬ﺩﺭ ﻣﺤﻞ ﺗﻨﻈﻴﻢ ﻣﻲﺷﻮﻧﺪ‪ ،‬ﻗﻮﺍﻋﺪ ﺗﻨﻈﻴﻢ ﻣﺘﻔﺎﻭﺗﻲ ﺩﺭ ﻧﻮﺷﺘﻪﻫﺎ ﭘﻴﺸﻨﻬﺎﺩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬
‫ﺍﻳﻦ ﻗﻮﺍﻋﺪ ﻣﻲﺗﻮﺍﻥ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻫﺎ ﺭﺍ ﺩﺭ ﻣﺤﻞ ﺑﺎ ﺩﻗﺖ ﺗﻨﻈﻴﻢ ﻛﺮﺩ‪ .‬ﺭﻭﺵﻫﺎﻱ ﺗﻨﻈﻴﻢ ﺧﻮﺩﻛﺎﺭ ﻧﻴﺰ ﺍﺑﺪﺍﻉ ﺷﺪﻩﺍﻧﺪ‪ ،‬ﻭ ﺑﻌﻀﻲ ﻛﻨﺘﺮﻝ‬
‫ﻛﻨﻨﺪﻩﻫﺎﻱ ‪ PID‬ﻗﺎﺑﻠﻴﺖ ﺗﻨﻈﻴﻢ ﺧﻮﺩﻛﺎﺭ ﺭﺍ ﺩﺍﺭﺍ ﻫﺴﺘﻨﺪ‪ .‬ﺷﻜﻞﻫﺎﻱ ﺍﺻﻼﺡ ﺷﺪﻩﻱ ﻛﻨﺘﺮﻝ ‪ ،PID‬ﻣﺎﻧﻨﺪ ﻛﻨﺘﺮﻝ ‪ I-PD‬ﻭ ﻛﻨﺘﺮﻝ ‪PID‬‬
‫ﺩﻭ ﺩﺭﺟﻪ ﺁﺯﺍﺩﻱ ﻫﻢ ﺍﻛﻨﻮﻥ ﺩﺭ ﺻﻨﻌﺖ ﺑﻪ ﻛﺎﺭ ﻣﻲﺭﻭﻧﺪ‪ .‬ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺑﻪ ﻓﺮﻡﻫﺎﻱ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪1‬‬ ‫‪𝑘𝑘I‬‬
‫‪𝑘𝑘p �1 +‬‬ ‫�‪+ Td s‬‬ ‫‪,‬‬ ‫‪𝑘𝑘p +‬‬ ‫‪+ KD s‬‬
‫‪Ti s‬‬ ‫‪s‬‬

‫ﺭﻭﺵﻫﺎﻱ ﻣﺘﻔﺎﻭﺗﻲ ﺑﺮﺍﻱ ﺗﻨﻈﻴﻢ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ PID‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻛﻪ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻣﻮﺍﺭﺩ ﺯﻳﺮ ﺍﺷﺎﺭﻩ ﻧﻤﻮﺩ‪:‬‬
‫‌‬

‫�‬
‫‪F16‬‬ ‫ﺭﻭﺵﻫﺎﻱ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ‬
‫‌‬ ‫•‬
‫�‬
‫‪F17‬‬ ‫ﺭﻭﺵ ﻛﻮﻫﻦ‪-‬ﻛﻦ‬ ‫•‬
‫�‬
‫‪F18‬‬‫ﺭﻭﺵ ﺗﺎﻳﺮﺱ‪ -‬ﻟﻮﻱ‌ﺑﻦ‬ ‫•‬
‫�‬
‫‪F19‬‬ ‫ﺭﻭﺵ ﻣﺎﺭﻟﻴﻦ‬ ‫•‬

‫‪ 1‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻣﺘﻐﻴﺮ ‪e‬‬ ‫ﺍﺑﺘﺪﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻧﺤﻮﻩﻱ ﻛﺎﺭﻛﺮﺩ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﺩﺭ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﻫﻴﻢ‪ .‬ﺷﻜﻞ‬
‫ﻣﺸﺨﺺ ﻛﻨﻨﺪﻩ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻳﻦ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﺑﻪ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻓﺮﺳﺘﺎﺩﻩ ﻣﻲﺷﻮﺩ‪ .‬ﻛﻨﺘﺮﻟﺮ‪ ،‬ﻣﺸﺘﻖ ﻭ ﺍﻧﺘﮕﺮﺍﻝ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﻭ‬
‫ﻫﻤﭽﻨﻴﻦ ﺣﺎﺻﻠﻀﺮﺏ ﺑﻬﺮﻩ ﺗﻨﺎﺳﺒﻲ ﺩﺭ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﻣﻲﻛﻨﺪ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ‬

‫ﻣﻲﺁﻳﺪ ﻭ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎﻱ ﺟﺪﻳﺪ ﻣﺤﺎﺳﺒﻪ ﻣﻲﺷﻮﺩ ﻭ ﺑﻪ ﻛﻨﺘﺮﻟﺮ ﻓﺮﺳﺘﺎﺩﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺳﻴﮕﻨﺎﻝ ‪ u‬ﺑﻪ ﭘﻼﻧﺖ ﻓﺮﺳﺘﺎﺩﻩ ﻣﻲﺷﻮﺩ ﻭ ‪ Y‬ﺑﺪﺳﺖ ‌‬

‫‪1‬‬
‫‪Ziegler-Nichols‬‬
‫‪2‬‬
‫‪Cohen-Coon‬‬
‫‪3‬‬
‫‪Tyreus-Luyben‬‬
‫‪4‬‬
‫‪Ciancone-Marline‬‬
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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫𝑑𝑑𝑑𝑑‬
‫𝐷𝐷𝑘𝑘 ‪𝑢𝑢 = 𝑘𝑘𝑝𝑝 𝑒𝑒 + 𝑘𝑘𝐼𝐼 � 𝑒𝑒𝑒𝑒𝑒𝑒 +‬‬
‫𝑑𝑑𝑑𝑑‬

‫ﺧﺼﻮﺻﻴﺎﺕ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ I ، P‬ﻭ ‪ . D‬ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ‪ 𝑘𝑘p‬ﺯﻣﺎﻥ ﺻﻌﻮﺩ ﺭﺍ ﻛﺎﻫﺶ ﻣﻲﺩﻫﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ﻫﻢ ﻛﺎﻫﺶ‬
‫ﻣﻲﺩﻫﺪ ﻭﻟﻲ ﻫﻴﭻﮔﺎﻩ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ﺍﺯ ﺑﻴﻦ ﺑﺒﺮﺩ‪ .‬ﻛﻨﺘﺮﻝ ﺍﻧﺘﮕﺮﺍﻟﻲ 𝐼𝐼𝑘𝑘 ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺭﺍ ﺍﺯ ﺑﻴﻦ ﻣﻲﺑﺮﺩ ﻭﻟﻲ‬
‫ﻣﻤﻜﻦ ﺍﺳﺖ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺭﺍ ﺧﺮﺍﺏ ﻛﻨﺪ‪ .‬ﻛﻨﺘﺮﻝ ﻣﺸﺘﻖ ﮔﻴﺮ ‪ 𝑘𝑘D‬ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻴﺸﺘﺮ ﻣﻲﻛﻨﺪ‪ ،‬ﻓﺮﺍﺟﻬﺶ ﺭﺍ ﻛﺎﻫﺶ ﻭ ﭘﺎﺳﺦ‬
‫ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺭﺍ ﺑﻬﺒﻮﺩ ﻣﻲﺑﺨﺸﺪ‪ .‬ﺟﺪﻭﻝ ‪ 1‬ﺗﺎﺛﻴﺮ ﻫﺮ ﻳﻚ ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮﻫﺎ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺯﻣﺎﻥ ﺻﻌﻮﺩ‬ ‫ﻓﺮﺍﺟﻬﺶ‬ ‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ‬ ‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬

‫‪𝑘𝑘p‬‬ ‫ﻛﺎﻫﺶ‬ ‫ﺍﻓﺰﺍﻳﺶ‬ ‫ﺗﻐﻴﻴﺮ ﺟﺰﺋﻲ‬ ‫ﻛﺎﻫﺶ‬
‫‪𝑘𝑘I‬‬ ‫ﻛﺎﻫﺶ‬ ‫ﺍﻓﺰﺍﻳﺶ‬ ‫ﺍﻓﺰﺍﻳﺶ‬ ‫ﺣﺬﻑ‬
‫‪KD‬‬ ‫ﺗﻐﻴﻴﺮ ﺟﺰﺋﻲ‬ ‫ﻛﺎﻫﺶ‬ ‫ﻛﺎﻫﺶ‬ ‫ﺗﻐﻴﻴﺮ ﺟﺰﺋﻲ‬
‫ﺟﺪﻭﻝ‪ .1‬ﺗﺎﺛﻴﺮ ﻫﺮ ﻳﻚ ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻟﺮ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬

‫ﺭﻭﺵﻫﺎﻱ ﺯﻳﮕﻠﺮ‪-‬ﻧﻴﻜﻮﻟﺲ‪ .‬ﺯﻳﮕﻠﺮ ﻭ ﻧﻴﻜﻮﻟﺲ ﻗﻮﺍﻋﺪﻱ ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺑﺮ ﺍﺳﺎﺱ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﮔﺬﺭﺍﻱ‬
‫ﺩﺳﺘﮕﺎﻩ ﺗﺤﺖ ﻛﻨﺘﺮﻝ ﭘﻴﺸﻨﻬﺎﺩ ﻛﺮﺩﻩﺍﻧﺪ‪ .‬ﺍﻳﻦ ﺗﻌﻴﻴﻦ ﭘﺎﺭﺍﻣﺘﺮ ﻳﺎ ﺗﻨﻈﻴﻢ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻱ ‪ PID‬ﻣﻲﺗﻮﺍﻧﺪ ﺗﻮﺳﻂ ﻣﻬﻨﺪﺱ ﻛﻨﺘﺮﻝ ﺩﺭ ﻣﺤﻞ ﻭ‬
‫– ﻧﻴﻜﻮﻟﺲ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﻓﻘﻂ ﺑﺎﻳﺪ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﺗﻮﺟﻪ‬ ‫ﺑﺎ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ ﺑﺮ ﺭﻭﻱ ﺩﺳﺘﮕﺎﻩ ﺍﻧﺠﺎﻡ ﺷﻮﺩ‪ .‬ﺩﻭ ﺭﻭﺵ ﻣﻮﺳﻮﻡ ﺑﻪ ﻗﻮﺍﻋﺪ ﺯﻳﮕﻠﺮ‬
‫ﺩﺍﺷﺖ ﻛﻪ ﺍﻳﻦ ﺭﻭﺵ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪.‬‬

‫ﺭﻭﺵ ﺍﻭﻝ‪ .‬ﺩﺭ ﺭﻭﺵ ﺍﻭﻝ ﭘﺎﺳﺦ ﺩﺳﺘﮕﺎﻩ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﻭﺍﺣﺪ ﺭﺍ ﺑﻪ ﻃﻮﺭ ﺗﺠﺮﺑﻲ ﺑﺪﺳﺖ ﻣﻲﺁﻭﺭﻳﻢ‪ .‬ﺍﮔﺮ ﭘﺎﺳﺦ ﭘﻠﻪ ﺑﻪ ﺻﻮﺭﺕ ﻳﻚ ﻣﻨﺤﻨﻲ‬
‫‪ S‬ﺷﻜﻞ‪ ،‬ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 1‬ﺑﺎﺷﺪ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪ .‬ﻣﻨﺤﻨﻲ ‪ s‬ﺷﻜﻞ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﺎ ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﻣﺸﺨﺺ ﻛﺮﺩ‪ ،‬ﺯﻣﺎﻥ ﺗﺎﺧﻴﺮ‬
‫‪ L‬ﻭ ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ‪ . T‬ﺍﻳﻦ ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﺑﺎ ﺭﺳﻢ ﺧﻂ ﻣﻤﺎﺱ ﺩﺭ ﻧﻘﻄﻪﻱ ﻋﻄﻒ ﻣﻨﺤﻨﻲ ‪ s‬ﺷﻜﻞ‪ ،‬ﻭ ﻳﺎﻓﺘﻦ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺁﻥ ﺑﺎ ﻣﺤﻮﺭ ﺯﻣﺎﻥ ﻭ‬
‫ﺧﻂ ‪ ، c(t)=k‬ﻣﻄﺎﺑﻖ ﺷﻜﻞ ‪ 2‬ﺗﻌﻴﻴﻦ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .2‬ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ ‪ s‬ﺷﻜﻞ‬

‫‪65‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫𝐿𝐿𝐿𝐿‪𝐾𝐾𝐾𝐾 −‬‬
‫ﻣﻲﺗﻮﺍﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺭﺍ ﺑﺎ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺩﺍﺭﺍﻱ ﺗﺎﺧﻴﺮ ﺍﻧﺘﻘﺎﻟﻲ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭ ﺑﻪﺭﻭﺭ ﺗﻘﺮﻳﺐ ﺯﺩ‪:‬‬
‫‪𝑇𝑇𝑇𝑇+1‬‬

‫ﺯﻳﮕﻠﺮ ﻭ ﻧﻴﻜﻮﻟﺲ ﭘﻴﺸﻨﻬﺎﺩ ﻣﻲﻛﻨﻨﺪ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺑﺮ ﺍﺳﺎﺱ ﺟﺪﻭﻝ ﺩﻭ ﺍﻧﺘﺨﺎﺏ ﺷﻮﻧﺪ‪.‬‬

‫ﺟﺪﻭﻝ‪ .2‬ﻗﻮﺍﻋﺪ ﺗﻨﻈﻴﻢ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ ﺑﺮ ﺍﺳﺎﺱ ﭘﺎﺳﺦ ﭘﻠﻪ ﺩﺳﺘﮕﺎﻩ‬

‫ﺭﻭﺵ ﺩﻭﻡ‪ .‬ﺩﺭ ﺭﻭﺵ ﺩﻭﻡ ﺍﺑﺘﺪﺍ ﻗﺮﺍﺭ ﻣﻲﺩﻫﻴﻢ ∞ = ‪ Ti‬ﻭ ‪ . T𝑑𝑑 = 0‬ﺩﺭﺍﻳﻦ ﺻﻮﺭﺕ ﺗﻨﻬﺎ ﻋﻤﻞ ﻛﻨﺘﺮﻝ ﺗﻨﺎﺳﺒﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪𝑘𝑘p .‬‬
‫ﺭﺍ ﺍﺯ ﺻﻔﺮ ﺯﻳﺎﺩ ﻣﻲﻛﻨﻴﻢ ﺗﺎ ﺑﻪ ﻣﻘﺪﺍﺭ ﺑﺤﺮﺍﻧﻲ 𝑐𝑐𝑐𝑐𝑘𝑘 ﺑﺮﺳﺪ‪ ،‬ﺟﺎﻳﻲ ﻛﻪ ﺧﺮﻭﺟﻲ ﺑﺮﺍﻱ ﺍﻭﻟﻴﻦ ﺑﺎﺭ ﻧﻮﺳﺎﻥ ﻧﺎﻣﻴﺮﺍ ﭘﻴﺪﺍ ﻣﻲﻛﻨﺪ‪) .‬ﺍﮔﺮ ﺑﻪ ﺍﺯﺍﻱ ﻫﻴﭻ‬
‫ﻣﻘﺪﺍﺭ ‪ 𝑘𝑘p‬ﺧﺮﻭﺟﻲ ﻧﻮﺳﺎﻥ ﻧﺎﻣﻴﺮﺍ ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﺍﻳﻦ ﺭﻭﺵ ﻗﺎﺑﻞ ﺍﻋﻤﺎﻝ ﻧﻴﺴﺖ‪ (.‬ﭘﺲ ﻣﻘﺪﺍﺭ ﺑﻬﺮﻩﻱ ﺑﺤﺮﺍﻧﻲ 𝑐𝑐𝑐𝑐𝑘𝑘 ﻭ ﺯﻣﺎﻥ ﺗﻨﺎﻭﺏ ﻣﺘﻨﺎﻇﺮ ﺑﺎ‬
‫ﺁﻥ 𝑐𝑐𝑐𝑐𝑝𝑝 ﺑﻪ ﻃﻮﺭ ﺗﺠﺮﺑﻲ ﺗﻌﻴﻴﻦ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﺑﻬﺮﻩﻱ ﺑﺤﺮﺍﻧﻲ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .3‬ﻧﻮﺳﺎﻥ ﻧﺎﻣﻴﺮﺍ ﺑﺎ ﺯﻣﺎﻥ ﺗﻨﺎﻭﺏ 𝑐𝑐𝑐𝑐𝑝𝑝‬

‫ﺯﻳﮕﻠﺮ ﻭ ﻧﻴﻜﻮﻟﺲ ﭘﻴﺸﻨﻬﺎﺩ ﻣﻲﻛﻨﻨﺪ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺑﺮ ﺍﺳﺎﺱ ﺟﺪﻭﻝ ﺳﻪ ﺍﻧﺘﺨﺎﺏ ﺷﻮﻧﺪ‪.‬‬

‫ﺟﺪﻭﻝ‪ .3‬ﻗﻮﺍﻋﺪ ﺗﻨﻈﻴﻢ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ ﺑﺮ ﺍﺳﺎﺱ ﺑﻬﺮﻩﻱ ﺑﺤﺮﺍﻧﻲ ﻭ ﺯﻣﺎﻥ ﺗﻨﺎﻭﺏ ﺑﺤﺮﺍﻧﻲ‬

‫‪66‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫‪𝑘𝑘 I‬‬
‫‪ 𝑘𝑘p +‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ ﺟﺪﻭﻝ ‪ 4‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﺎﻳﻴﻢ‪.‬‬ ‫ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﺑﻪ ﻓﺮﻡ ‪+ K D s‬‬
‫‪s‬‬

‫‪𝑘𝑘p‬‬ ‫‪𝑘𝑘I‬‬ ‫‪KD‬‬

‫‪P‬‬ ‫‪0.5 Kcr‬‬ ‫‪------‬‬ ‫‪-----‬‬

‫𝑐𝑐𝑐𝑐 𝑘𝑘‪0.54‬‬
‫‪I‬‬ ‫‪0.45 Kcr‬‬ ‫𝑐𝑐𝑐𝑐 𝑝𝑝‬ ‫‪-----‬‬

‫𝑐𝑐𝑐𝑐 𝑘𝑘‪1.18‬‬
‫‪D‬‬ ‫‪0.6 Kcr‬‬ ‫𝑐𝑐𝑐𝑐 𝑝𝑝‬ ‫𝑐𝑐𝑐𝑐𝑝𝑝 𝑐𝑐𝑐𝑐𝑘𝑘‪0.075‬‬

‫ﺟﺪﻭﻝ‪ .4‬ﻗﻮﺍﻋﺪ ﺗﻨﻈﻴﻢ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ ﺑﺮ ﺍﺳﺎﺱ ﺑﻬﺮﻩﻱ ﺑﺤﺮﺍﻧﻲ ﻭ ﺯﻣﺎﻥ ﺗﻨﺎﻭﺏ ﺑﺤﺮﺍﻧﻲ‬

‫ﺭﻭﺵ ﺩﻭﻡ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻃﺮﻳﻖ ﺯﻳﺮ ﻧﻴﺰ ﺍﻧﺠﺎﻡ ﺩﺍﺩ‪ .‬ﺍﺑﺘﺪﺍ ﻓﺮﺁﻳﻨﺪ ﺗﻮﺳﻂ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ )‪ (on-off‬ﻛﻨﺘﺮﻝ ﻣﻲﮔﺮﺩﺩ‪.‬‬
‫ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺷﻜﻞ ‪ 4‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺑﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .5‬ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ‬ ‫ﺷﻜﻞ‪ .4‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ‬

‫‪ℎ‬‬
‫)𝑒𝑒(𝑠𝑠𝑠𝑠𝑠𝑠 = 𝑢𝑢‬ ‫ﺭﺍﺑﻄﻪ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﺗﻌﺮﻳﻒ ﻣﻲﮔﺮﺩﺩ‪.‬‬
‫‪2‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ‪ u‬ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ‪ e ،‬ﻭﺭﻭﺩﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ‪ sgn(.) ،‬ﺗﺎﺑﻊ ﻋﻼﻣﺖ ﻭ ‪ h‬ﻣﻘﺪﺍﺭ ﺛﺎﺑﺖ ﻣﺜﺒﺖ ﻭ ﺣﻘﻴﻘﻲ ﺍﺳﺖ‪ .‬ﮔﺎﻫﻲ ﺑﺮﺍﻱ‬
‫‪ℎ‬‬ ‫‪ℎ‬‬
‫‪𝑢𝑢 = 𝑠𝑠𝑠𝑠𝑠𝑠(𝑒𝑒) +‬‬ ‫ﺭﻭﺑﻪﺭﻭ ﺍﺻﻼﺡ ﻣﻲﮔﺮﺩﺩ‪.‬‬ ‫ﻓﺮﺁﻳﻨﺪﻫﺎﻱ ﻏﻴﺮﺧﻄﻲ ﺭﺍﺑﻄﻪ ﻓﻮﻕ ﺑﻪ ﺻﻮﺭﺕ‬
‫‪2‬‬ ‫‪2‬‬
‫ﺳﭙﺲ ﺑﺎ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﺳﻴﮕﻨﺎﻝ ﺧﺮﻭﺟﻲ ﻓﺮﺁﻳﻨﺪ ﻭ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ ،‬ﻣﻘﺎﺩﻳﺮ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ﻧﻮﺳﺎﻥ‬
‫𝑐𝑐𝑐𝑐𝑝𝑝 ﺑﺮ ﺣﺴﺐ ﺛﺎﻧﻴﻪ ﻭ ﺩﺍﻣﻨﻪ ﻧﻮﺳﺎﻥ ﺧﺮﻭﺟﻲ ‪ a‬ﺑﺪﺳﺖ ﻣﻲ ‌ﺁﻳﺪ‪ .‬ﺳﭙﺲ ﺑﺎ ﻣﺤﺎﺳﺒﻪ 𝑐𝑐𝑐𝑐𝑘𝑘 ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺍﺯ ﺟﺪﻭﻝ ‪4‬‬
‫ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪ .‬ﺑﺎ ﻣﺤﺎﺳﺒﻪ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ ﺑﺮﺩﺍﺷﺘﻪ ﺷﺪﻩ ﻭ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﻗﺮﺍﺭ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪4ℎ‬‬
‫= 𝑐𝑐𝑐𝑐𝑘𝑘‬
‫𝜋𝜋𝜋𝜋‬

‫ﻧﻜﺎﺗﻲ ﺩﺭ ﻣﻮﺭﺩ ﮔﻮﻱ ﻣﻌﻠﻖ ﻭ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺳﻴﺴﺘﻢ‪ .‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﺩﺭ ﺗﻤﺎﻡ ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﻛﺎﺭ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺭﺍﺑﻄﻪ ﻭﺭﻭﺩﻱ‬
‫ﻭ ﺧﺮﻭﺟﻲ ﺍﻳﻦ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫𝑡𝑡‬
‫)𝑡𝑡(𝑑𝑑𝑑𝑑‬
‫𝐷𝐷𝑘𝑘 ‪𝑢𝑢(𝑡𝑡) = 𝑘𝑘𝑝𝑝 𝑒𝑒(𝑡𝑡) + 𝑘𝑘𝐼𝐼 � 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑑𝑑 +‬‬ ‫𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 ‪+‬‬
‫𝑑𝑑𝑑𝑑‬
‫‪0‬‬

‫ﺩﺭ ﺍﻳﻨﺠﺎ ﻣﻘﺪﺍﺭ ‪ offset‬ﻛﻪ ﺛﺎﺑﺖ ﻭ ﺣﻘﻴﻘﻲ ﺍﺳﺖ‪ ،‬ﺑﻪ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺍﺿﺎﻓﻪ ﻣﻲﮔﺮﺩﺩ‪ .‬ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﺍﻳﻦ ﻣﻘﺪﺍﺭ ﺑﻪ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ‬
‫ﻛﻨﻨﺪﻩ ﺑﻪ ﻣﻨﻈﻮﺭ ﺗﺎﻣﻴﻦ ﺍﻧﺮژﻱ ﻻﺯﻡ ﺑﺮﺍﻱ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﻓﺮﺁﻳﻨﺪ ﻏﻴﺮﺧﻄﻲ ﺩﺭ ﻧﻘﻄﻪ ﻛﺎﺭ ﺍﻧﺠﺎﻡ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﻣﻘﺪﺍﺭ ‪ offset‬ﺑﺎ ﻣﻌﺪﻝ ﮔﻴﺮﻱ ﺍﺯ ﺳﻴﮕﻨﺎﻝ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺩﺭ ﻳﻚ ﺳﻴﻜﻞ ﺑﻪ ﺻﻮﺭﺕ ﺗﻘﺮﻳﺒﻲ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ‬
‫‪1‬‬
‫≈ 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜‬ ‫∫‬ ‫𝑑𝑑𝑑𝑑)𝑡𝑡(𝑢𝑢‬ ‫ﺩﺍﺭﻳﻢ‪:‬‬
‫𝑐𝑐𝑐𝑐 𝑝𝑝 𝑐𝑐𝑐𝑐 𝑝𝑝‬

‫ﺩﺳﺘﻮﺭﺍﺕ ﻣﺮﺑﻮﻁ ﺑﻪ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺩﺭ ‪. MATLAB‬‬

‫ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﻓﺮﻡ ﺗﻨﺎﺳﺒﻲ – ﻣﺸﺘﻖﮔﻴﺮ ‪ -‬ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ )‪ (PID‬ﺍﺯ ﺩﺳﺘﻮﺭ ‪ pid‬ﺑﻪ ﻓﺮﻡﻫﺎﻱ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻥ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫‪C = pid(Kp,Ki,Kd,Tf), C = pid(Kp,Ki,Kd,Tf,Ts), C = pid(sys),‬‬ ‫)‪C = pid(Kp‬‬

‫)‪C = pid(Kp,Ki), C = pid(Kp,Ki,Kd), C = pid(...,Name,Value‬‬

‫ﺩﺳﺘﻮﺭ)‪ PID ، C = pid(Kp,Ki,Kd,Tf‬ﺑﻪ ﻫﻤﺮﺍﻩ ﻓﻴﻠﺘﺮ ﻣﺸﺘﻖ ﮔﻴﺮ ﻣﺮﺗﺒﻪ ﺍﻭﻝ� ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻳﻌﻨﻲ‪:‬‬
‫‪F20‬‬

‫𝐼𝐼 𝑘𝑘‬ ‫𝑠𝑠 𝑑𝑑 𝑘𝑘‬

‫‪𝐶𝐶 = 𝑘𝑘𝑝𝑝 +‬‬ ‫‪+‬‬
‫𝑠𝑠‬ ‫‪𝑇𝑇𝑓𝑓 𝑠𝑠+1‬‬

‫ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺑﺮﺍﻱ ﻳﻚ ﭘﻼﻧﺖ ﺧﻄﻲ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ pidtune‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻥ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫)‪C = pidtune(sys,type), C = pidtune(sys,pidsys), C = pidtune(sys,type,opts‬‬

‫)‪C = pidtune(sys,pidsys,opts‬‬

‫‪ P‬ﺭﺍ ﻣﻲ ‌ﮔﺬﺍﺭﻳﻢ ﺩﻳﮕﺮ‬ ‫ﺩﺭ ﻗﺴﻤﺖ ‪ type‬ﻧﻮﻉ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺍﮔﺮ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ﺑﺨﻮﺍﻫﻴﻢ ﺣﺮﻑ‬
‫’‪’i’ , ‘pi’ , ‘pd’ , ‘pdf’ , ‘pid’ , ‘pidf‬‬ ‫ﺣﺮﻭﻓﻲ ﻛﻪ ﺑﻪ ﺟﺎﻱ ‪ type‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﻢ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬

‫ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﻛﻨﺘﺮﻟﺮ ‪pid‬ﺑﻪ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺩﺭ ‪ MATLAB‬ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪:‬‬

‫)‪C = pidstd(Kp,Ti,Td,N), C = pidstd(Kp,Ti,Td,N,Ts), C = pidstd(sys), C = pidstd(Kp‬‬

‫)‪C = pidstd(Kp,Ti), C = pidstd(Kp,Ti,Td), C = pidstd(...,Name,Value‬‬

‫ﺩﺳﺘﻮﺭ)‪ PID ، C = pidstd(Kp,Ti,Td,N‬ﺑﻪ ﻫﻤﺮﺍﻩ ﻓﻴﻠﺘﺮ ﻣﺸﺘﻖ ﮔﻴﺮ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻨﺘﺮﻟﺮ‬
‫ﮔﻴﻦ ﺗﻨﺎﺳﺒﻲ ‪ kp‬ﺭﺍ ﺩﺍﺭﺍ ﻣﻲﺑﺎﺷﺪ ﻭ ﺯﻣﺎﻥﻫﺎﻱ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻭ ﻣﺸﺘﻖﮔﻴﺮ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ ‪ Ti‬ﻭ ‪ . Td‬ﺍﻳﻦ ﺩﺳﺘﻮﺭ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺭﺍ ﺑﻪ ﻓﺮﻡ ﺯﻳﺮ‬
‫‪1‬‬ ‫‪T s‬‬
‫‪𝐶𝐶 = 𝑘𝑘p �1 +‬‬ ‫� ‪+ Td d‬‬ ‫ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪:‬‬
‫‪Ti s‬‬ ‫‪s+1‬‬
‫‪N‬‬

‫‪1‬‬
‫‪PIDF‬‬
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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫ﺑﺮﺍﻱ ﺗﻨﻈﻴﻢ ﮔﺮﺍﻓﻴﻜﻲ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﻭﺍﺳﻂ ﮔﺮﺍﻓﻴﻜﻲ ﻛﺎﺭﺑﺮ ‪ pidtool‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪.‬‬

‫ﺗﻤﺮﻳﻦﻫﺎﻱ ﺍﻭﻟﻴﻪ‪:‬‬

‫‪ .1‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺷﻜﻞ ‪ 6‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻛﻪ ﺩﺭ ﺁﻥ ﻳﻚ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻱ ‪ PID‬ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺳﻴﺴﺘﻢ ﺑﻪ ﻛﺎﺭ ﺭﻓﺘﻪ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﻛﻨﺘﺮﻝ ‪PID‬‬

‫ﮔﺮﭼﻪ ﺭﻭﺵﻫﺎﻱ ﺗﺤﻠﻴﻠﻲ ﻣﺘﻌﺪﺩﻱ ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩﻱ ‪ PID‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻭﻟﻲ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻗﻮﺍﻋﺪ‬
‫ﺯﻳﮕﻠﺮ‪-‬ﻧﻴﻜﻮﻟﺲ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪ .‬ﺳﭙﺲ ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ ﭘﻠﻪ ﺭﺍ ﺑﻪ ﻛﻤﻚ ‪ MATLAB‬ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ‬
‫‪ 25‬ﺑﻮﺩ ﺗﻨﻈﻴﻢ ﺩﻗﻴﻖﺗﺮﻱ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ ﺗﺎ ﻣﺎﻛﺰﻳﻤﻢ‬ ‫ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﺍﮔﺮ ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ ﺑﻴﺸﺘﺮ ﺍﺯ ‪%‬‬
‫ﻓﺮﺍﺟﻬﺶ ﺑﻪ ﺣﺪﻭﺩ ‪ 25%‬ﺑﺮﺳﺪ‪.‬‬
‫‪ .2‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺭﻭﺵ ﺩﻭﻡ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺲ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﺳﭙﺲ‬
‫ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪.‬‬

‫‪1‬‬
‫= )𝑠𝑠(𝐺𝐺‬
‫‪(𝑠𝑠 + 1)3‬‬

‫‪ .3‬ﻳﺎﺩﺁﻭﺭﻱ ﻣﻲﺷﻮﺩ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻓﺮﺁﻳﻨﺪ ﮔﻮﻱ ﻣﻌﻠﻖ‪ ،‬ﻛﻪ ﺁﺯﻣﺎﻳﺶ ﺁﻥ ﺑﻪ ﺻﻮﺭﺕ ﻋﻤﻠﻲ ﺩﺭ ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺍﻧﺠﺎﻡ ﺧﻮﺍﻫﺪ ﺷﺪ ﺑﻪ ﺻﻮﺭﺕ‬
‫ﺯﻳﺮ ﺍﺳﺖ‪:‬‬

‫)𝑠𝑠(𝑌𝑌‬ ‫‪2.58‬‬
‫=‬
‫)‪U(s) s(s + 20.4‬‬

‫ﺑﻪ ﻛﻤﻚ ﺭﻭﺵ ﺩﻭﻡ ﺯﻳﮕﻠﺮ‪ -‬ﻧﻴﻜﻮﻟﺰ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ PI ، P‬ﻭ ‪ PID‬ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ‪ ،‬ﻣﺸﺘﻖﮔﻴﺮ ﻭ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﻫﻴﻢ ﺩﺭ‬
‫ﺍﺑﺘﺪﺍ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ﺭﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺮﺭﺳﻲ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪:‬‬
‫‪ .1‬ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ LinCon‬ﺭﺍ ﺍﺟﺮﺍ ﻛﻨﻴﺪ ﻭ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫‪ .2‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 0 ،𝑘𝑘I = 0 ،offset=7.8‬ﻭ ‪ 𝑘𝑘𝑝𝑝 = 20‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬ ‫‪.3‬‬
‫‪ .4‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝑝𝑝 = 40 .5‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝑝𝑝 = 60 .6‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .7‬ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﺑﺎ ﺍﻓﺰﺍﻳﺶ 𝑝𝑝𝑘𝑘 ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺑﻪ ﭼﻪ ﺻﻮﺭﺕ ﺗﻐﻴﻴﺮ ﻣﻲﻛﻨﺪ‪.‬‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﺴﻤﺖ ﻣﺸﺘﻖﮔﻴﺮ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﻫﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪:‬‬

‫‪ .1‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 1 ،𝑘𝑘I = 0 ،offset=7.8‬ﻭ ‪ 𝑘𝑘𝑝𝑝 = 60‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ ﻭ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ‬
‫ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝐷𝐷 = 2 .2‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝐷𝐷 = 4 .3‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .4‬ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﺑﺎ ﺍﻓﺰﺍﻳﺶ 𝐷𝐷𝑘𝑘 ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺑﻪ ﭼﻪ ﺻﻮﺭﺕ ﺗﻐﻴﻴﺮ ﻣﻲﻛﻨﺪ‪ .‬ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ ﻭ‬
‫ﺗﻮﺿﻴﺤﻲ ﺑﺮﺍﻱ ﻧﻮﻳﺰﻱ ﺷﺪﻥ ﺁﻥ ﺑﺎ ﺍﻓﺰﺍﻳﺶ 𝐷𝐷𝑘𝑘 ﺑﻴﺎﻭﺭﻳﺪ‪.‬‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﺴﻤﺖ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﻫﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪:‬‬

‫‪ .1‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 0 ،𝑘𝑘I = 0 ،offset=9‬ﻭ ‪ 𝑘𝑘𝑝𝑝 = 20‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ ﻭ ﺑﺎ ﺷﺮﺍﻳﻂ‬
‫ﻗﺒﻞ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝐼𝐼 = 10 .2‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ 𝑘𝑘𝐼𝐼 = 20 .3‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ﺑﺎ ﺷﺮﺍﻳﻂ ﻗﺒﻞ ﺗﻜﺮﺍﺭ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .4‬ﺗﻮﺿﻴﺢ ﺩﻫﻴﺪ ﺑﺎ ﺍﻓﺰﺍﻳﺶ 𝐼𝐼𝑘𝑘 ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺑﻪ ﭼﻪ ﺻﻮﺭﺕ ﺗﻐﻴﻴﺮ ﻣﻲﻛﻨﺪ‪.‬‬

‫‪ .B‬ﺩﺭ ﺍﻳﻦ ﺑﺨﺶ ﻣﻲ ﺧﻮﺍﻫﻴﻢ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ PI ،P‬ﻭ ‪ PID‬ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﮔﻮﻱ ﻣﻌﻠﻖ ﻃﺮﺍﺣﻲ ﻛﻨﻴﻢ‪.‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ . P‬ﺑﺨﺶ ﺍﻭﻝ‪.‬‬

‫‪ .1‬ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ LinCon‬ﺭﺍ ﺍﺟﺮﺍ ﻛﻨﻴﺪ ﻭ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .2‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 𝑘𝑘D = 0 ،𝑘𝑘I = 0 ،offset=0‬ﻭ ‪ 𝑘𝑘𝑝𝑝 = 1000‬ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫ﺑﺎ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻣﻘﺎﺩﻳﺮ ﻓﻮﻕ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺑﻪ ﺻﻮﺭﺕ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﻟﻪ ﻋﻤﻞ ﻣﻲﻛﻨﺪ‪ ،‬ﻛﻪ ﺑﺎ ﻣﺜﺒﺖ ﺷﺪﻥ ﺧﻄﺎ‪ ،‬ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ‬
‫ﻛﻨﻨﺪﻩ ‪ 12‬ﻭﻟﺖ ﻭ ﺑﺎ ﻣﻨﻔﻲ ﺷﺪﻥ ﺧﻄﺎ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺻﻔﺮ ﻭﻟﺖ ﻣﻲﺷﻮﺩ ﺣﺎﻝ ﺭﺍﺑﻄﻪﻱ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺧﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺭﺍ‬
‫‪𝑢𝑢 = 6𝑠𝑠𝑠𝑠𝑠𝑠(𝑒𝑒) + 6‬‬ ‫ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻥ ﺑﻴﺎﻥ ﻧﻤﻮﺩ‪:‬‬

‫‪ .3‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬

‫‪ .4‬ﺳﻴﮕﻨﺎﻝ ﻣﺮﺟﻊ ﺭﺍ ﺭﻭﻱ ‪ step‬ﻗﺮﺍﺭ ﺩﻫﻴﺪ ﻭ ﺩﺍﻣﻨﻪ ﺳﻴﮕﻨﺎﻝ ﭘﻠﻪ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 20‬ﺳﺎﻧﺘﻲﻣﺘﺮ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .5‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﭘﺲ ﺍﺯ ﺍﺗﻤﺎﻡ ﺁﺯﻣﺎﻳﺶ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ .6‬ﻣﻘﺎﺩﻳﺮ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏ ﻧﻮﺳﺎﻥ 𝑐𝑐𝑐𝑐𝑝𝑝 ﺑﺮ ﺣﺴﺐ ﺛﺎﻧﻴﻪ ﻭ ﺩﺍﻣﻨﻪ ﻧﻮﺳﺎﻥ ﺧﺮﻭﺟﻲ‪ a ،‬ﺑﺮ ﺣﺴﺐ ﻣﺘﺮ ﺑﺎ ﻣﺸﺎﻫﺪﻩ ﻣﻨﺤﻨﻲﻫﺎﻱ ﺑﺪﺳﺖ‬
‫ﺁﻣﺪﻩ‪ ،‬ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫ﻧﻜﺘﻪ‪ :‬ﻣﻤﻜﻦ ﺍﺳﺖ ﭼﻨﺪ ﺳﻴﻜﻞ ﺍﺑﺘﺪﺍﻱ ﻣﻨﺤﻨﻲ ﺑﺎ ﺳﻴﻜﻞﻫﺎﻱ ﺑﻌﺪﻱ ﻣﺘﻔﺎﻭﺕ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﻬﺘﺮ ﺍﺳﺖ ﺑﺮﺍﻱ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱﻫﺎ ﺍﺯ‬
‫ﺳﻴﻜﻞﻫﺎﻱ ﺍﻭﻝ ﻣﻨﺤﻨﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻧﺸﻮﺩ‪.‬‬

‫‪ .7‬ﻣﻄﺎﺑﻖ ﺟﺪﻭﻝ ‪ 𝑘𝑘𝑝𝑝 ،4‬ﺭﺍ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ P‬ﺣﺴﺎﺏ ﻛﻨﻴﺪ‪..‬‬

‫‪ .8‬ﻣﻘﺪﺍﺭ ‪ offset‬ﺭﺍ ﺑﺎ ﻣﺤﺎﺳﺒﻪ ﻣﻌﺪﻝ ﺳﻴﮕﻨﺎﻝ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺩﺭ ﻳﻚ ﺳﻴﻜﻞ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫𝑜𝑜𝑜𝑜𝑇𝑇‪12‬‬
‫≈ 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ‪ .‬ﻛﻪ ﺩﺭ ﺁﻥ‬ ‫ﻧﻜﺘﻪ‪ :‬ﻣﻘﺪﺍﺭ ﻣﻌﺪﻝ ﺳﻴﮕﻨﺎﻝ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ﺩﺭ ﻳﻚ ﺳﻴﻜﻞ ﺑﺎ ﺭﺍﺑﻄﻪﻱ‬
‫𝑐𝑐𝑐𝑐 𝑝𝑝‬
‫𝑜𝑜𝑜𝑜𝑇𝑇 ﻣﺪﺕ ﺯﻣﺎﻧﻲ ﺍﺳﺖ‪ ،‬ﻛﻪ ﺩﺭ ﻳﻚ ﺳﻴﻜﻞ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ 12‬ﻭﻟﺖ ﺍﺳﺖ‪.‬‬

‫ﺑﺨﺶ ﺩﻭﻡ‪.‬‬

‫‪ .1‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺭﺍ ﺑﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ p‬ﻭ ﺑﺎ 𝑝𝑝𝑘𝑘 ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺍﺯ ﺑﺨﺶ ﻗﺒﻞ ﺑﺎ ‪ MATLAB‬ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻛﻨﻴﺪ‪ .‬ﻣﻘﺎﺩﻳﺮ ﺯﻣﺎﻥ‬
‫ﺻﻌﻮﺩ‪ ،‬ﺯﻣﺎﻥ ﺍﻭﺝ‪ ،‬ﻣﺎﻛﺰﻳﻤﻢ ﻓﺮﺍﺟﻬﺶ ﻭ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

‫ﺑﺨﺶ ﺳﻮﻡ‪.‬‬

‫‪ 𝑘𝑘𝑝𝑝 .1‬ﻭ ‪ offset‬ﻣﺤﺎﺳﺒﻪ ﺷﺪﻩ ﺍﺯ ﺑﺨﺶ ﻗﺒﻞ ﺭﺍ ﺩﺭ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ﻭﺍﺭﺩ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .2‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .3‬ﺳﻴﮕﻨﺎﻝ ﻣﺮﺟﻊ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ . PI‬ﺑﺨﺶ ﺍﻭﻝ‪.‬‬

‫‪ .1‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﺘﺎﻳﺞ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﺑﺨﺶ ﻗﺒﻞ )ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ (P‬ﻭ ﺟﺪﻭﻝ ‪ 4‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PI‬ﺭﺍ ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .2‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PI‬ﻭ ﺿﺮﺍﻳﺐ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻛﻨﻴﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫ﺑﺨﺶ ﺩﻭﻡ‪.‬‬

‫‪ 𝑘𝑘𝐼𝐼 ،𝑘𝑘𝑝𝑝 .1‬ﻭ ‪ offset‬ﻣﺤﺎﺳﺒﻪ ﺷﺪﻩ ﺍﺯ ﺑﺨﺶ ﻗﺒﻞ ﺭﺍ ﺩﺭ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ﻭﺍﺭﺩ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .2‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .3‬ﺳﻴﮕﻨﺎﻝ ﻣﺮﺟﻊ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬

‫ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ . PID‬ﺑﺨﺶ ﺍﻭﻝ‪.‬‬

‫‪ .1‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﺘﺎﻳﺞ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺩﺭ ﺑﺨﺶ ﻗﺒﻞ )ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ (P‬ﻭ ﺟﺪﻭﻝ ‪ 4‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺗﻨﻈﻴﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .2‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PI‬ﻭ ﺿﺮﺍﻳﺐ ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻛﻨﻴﺪ‪.‬‬

‫ﺑﺨﺶ ﺩﻭﻡ‪.‬‬

‫‪ 𝑘𝑘𝐷𝐷 ،𝑘𝑘𝐼𝐼 ،𝑘𝑘𝑝𝑝 .1‬ﻭ ‪ offset‬ﻣﺤﺎﺳﺒﻪ ﺷﺪﻩ ﺍﺯ ﺑﺨﺶ ﻗﺒﻞ ﺭﺍ ﺩﺭ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ﻭﺍﺭﺩ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪ .2‬ﻣﺪﺕ ﺯﻣﺎﻥ ﺁﺯﻣﺎﻳﺶ ﺭﺍ ‪ 20‬ﺛﺎﻧﻴﻪ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ‪.‬‬
‫‪ .3‬ﺳﻴﮕﻨﺎﻝ ﻣﺮﺟﻊ ﺭﺍ ﻣﺮﺑﻌﻲ ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﺪ ﻭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺟﺮﺍ ﻛﺮﺩﻩ ﻭ ﻧﺘﺎﻳﺞ ﺭﺍ ﺫﺧﻴﺮﻩ ﻛﻨﻴﺪ‪.‬‬

‫‪ pidtool‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻛﻪ‬ ‫‪ .C‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 6‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ‬
‫ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻣﻄﺮﺡ ﺷﺪﻩ ﺩﺭ ﺗﻤﺮﻳﻦ ﺍﻭﻟﻴﻪﻱ ﻳﻚ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﺳﺎﺯﺩ‪.‬‬
‫‪ .D‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺣﻤﻞ ﻭﻧﻘﻞ ﻛﻪ ﺍﺯ ﺧﺎﺻﻴﺖ ﺷﻨﺎﻭﺭ ﺑﻮﺩﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﻛﻨﻨﺪ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺑﻪ ﺳﺮﻋﺖﻫﺎﻱ ﺑﺴﻴﺎﺭ ﺯﻳﺎﺩﻱ ﺑﺮﺳﻨﺪ‪،‬‬
‫‪ 7‬ﻧﻤﻮﻧﻪﺍﻱ ﺍﺯ ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺁﻫﻨﺮﺑﺎﻱ‬ ‫ﺑﻪ ﺍﻳﻦ ﺧﺎﻃﺮ ﻛﻪ ﺍﺻﻄﻜﺎﻙ ﺗﻤﺎﺳﻲ ﺑﺎ ﺭﻳﻞ ﺣﺬﻑ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺷﻜﻞ‬
‫ﺍﻟﻜﺘﺮﻳﻜﻲ ﻧﻴﺮﻭﻱ ﻻﺯﻡ ﺑﺮﺍﻱ ﻧﮕﻪ ﺩﺍﺷﺘﻦ ﻭﺳﻴﻠﻪﻱ ﻧﻘﻠﻴﻪ ﺭﺍ ﻓﺮﺍﻫﻢ ﻣﻲﺳﺎﺯﺩ‪.‬‬

‫ﺷﻜﻞ‪ .7‬ﺳﻴﺴﺘﻢ ﺣﻤﻞ ﻭﻧﻘﻞ ﻛﻪ ﺍﺯ ﺧﺎﺻﻴﺖ ﺷﻨﺎﻭﺭ ﺑﻮﺩﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﻛﻨﺪ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻫﺸﺘﻢ‬

‫ﺷﻜﻞ ‪ 8‬ﻣﺪﻝ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺷﺪﻩﻱ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺑﺮﺍﻱ ﺗﻨﻈﻴﻢ ﺷﻜﺎﻑ ﻣﻐﻨﺎﻃﻴﺴﻲ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﻭﺭﻭﺩﻱ ﺳﻴﺴﺘﻢ ﺑﻴﺎﻥ ﻛﻨﻨﺪﻩ‬
‫ﻭﻟﺘﺎژ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﻣﻴﺰﺍﻥ ﻣﻄﻠﻮﺏ ﺷﻨﺎﻭﺭ ﺑﻮﺩﻥ ﻭ ﻳﺎ ﺷﻜﺎﻓﺖ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺑﻴﺎﻥ ﻛﻨﻨﺪﻩ ﻭﻟﺘﺎژ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﻣﻘﺪﺍﺭ ﻭﺍﻗﻌﻲ‬
‫ﺷﻨﺎﻭﺭ ﺑﻮﺩﻥ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻛﻪ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺭﺍ ﺑﻪ ﻛﻤﺘﺮ ﺍﺯ ‪ 1e-3‬ﺑﺮﺳﺎﻧﺪ ﻭ ﺳﻴﺴﺘﻢ ﻓﺮﺍﺟﻬﺸﻲ‬
‫ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪ .8‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﺎﺩﻩ ﺷﺪﻩﻱ ﺳﻴﺴﺘﻢ ﺣﻤﻞ ﻭﻧﻘﻞ ﻛﻪ ﺍﺯ ﺧﺎﺻﻴﺖ ﺷﻨﺎﻭﺭ ﺑﻮﺩﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﻛﻨﺪ‬

‫‪ .E‬ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪﺍﺑﺰﺍﺭ ‪ sisotool‬ﻭ ﻗﺴﻤﺖ ‪ Automated Tuning‬ﺑﺎ ﺭﻭﺵ‌ﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﻛﻪ ﺑﺮﺍﻱ‬
‫ﺗﻨﻈﻴﻢ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ ،‬ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺗﻨﻈﻴﻢ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﺑﺎ ﻣﺸﺎﻫﺪﻩ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ ﺑﺎ‬
‫ﺗﻮﺟﻪ ﺑﻪ ﻛﻨﺘﺮﻟﺮﻫﺎﻳﻲ ﻛﻪ ﻃﺮﺍﺣﻲ ﻛﺮﺩﻳﺪ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺭﺍ ﺑﺎ ﻳﻜﺪﻳﮕﺮ ﻣﻘﺎﻳﺴﻪ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .9‬ﺳﻴﺴﺘﻤﻲ ﺑﺎ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪PID‬‬

‫‪ .F‬ﺳﻴﺴﺘﻢ ﺷﻜﻞ ‪ 10‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﻛﻪ ﻛﻨﺘﺮﻝ ‪ PID‬ﻳﻚ ﺩﺳﺘﮕﺎﻩ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺍﻏﺘﺸﺎﺵ )‪ D(s‬ﺑﻪ ﺻﻮﺭﺕ ﻧﺸﺎﻥ‬
‫ﺩﺍﺩﻩ ﺷﺪﻩ ﺑﻪ ﺳﻴﺴﺘﻢ ﻭﺍﺭﺩ ﻣﻲﺷﻮﺩ ﻓﺮﺽ ﻛﻨﻴﺪ ﻭﺭﻭﺩﻱ ﻣﺮﺟﻊ )‪ R(s‬ﻣﻌﻤﻮﻻً ﻣﻘﺪﺍﺭﻱ ﺛﺎﺑﺖ ﺩﺍﺭﺩ‪ ،‬ﻭ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﻪ‬
‫ﺍﻏﺘﺸﺎﺵ ﺑﺴﻴﺎﺭ ﺍﻫﻤﻴﺖ ﺩﺍﺭﺩ‪ .‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﻃﺮﺡ ﻛﻨﻴﺪ ﻛﻪ ﭘﺎﺳﺦ ﺑﻪ ﺍﻏﺘﺸﺎﺵ ﭘﻠﻪﺍﻱ ﺳﺮﻳﻌﺎً ﻣﻴﺮﺍ ﺷﻮﺩ‪).‬ﺯﻣﺎﻥ ﻧﺸﺴﺖ‬
‫ﺑﺮﺍﺑﺮ ‪ 2‬ﺗﺎ ‪ 3‬ﺛﺎﻧﻴﻪ(‪ .‬ﺁﺭﺍﻳﺶ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺑﻪ ﻧﺤﻮﻱ ﺑﺮﮔﺰﻳﻨﻴﺪ ﻛﻪ ﺳﻴﺴﺘﻢ ﻳﻚ ﺯﻭﺝ ﻗﻄﺐ ﻣﺨﺘﻠﻂ ﻏﺎﻟﺐ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬
‫ﺳﭙﺲ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪﺍﻱ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪ .‬ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﻣﺮﺟﻊ ﭘﻠﻪ ﻭﺍﺣﺪ ﺭﺍ ﻧﻴﺰ ﺑﻴﺎﺑﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪.10‬ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ‪PID‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :9‬ﻛﻨﺘﺮﻝ ﺳﻄﺢ ﻣﺎﻳﻊ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺍﺑﺘﺪﺍ ﺑﺎ ﻧﺤﻮﻩ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﻣﻌﺎﺩﻻﺕ ﺭﻳﺎﺿﻲ ﺑﺮﺍﻱ ﻳﻚ ﺳﻴﺴﺘﻢ ﻋﻤﻠﻲ ﺁﺷﻨﺎ ﺷﺪﻩ ﻭ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺳﭙﺲ ﺑﺎ ﺧﻄﻲ ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﻭ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺳﺎﺯﻱ ﺷﺪﻩ ﺑﻪ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ‬
‫‌ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﻋﻤﻠﻜﺮﺩ ﻛﻨﺘﺮﻟﺮ ﺩﺭ ﺳﻴﺴﺘﻢ‬ ‫ﻣﻲﭘﺮﺩﺍﺯﺩ ﻭ ﺳﭙﺲ ﺍﻳﻦ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﺩﺭ ﺳﻴﺴﺘﻢ ﻏﻴﺮﺧﻄﻲ ﺟﺎﻳﮕﺬﺍﺭﻱ ﻣﻲﻛﻨﺪ ﻭ ﺑﺎ ﺷﺒﻴﻪ‬
‫ﻏﻴﺮﺧﻄﻲ ﺭﺍ ﻣﻮﺭﺩ ﺍﺭﺯﻳﺎﺑﻲ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﻣﺨﺰﻥ ﺷﻜﻞ ‪ 1‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ ﺩﺑﻲ ﻭﺭﻭﺩﻱ ﻭ ﺩﺑﻲ ﺧﺮﻭﺟﻲ ﺭﺍ ﺑﺎ ‪ Qi‬ﻭ ‪ Qo‬ﻧﺸﺎﻥ ﻣﻲﺩﻫﻴﻢ ‪ .‬ﺳﻄﺢ ﻣﻘﻄﻊ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﻣﻲﺩﻫﻴﻢ‪.‬‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺣﺠﻢ ﻣﺎﻳﻊ ﺩﺭﻭﻥ ﻣﺨﺰﻥ ﺭﺍ ﺑﺎ ‪ V‬ﻧﺸﺎﻥ ‌‬
‫ﻇﺮﻑ ﻧﻴﺰ ﺑﺮﺍﺑﺮ ﺑﺎ ‪‌ A‬‬

‫ﺷﻜﻞ‪.1‬ﻣﺨﺰﻥ ﺑﺎ ﻳﻚ ﻣﺠﺮﺍﻱ ﺧﺮﻭﺟﻲ‬

‫ﺍﮔﺮ ﺗﻐﻴﻴﺮﺍﺕ ﺍﺭﺗﻔﺎﻉ ﺩﺭ ﻋﺮﺽ 𝑡𝑡∆ ﺛﺎﻧﻴﻪ ﺭﺍ ﺑﺎ 𝐻𝐻∆ ﻧﺸﺎﻥ ﺩﻫﻴﻢ ﻳﻌﻨﻲ‪:‬‬

‫𝐻𝐻∆ = )𝑡𝑡(𝐻𝐻 ‪𝐻𝐻(𝑡𝑡 + ∆𝑡𝑡) −‬‬

‫𝐻𝐻∆𝐴𝐴 = 𝑉𝑉∆‬ ‫ﺩﺭ ﺍﻳﻦ ﺻﻮﺭﺕ ﺗﻐﻴﻴﺮﺍﺕ ﺣﺠﻢ ﻣﺎﻳﻊ ﺩﺭ ﻣﺨﺰﻥ ﺩﺭ ﻃﻮﻝ ﺯﻣﺎﻥ 𝑡𝑡∆ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:‬‬

‫ﺍﮔﺮ ﺣﺠﻢ ﻣﺎﻳﻌﻲ ﻛﻪ ﺩﺭ ﻋﺮﺽ 𝑡𝑡∆ ﺛﺎﻧﻴﻪ ﻭﺍﺭﺩ ﻣﺨﺰﻥ ﻣﻲﺷﻮﺩ ﺭﺍ ﺑﺎ ‪ 𝑄𝑄i ∆t‬ﺗﺨﻤﻴﻦ ﺑﺰﻧﻴﻢ ﻭ ﻫﻤﭽﻨﻴﻦ ﺣﺠﻢ ﻣﺎﻳﻌﻲ ﻛﻪ ﺩﺭ ﻋﺮﺽ 𝑡𝑡∆ ﺛﺎﻧﻴﻪ‬
‫𝑡𝑡∆ 𝑜𝑜𝑄𝑄 ‪∆𝑉𝑉 ≈ 𝑄𝑄𝑖𝑖 ∆𝑡𝑡 −‬‬ ‫ﺍﺯ ﻣﺨﺰﻥ ﺧﺎﺭﺝ ﻣﻲﺷﻮﺩ ﺭﺍ ﺑﺎ ‪ 𝑄𝑄𝑜𝑜 ∆t‬ﺗﺨﻤﻴﻦ ﺑﺰﻧﻴﻢ ﺁﻧﮕﺎﻩ ﺗﻐﻴﻴﺮﺍﺕ ﺣﺠﻢ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:‬‬

‫𝑉𝑉∆‬ ‫𝑑𝑑𝑑𝑑 ‪∆𝑡𝑡→0‬‬

‫�⎯⎯� 𝑜𝑜𝑄𝑄 ‪≈ 𝑄𝑄𝑖𝑖 −‬‬ ‫)‪= 𝑄𝑄𝑖𝑖 − 𝑄𝑄𝑜𝑜 (1‬‬ ‫ﺭﻭﺑﻪﺭﻭ ﻧﻮﺷﺖ‪:‬‬
‫ﻛﻪ ﻣﻲﺗﻮﺍﻥ ﺭﺍﺑﻄﻪ ﻓﻮﻕ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‌‬
‫‪∆t‬‬ ‫𝑑𝑑𝑑𝑑‬

‫𝐻𝐻√ 𝑘𝑘 = 𝑔𝑔𝑔𝑔‪𝑄𝑄𝑜𝑜 = 𝑠𝑠�2‬‬ ‫ﺑﺮ ﻃﺒﻖ ﻗﺎﻧﻮﻥ ﺑﺮﻧﻮﻟﻲ ﻣﻲﺗﻮﺍﻥ ﺩﺑﻲ ﺧﺮﻭﺟﻲ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﺩﺍﺷﺖ‪:‬‬

‫‪𝑑𝑑𝑑𝑑 = 𝐴𝐴𝐴𝐴𝐴𝐴 +‬‬ ‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ‪ V=AH‬ﻣﻲﺑﺎﺷﺪ ‪ ،‬ﺑﺎ ﮔﺮﻓﺘﻦ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺍﺯ ﻃﺮﻓﻴﻦ ﺩﺍﺭﻳﻢ‪:‬‬
‫𝐻𝐻𝐻𝐻𝐻𝐻‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺳﻄﺢ ﻣﻘﻄﻊ ﻇﺮﻑ ﺛﺎﺑﺖ ﻣﻲﺑﺎﺷﺪ ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ dA=0‬ﻣﻲﺷﻮﺩ ﻭ ﺭﺍﺑﻄﻪﻱ ﻳﻚ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺍﺷﺖ‪:‬‬

‫𝑑𝑑𝑑𝑑‬
‫𝐴𝐴‬ ‫𝐻𝐻√𝑘𝑘 ‪= 𝑄𝑄𝑖𝑖 −‬‬
‫𝑑𝑑𝑑𝑑‬
‫ﺩﺭ ﻧﻘﻄﻪ ﻛﺎﺭ ﻫﻤﻪﻱ ﻛﻤﻴﺖﻫﺎ ﻣﻘﺪﺍﺭ ﺛﺎﺑﺖ ﻭ ﻣﻄﻠﻮﺏ ﺧﻮﺩ ﺭﺍ ﺩﺍﺭﻧﺪ‪ .‬ﺍﮔﺮ ﻣﻘﺎﺩﻳﺮ ﻧﻘﻄﻪ ﻛﺎﺭ ) 𝑖𝑖𝑄𝑄 ‪ (𝐻𝐻 ,‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ) ‪ (𝐻𝐻0 , 𝑄𝑄𝑖𝑖0‬ﺩﺭ ﻧﻈﺮ‬
‫‪𝑑𝑑 𝐻𝐻 0‬‬
‫‪𝑑𝑑𝐻𝐻0‬‬ ‫𝑑𝑑𝑑𝑑‬
‫‪=0‬‬
‫𝐴𝐴‬ ‫‪= 𝑄𝑄𝑖𝑖0 − 𝑘𝑘�𝐻𝐻0 �⎯⎯⎯⎯⎯⎯⎯⎯⎯⎯� 𝑘𝑘�𝐻𝐻0 = 𝑄𝑄𝑖𝑖0 = 𝑄𝑄𝑜𝑜0‬‬ ‫ﺑﮕﻴﺮﻳﻢ ﺩﺍﺭﻳﻢ‪:‬‬
‫𝑑𝑑𝑑𝑑‬

‫ﭘﺲ ﺩﺭ ﻧﻘﻄﻪ ﻛﺎﺭ ﺩﺑﻲ ﻭﺭﻭﺩﻱ ﻭ ﺩﺑﻲ ﺧﺮﻭﺟﻲ ﺑﺮﺍﺑﺮ ﻣﻲﺑﺎﺷﺪ ﺍﻣﺎ ﺑﺎ ﻭﺍﺭﺩ ﺷﺪﻥ ﺍﻏﺘﺸﺎﺵ ﺑﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﺳﻴﺴﺘﻢ ﺍﺯ ﻧﻘﻄﻪ ﻛﺎﺭ ﺧﺎﺭﺝ ﻣﻲﺷﻮﺩ‬
‫𝑑𝑑𝑑𝑑‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ‬
‫𝐴𝐴 ‌‬ ‫𝑜𝑜𝑄𝑄 ‪= 𝑄𝑄𝑖𝑖 −‬‬ ‫ﻭ ﻣﻲﺑﺎﻳﺴﺖ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺍﺭﺗﻔﺎﻉ ﻓﻜﺮﻱ ﻛﺮﺩ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺭﺍﺑﻄﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ‬
‫𝑑𝑑𝑑𝑑‬
‫ﺍﺭﺗﻔﺎﻉ ﺗﻨﻬﺎ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻳﻲ ﻛﻪ ﺩﺭ ﺩﺳﺖ ﻣﺎ ﻣﻲﺑﺎﺷﺪ 𝑖𝑖𝑄𝑄 ﻭ 𝑜𝑜𝑄𝑄 ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻲﺑﺎﻳﺴﺖ ﺩﺑﻲ ﻭﺭﻭﺩﻱ ﻭ ﻳﺎ ﺧﺮﻭﺟﻲ ﺭﺍ ﻛﻨﺘﺮﻝ ﻛﺮﺩ ﺑﺮﺍﻱ‬
‫ﻛﻨﺘﺮﻝ ﺩﺑﻲ ﻭﺭﻭﺩﻱ ﻭ ﻳﺎ ﺧﺮﻭﺟﻲ ﺍﺯ ﺷﻴﺮ ﻭ ﻳﺎ ﭘﻤﭗ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﻢ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﺷﻴﺮ ﺭﺍ ﺩﺭ ﺳﺮ ﺭﺍﻩ ﺧﺮﻭﺟﻲ ﺑﮕﺬﺍﺭﻳﻢ ﻭ ﺍﺭﺗﻔﺎﻉ ﺭﺍ‬
‫ﻛﻨﺘﺮﻝ ﻛﻨﻴﻢ ﻛﻪ ﺷﻜﻞ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 2‬ﻣﻲﺷﻮﺩ‪:‬‬

‫ﺷﻜﻞ‪ .2‬ﺷﻤﺎﺗﻴﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ‬

‫‪K‬‬
‫= ‪ 𝑄𝑄o‬ﺗﺒﺪﻳﻞ ﺷﻮﺩ ﻛﻪ )‪R(X‬‬ ‫‪√H‬‬ ‫ﺷﻴﺮ ﺳﻄﺢ ﻣﻘﻄﻊ ﺧﺮﻭﺟﻲ ﺭﺍ ﺗﻐﻴﻴﺮ ﻣﻲﺩﻫﺪ ﻭ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﺩﺑﻲ ﺧﺮﻭﺟﻲ ﺑﻪ ﺻﻮﺭﺕ‬
‫)‪R(x‬‬
‫ﻣﻘﺎﻭﻣﺖ ﺷﻴﺮ ﺩﺭ ﺑﺮﺍﺑﺮ ﻋﺒﻮﺭ ﺟﺮﻳﺎﻥ ﻣﻲﺑﺎﺷﺪ ﻭ ‪ X‬ﻣﻘﺪﺍﺭ ﻓﺎﺻﻠﻪ ﺗﻴﻐﻪ ﺷﻴﺮ ﺍﺯ ﺟﺪﺍﺭﻩ ﺑﺮﺍﻱ ﻋﺒﻮﺭ ﻣﺎﻳﻊ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭ ﺷﻜﻞ ‪ 3‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ‬
‫ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻣﻨﺤﻨﻲ ﻣﻘﺎﻭﻣﺖ ﺷﻴﺮ ﺗﻮﺳﻂ ﺳﺎﺯﻧﺪﮔﺎﻥ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ ﺩﺭ ﺣﺎﻟﺖ ﻛﻠﻲ ﻣﻨﺤﻨﻲ ﻣﻘﺎﻭﻣﺖ ﺷﻴﺮ ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 4‬ﻣﻲﺑﺎﺷﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫ﺷﻜﻞ‪ .4‬ﻣﻨﺤﻨﻲ ﻣﻘﺎﻭﻣﺖ ﺷﻴﺮ‬ ‫ﺷﻜﻞ‪.3‬ﻧﻤﺎﻱ ﺳﺎﺩﻩﺍﻱ ﺍﺯ ﻳﻚ ﺷﻴﺮ‬

‫‪1‬‬
‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﻣﻘﺎﻭﻣﺖ ﺷﻴﺮ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ =)‪ R(X‬ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪ .‬ﺍﻛﻨﻮﻥ ﺑﺎ ﺣﻀﻮﺭ ﺷﻴﺮ ﻣﻌﺎﺩﻟﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺷﻮﺩ‪:‬‬
‫𝑋𝑋‬

‫𝑑𝑑𝑑𝑑‬ ‫𝑘𝑘‬
‫𝐴𝐴‬ ‫‪= 𝑄𝑄𝑖𝑖 −‬‬ ‫𝐻𝐻√‬
‫𝑑𝑑𝑑𝑑‬ ‫)𝑋𝑋(𝑅𝑅‬
‫‪𝑑𝑑 𝐻𝐻 0‬‬
‫‪𝑑𝑑𝐻𝐻0‬‬ ‫𝑘𝑘‬ ‫𝑑𝑑𝑑𝑑‬
‫‪=0‬‬ ‫𝑘𝑘‬
‫𝐴𝐴‬ ‫‪= 𝑄𝑄𝑖𝑖0 −‬‬ ‫‪�𝐻𝐻0 �⎯⎯⎯⎯⎯� 𝑄𝑄𝑖𝑖0 = 𝑅𝑅(𝑋𝑋 ) �𝐻𝐻0‬‬ ‫ﺍﻣﺎ ﺩﺭ ﻧﻘﻄﻪﻱ ﻛﺎﺭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻌﺎﺩﻟﻪ ﺳﻴﺴﺘﻢ ﺩﺍﺭﻳﻢ‪:‬‬
‫𝑑𝑑𝑑𝑑‬ ‫) ‪𝑅𝑅(𝑋𝑋0‬‬ ‫‪0‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺗﻌﺪﺍﺩ ﻣﻌﺎﺩﻻﺕ ﻧﻘﻄﻪ ﻛﺎﺭ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ﻳﻚ ﻭ ﺗﻌﺪﺍﺩ ﻣﺘﻐﻴﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ﺳﻪ ﻣﻲﺑﺎﺷﺪ ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺭﺟﻪ ﺁﺯﺍﺩﻱ‬
‫ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 2‬ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺳﻴﺴﺘﻢ ﺭﺍ ﺧﻄﻲ ﺳﺎﺯﻱ ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺭﺍﺑﻄﻪﻱ ﺑﻴﻦ ﺍﻧﺤﺮﺍﻓﺎﺕ ﺭﺍ ﺑﺎﻳﺪ ﺑﺪﺳﺖ ﺑﻴﺎﻭﺭﻳﻢ‪.‬‬

‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑‬ ‫𝑘𝑘‬

‫𝐴𝐴‬ ‫‪= 𝑄𝑄𝑖𝑖 − 𝑄𝑄𝑜𝑜 ��� 𝐴𝐴 (𝐻𝐻0 + ℎ) = (𝑄𝑄𝑖𝑖0 + 𝑞𝑞𝑖𝑖 ) −‬‬ ‫‪�𝐻𝐻0 + ℎ‬‬
‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬ ‫)𝑥𝑥 ‪𝑅𝑅(𝑋𝑋0 +‬‬

‫ﺑﺎ ﻧﻮﺷﺘﻦ ﺑﺴﻂ ﺗﻴﻠﻮﺭ ﺑﺮﺍﻱ ﺟﻤﻠﻪ ﺩﻭﻡ ﺳﻤﺖ ﺭﺍﺳﺖ ﻣﻌﺎﺩﻟﻪ ﺑﺎﻻ ﺩﺍﺭﻳﻢ‪:‬‬

‫𝛼𝛼‬
‫‪𝑑𝑑ℎ‬‬ ‫𝑘𝑘‬ ‫��� ‪𝑘𝑘 �𝐻𝐻0‬‬
‫𝑑𝑑𝑑𝑑‬ ‫𝑘𝑘‬
‫𝐴𝐴‬ ‫� ‪= (𝑄𝑄𝑖𝑖0 + 𝑞𝑞𝑖𝑖 ) −‬‬ ‫‪�𝐻𝐻0 − 2‬‬ ‫‪� � 𝑥𝑥 +‬‬ ‫�𝑇𝑇 ‪ℎ + 𝐻𝐻. 𝑂𝑂.‬‬ ‫)‪(2‬‬
‫𝑑𝑑𝑑𝑑‬ ‫) ‪𝑅𝑅(𝑋𝑋0‬‬ ‫‪𝑅𝑅 (𝑋𝑋0 ) 𝑑𝑑𝑑𝑑 0‬‬ ‫𝐻𝐻√)𝑋𝑋(𝑅𝑅‪2‬‬

‫𝑘𝑘‬
‫= ‪ 𝑄𝑄𝑜𝑜0 = 𝑄𝑄𝑖𝑖0‬ﻣﻲﺗﻮﺍﻥ ﻣﻌﺎﺩﻟﻪ )‪ (2‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﺎﺯﻧﻮﻳﺴﻲ ﻛﺮﺩ‪:‬‬ ‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺩﺭ ﻧﻘﻄﻪ ﻛﺎﺭ ﺩﺍﺷﺘﻴﻢ ‪�𝐻𝐻0‬‬
‫) ‪𝑅𝑅(𝑋𝑋0‬‬

‫‪𝑑𝑑ℎ‬‬ ‫𝛼𝛼 ‪𝑄𝑄𝑜𝑜0‬‬ ‫‪𝑄𝑄𝑜𝑜0‬‬ ‫‪𝑑𝑑ℎ 𝑄𝑄𝑜𝑜0‬‬ ‫𝛼𝛼 ‪𝑄𝑄𝑜𝑜0‬‬

‫𝐴𝐴‬ ‫‪= 𝑞𝑞𝑖𝑖 +‬‬ ‫‪𝑥𝑥 −‬‬ ‫𝐴𝐴 �⎯⎯� ‪ℎ‬‬ ‫‪+‬‬ ‫=‪ℎ‬‬ ‫𝑖𝑖𝑞𝑞 ‪𝑥𝑥 +‬‬
‫𝑑𝑑𝑑𝑑‬ ‫) ‪𝑅𝑅(𝑋𝑋0‬‬ ‫‪2𝐻𝐻0‬‬ ‫‪𝑑𝑑𝑑𝑑 2𝐻𝐻0‬‬ ‫) ‪𝑅𝑅(𝑋𝑋0‬‬

‫ﺍﻛﻨﻮﻥ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺳﻴﺴﺘﻢ ﺧﻄﻲﺳﺎﺯﻱ ﺷﺪﻩ ﺑﺎ ﮔﺮﻓﺘﻦ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﺍﺯ ﻃﺮﻓﻴﻦ ﻣﻌﺎﺩﻟﻪ ﻓﻮﻕ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪𝑄𝑄𝑜𝑜0‬‬ ‫𝛼𝛼 ‪𝑄𝑄𝑜𝑜0‬‬

‫‪�𝐴𝐴𝐴𝐴 +‬‬ ‫= )𝑠𝑠(‪� ℎ‬‬ ‫)𝑠𝑠( 𝑖𝑖𝑞𝑞 ‪𝑥𝑥(𝑠𝑠) +‬‬
‫‪2𝐻𝐻0‬‬ ‫) ‪𝑅𝑅(𝑋𝑋0‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ ﺑﻪ ﺻﻮﺭﺕ ﺷﻜﻞ ‪ 5‬ﻣﻲﺷﻮﺩ‪:‬‬

‫ﺷﻜﻞ‪ .5‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺧﻄﻲ ﺷﺪﻩ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺳﻄﺢ‬

‫ﻛﻪ )‪ ga(s‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺤﺮﻙ‪ gm(s) ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻨﺴﻮﺭ ﻭ )‪ gc(s‬ﻛﻨﺘﺮﻟﺮ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺷﻤﺎﺗﻴﻚ ﺳﻴﺴﺘﻢ ﻏﻴﺮﺧﻄﻲ)ﺳﻴﺴﺘﻢ ﻭﺍﻗﻌﻲ( ﻧﻴﺰ‬
‫ﺩﺭ ﺷﻜﻞ ‪ 6‬ﺁﻭﺭﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﺷﻤﺎﺗﻴﻚ ﺳﻴﺴﺘﻢ ﻏﻴﺮﺧﻄﻲ‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﻓﺮﺽﻫﺎﻱ ﻣﻌﻘﻮﻟﻲ ﺑﺮﺍﻱ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺧﻮﺩ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪ ،‬ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﺭﺍ ﻓﺮﺽ ﻛﻨﻴﺪ ﻭ ﭘﺎﺭﺍﻣﺘﺮ ﺳﻮﻡ ﺭﺍ ﺍﺯ ﻣﻌﺎﺩﻟﻪ ﻧﻘﻄﻪ ﻛﺎﺭ‬
‫ﺑﻴﺎﺑﻴﺪ‪ .‬ﺳﭙﺲ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ ﺭﺍ ﺩﺭ ‪ simulink‬ﻭﺍﺭﺩ ﻛﻨﻴﺪ ﻭ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ ﻳﻚ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ‪ .‬ﺩﺭ‬
‫ﺍﺑﺘﺪﺍ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺎ ﺍﻋﻤﺎﻝ ﺍﻏﺘﺸﺎﺵ ﻭ ﺑﺪﻭﻥ ﺣﻀﻮﺭ ﻛﻨﺘﺮﻟﺮ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ ﺳﭙﺲ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﭘﺎﺳﺦ ﺭﺍ ﺩﻭﺑﺎﺭﻩ ﻣﺸﺎﻫﺪﻩ‬
‫ﻛﻨﻴﺪ‪ .‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﭼﻨﺎﻥ ﺗﻌﻴﻴﻦ ﻛﻨﻴﺪ ﺗﺎ ﺍﺛﺮ ﺍﻏﺘﺸﺎﺵ ﺑﺎ ﺳﺮﻋﺖ ﻭ ﺩﻗﺖ ﺑﻴﺸﺘﺮﻱ ﺩﺭ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺍﺯ ﺑﻴﻦ ﺑﺮﻭﺩ‪.‬‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺤﺮﻙ‪ Ga(s) ،‬ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻨﺴﻮﺭ )‪ Gm(s‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬

‫= )𝑠𝑠( 𝑎𝑎𝐺𝐺‬ ‫≤ 𝑎𝑎𝜏𝜏‬ ‫𝑇𝑇‬ ‫‪,‬‬ ‫= )𝑠𝑠( 𝑚𝑚𝐺𝐺‬ ‫≤ 𝑚𝑚𝜏𝜏‬ ‫𝑇𝑇‬
‫‪𝜏𝜏𝑎𝑎 𝑠𝑠 + 1‬‬ ‫‪10‬‬ ‫‪𝜏𝜏𝑚𝑚 𝑠𝑠 + 1‬‬ ‫‪20‬‬

‫ﻛﻪ ‪ T‬ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ﻣﺨﺰﻥ ﻣﻲﺑﺎﺷﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫‪ .B‬ﺳﻴﺴﺘﻢ ﻏﻴﺮ ﺧﻄﻲ ﺭﺍ ﺩﺭ ‪ simulink‬ﺷﺒﻴﻪ ‌ﺳﺎﺯﻱ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﻫﻤﺎﻥ ﻛﻨﺘﺮﻟﺮﻱ ﻛﻪ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﻃﺮﺍﺣﻲ ﻛﺮﺩﻳﺪ ﺭﺍ‬
‫ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻏﻴﺮ ﺧﻄﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻴﺪ‪ .‬ﭘﺎﺳﺦ ﻭﺍﻗﻌﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺑﺘﺪﺍ ﺑﺪﻭﻥ ﺣﻀﻮﺭ ﻛﻨﺘﺮﻟﺮ ﻭ ﺑﺪﻭﻥ ﺍﻏﺘﺸﺎﺵ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ ﻭ‬
‫ﭘﺎﺳﺦ ﺭﺍ ﺛﺒﺖ ﻛﻨﻴﺪ ﺳﭙﺲ ﺍﻏﺘﺸﺎﺵ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻧﻤﻮﺩﻩ ﻭ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺛﺒﺖ ﻛﻨﻴﺪ ﻭ ﺩﺭﻧﻬﺎﻳﺖ ﻛﻨﺘﺮﻟﺮﻱ ﻛﻪ ﻃﺮﺍﺣﻲ‬
‫ﻛﺮﺩﻳﺪ ﺭﺍ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻧﻤﻮﺩﻩ ﻭ ﻣﺠﺪﺩﺍً ﭘﺎﺳﺦ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪.‬‬
‫ﺁﻳﺎ ﻛﻨﺘﺮﻟﺮﻱ ﻛﻪ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﻃﺮﺍﺣﻲ ﻧﻤﻮﺩﻳﺪ ﺩﺭ ﺳﻴﺴﺘﻢ ﻭﺍﻗﻌﻲ ﻫﻢ ﻗﺎﺑﻠﻴﺖ ﺩﻓﻊ ﺍﻏﺘﺸﺎﺵ ﺭﺍ ﺩﺍﺭﺩ؟ ﺍﮔﺮ ﭘﺎﺳﺦ ﻣﻨﻔﻲ ﺍﺳﺖ‬
‫ﻣﻲﺩﺍﻧﻴﺪ؟‬
‫ﻋﻠﺖ ﺭﺍ ﭼﻪ ‌‬
‫ﺑﺮﺍﻱ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ simulink‬ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﻪ ﻃﺮﻳﻖ ﺯﻳﺮ ﻋﻤﻞ ﻛﻨﻴﺪ‪.‬‬

‫ﺷﻜﻞ‪ .7‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﺍﺭﺗﻔﺎﻉ ﻣﺎﻳﻊ ﺑﻪ ﻛﻤﻚ ﺷﻴﺮ ﺩﺭ ‪simulink‬‬

‫ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﻣﺪﻝ ﺷﻴﺮ ﻭ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻧﻴﺰ ﺩﺭ ﺷﻜﻞﻫﺎﻱ ‪ 8‬ﻭ ‪ 9‬ﺁﻭﺭﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .9‬ﻛﻨﺘﺮﻟﺮ ‪PID‬‬ ‫ﺷﻜﻞ‪ .8‬ﻣﺪﻝ ﺷﻴﺮ‬

‫‪78‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻧﻬﻢ‬

‫‪ .C‬ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺑﺎ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﭘﺎﺳﺦ ﭘﻠﻪ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ‬
‫ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﻮﺩ‪ ،‬ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﻧﻴﻜﻮﻟﺰ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺳﭙﺲ ﺑﺎ ﺍﻋﻤﺎﻝ ﺍﻏﺘﺸﺎﺵ ﭘﻠﻪﺍﻱ ﺑﻪ ﺳﻴﺴﺘﻢ ﻧﻤﻮﺩﺍﺭ‬
‫ﭘﺎﺳﺦ ﭘﻠﻪ ﺍﺯ ﻭﺭﻭﺩﻱ ﺍﻏﺘﺸﺎﺵ ﺑﻪ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪.‬‬

‫ﺗﻤﺮﻳﻦ‪:‬‬

‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺍﺭﺗﻔﺎﻉ ﻣﺎﻳﻊ ﺩﺭ ﻣﺨﺰﻥ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺷﻴﺮ ﺩﺭ ﺳﺮ ﺭﺍﻩ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻝ ﻛﻨﻴﻢ‪ .‬ﻛﻨﺘﺮﻟﺮ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ‬
‫‌‬ ‫‪.1‬‬
‫ﺷﺒﻴﻪﺳﺎﺯﻱ ﻛﻨﻴﺪ‪.‬‬
‫‌‬ ‫ﻛﻨﻴﺪ‪ .‬ﻭ ﺳﭙﺲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺧﻄﻲ ﻭ ﻭﺍﻗﻌﻲ ﺭﺍ ﺩﺭ ‪MATLAB‬‬

‫ﺷﻜﻞ‪ .10‬ﻛﻨﺘﺮﻝ ﺍﺭﺗﻔﺎﻉ ﻣﺎﻳﻊ ﺩﺭ ﻣﺨﺰﻥ ﻛﺮﻭﻱ‬

‫‪79‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫�‬
‫‪F21‬‬ ‫ﺁﺯﻣﺎﻳﺶ‪ :10‬ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺍﺑﺘﺪﺍ ﺑﻪ ﻣﺪﻝ ‌ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ ﺩﺭ ‪ MATLAB‬ﻣﻲ‌ﭘﺮﺩﺍﺯﺩ‪ .‬ﺳﭙﺲ ﻣﺪﻝ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﻣﻮﺭﺩ ﺗﺤﻠﻴﻞ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺩﺭ ﺍﻧﺘﻬﺎ‬
‫ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺑﻪ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﭘﺮﺩﺍﺯﻧﺪ ﻭ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﻣﻲﺩﻫﻨﺪ‪.‬‬

‫ﺩﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻳﻚ ﺗﻮپ ﺭﻭﻱ ﻳﻚ ﺗﺨﺘﻪ ﺣﺮﻛﺖ ﻣﻲﻛﻨﺪ ﻣﻄﺎﺑﻖ ﺷﻜﻞ ‪ 1‬ﺑﺎﺯﻭﻱ ﺍﻫﺮﻡ ﺍﺯ ﻳﻚ ﺍﻧﺘﻬﺎ ﺑﻪ ﺗﺨﺘﻪ ﻭ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺍﺯ ﺍﻧﺘﻬﺎﻱ ﺩﻳﮕﺮ ﺑﻪ ﭼﺮﺥ ﺩﻧﺪﻩ ﺳﺮﻭ ﻣﻮﺗﻮﺭ ﻣﺘﺼﻞ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺯﻣﺎﻧﻲ ﻛﻪ ﭼﺮﺥ ﺩﻧﺪﻩ ﺳﺮﻭ ﻣﻮﺗﻮﺭ ﺑﺎ ﺯﺍﻭﻳﻪﻱ ‪ θ‬ﻣﻲﭼﺮﺧﺪ ﺍﻫﺮﻡ ﺯﺍﻭﻳﻪﻱ ﺗﺨﺘﻪ‬
‫ﺭﺍ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﺯﺍﻭﻳﻪ ‪ α‬ﺗﻐﻴﻴﺮ ﻣﻲ ‌ﺩﻫﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﻢ ﻛﻪ ﺑﺘﻮﺍﻧﺪ ﺣﺮﻛﺖ ﺗﻮپ ﺭﺍ ﻛﻨﺘﺮﻝ ﻛﻨﺪ‪ .‬ﺗﻮپ‬
‫ﻫﻤﻴﺸﻪ ﺩﺭ ﻓﺎﺻﻠﻪ ‪ R‬ﺍﺯ ﺗﺨﺘﻪ � ﺣﺮﻛﺖ ﻣﻲﻛﻨﺪ‪ .‬ﺭﻭﺵ ﻛﻨﺘﺮﻝ ﺩﺭ ﺍﻳﻨﺠﺎ ﺗﻮﺳﻂ ﺯﺍﻭﻳﻪﻱ ‪ θ‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺎ ﺗﻐﻴﻴﺮ ﺯﺍﻭﻳﻪ‪ ،‬ﺗﻮپ ﺩﺭ ﻃﻮﻝ ﺗﺨﺘﻪ‬
‫‪F2‬‬

‫ﺗﻐﻴﻴﺮ ﻣﻜﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‬

‫ﻣﺪﻝﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‪ .‬ﺩﺭ ﺍﻳﻦ ﻣﺴﺎﻟﻪ ﻓﺮﺽ ﺑﺮ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺗﻮپ ﺩﺭ ﻳﻚ ﺭﺍﺳﺘﺎ ﺩﺭ ﺣﺎﻝ ﺣﺮﻛﺖ ﺍﺳﺖ ﻭ ﺍﺻﻄﻜﺎﻙ ﺑﻴﻦ‬
‫ﻣﻲﺁﻭﺭﻳﻢ‪.‬‬
‫ﺗﻮپ ﻭ ﺗﺨﺘﻪ ﻧﺎﭼﻴﺰ ﺍﺳﺖ‪ .‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻓﺮﺽ ﻣﻲﻛﻨﻴﻢ ﻭ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ‌‬

‫ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺳﻴﺴﺘﻢ ﻛﻪ ﻃﻲ ﻣﺮﺍﺣﻠﻲ ﺑﻪ ﺁﻥ ﻣﻲﺭﺳﻴﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬

‫‪1‬‬
‫‪Ball & beam‬‬
‫‪2‬‬
‫‪beam‬‬
‫‪80‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫)𝑠𝑠(𝑟𝑟‬ ‫𝑚𝑚𝑚𝑚𝑚𝑚‬ ‫‪1‬‬

‫‪=−‬‬
‫)𝑠𝑠(𝜃𝜃‬ ‫𝑗𝑗‬ ‫‪2‬‬
‫𝑠𝑠 )𝑚𝑚 ‪𝐿𝐿( 2 +‬‬
‫𝑅𝑅‬
‫‪ m‬ﺟﺮﻡ ﺗﻮپ ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 0.11kg‬ﻓﺮﺽ ﻛﻨﻴﺪ‪ R .‬ﺷﻌﺎﻉ ﺗﻮپ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 0.015m‬ﻓﺮﺽ ﻛﻨﻴﺪ ﻭ �‪ d‬ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 0.03m‬ﻭ ‪L‬‬
‫‪F23‬‬

‫ﻃﻮﻝ ﺗﺨﺘﻪ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 1m‬ﻓﺮﺽ ﻛﻨﻴﺪ ‪ j‬ﻣﻤﺎﻥ ﺍﻳﻨﺮﺳﻲ �)ﮔﺸﺘﺎﻭﺭ ﻟﺨﺘﻲ( ﺭﺍ ‪ 9.99e-6𝑘𝑘𝑘𝑘2‬ﻭ ‪ g‬ﮔﺮﺍﻧﺶ ﺯﻣﻴﻦ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪9.8 𝑚𝑚⁄s2‬‬
‫‪F24‬‬

‫ﻓﺮﺽ ﻛﻨﻴﺪ‪ r .‬ﻣﺨﺘﺼﺎﺕ ﻣﻜﺎﻥ ﺗﻮپ ﻭ ‪ θ‬ﺯﺍﻭﻳﻪﻱ ﭼﺮﺥ ﺩﻧﺪﻩ ﺳﺮﻭ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫𝑚𝑚𝑚𝑚𝑚𝑚‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺍﺭﻳﻢ‪:‬‬ ‫𝑗𝑗‬ ‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻌﺎﺩﻻﺕ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﺑﻴﺎﻭﺭﻳﻢ ﺍﺑﺘﺪﺍ ﻓﺮﺽ ﻣﻲﻛﻨﻴﻢ 𝑘𝑘 =‬
‫) 𝑚𝑚‪𝐿𝐿( 2 +‬‬
‫𝑅𝑅‬

‫)𝑠𝑠(𝑟𝑟‬ ‫𝑘𝑘‬
‫)𝑠𝑠(𝜃𝜃‪= − 2 ���� r(s)s 2 = −k‬‬
‫)𝑠𝑠(𝜃𝜃‬ ‫‪s‬‬

‫ﺍﺯ ﻃﺮﻓﻴﻦ ﻣﻌﺎﺩﻟﻪ ﻓﻮﻕ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﻣﻌﻜﻮﺱ ﻣﻲﮔﻴﺮﻳﻢ ﻭ ﺑﺪﻳﻦ ﺗﺮﺗﻴﺐ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺍﺯ ﻃﺮﻳﻖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ‬
‫ﻣﻲﺁﻳﺪ‪:‬‬

‫𝑟𝑟 = ‪𝑟𝑟1‬‬ ‫‪𝑟𝑟1 = 𝑟𝑟2‬‬

‫)𝑠𝑠(𝜃𝜃‪𝑟𝑟̈ = −k𝜃𝜃(𝑠𝑠) �⎯� �𝑟𝑟 ̇ = 𝑟𝑟̇ �⎯� � 𝑟𝑟 ̇ = 𝑟𝑟̈ (𝑠𝑠) = −k‬‬
‫‪1‬‬ ‫‪2‬‬

‫̇ 𝑟𝑟‬ ‫‪0 1 𝑟𝑟1‬‬ ‫‪0‬‬

‫� = �‪� 1‬‬ ‫𝜃𝜃 � � ‪� �𝑟𝑟 � +‬‬
‫̇‪𝑟𝑟2‬‬ ‫‪0 0 2‬‬ ‫𝑘𝑘‪−‬‬

‫ﻣﻌﺎﺩﻻﺕ ﺣﺎﻟﺖ ﻛﺎﻣﻞﺗﺮ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻓﻮﻕ ﻛﻪ ﺑﻪ ﺻﻮﺭﺕ ﻛﺎﻣﻞﺗﺮﻱ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻴﺎﻥ ﻣﻲﻛﻨﺪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ ﺗﻮﺟﻪ ﺩﺍﺭﻳﻢ ﻛﻪ‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﺻﻮﺭﺕ ﻛﺎﻣﻞ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻴﺎﻥ ﻧﻤﻲﻛﻨﺪ‪.‬‬

‫‪0‬‬ ‫‪0‬‬
‫̇𝑟𝑟‬ ‫‪⎡0‬‬ ‫‪1‬‬ ‫𝑚𝑚𝑚𝑚‬ ‫𝑟𝑟 ⎤‬ ‫‪0‬‬
‫⎢‬
‫‪� 𝑟𝑟̈ � = ⎢0‬‬ ‫) 𝑚𝑚‪0 − ( 𝑗𝑗2 +‬‬ ‫⎥‪0‬‬
‫̇𝑟𝑟‬ ‫‪0‬‬
‫̇𝛼𝛼‬
‫𝑅𝑅‬ ‫�‪⎥ �𝛼𝛼 � + �0‬‬
‫̈𝛼𝛼‬ ‫‪⎢0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫̇𝛼𝛼 ⎥ ‪1‬‬
‫‪1‬‬
‫‪⎣0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫⎦ ‪0‬‬
‫𝑟𝑟‬
‫� ̇𝑟𝑟‬
‫𝛼𝛼� ]‪𝑦𝑦 = [1 0 0 0‬‬
‫̇𝛼𝛼‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ M-file‬ﻧﻮﺷﺘﻪ ﺗﺎ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪ .‬ﺳﭙﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺭﺍ‬
‫ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪.‬‬

‫‪1‬‬
‫‪Lever arm offset‬‬
‫‪2‬‬
‫‪Ball’s moment of inertia‬‬
‫‪81‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫;‪m=0.111; R=0.015; g=9.8; l=1; d=0.03; j=9.99e-6‬‬

‫;))‪k=-(m*g*d)/(l*(j/(R^2)+m‬‬
‫)‪num=[k]; den=[1 0 0]; G=tf(num,den‬‬

‫‪ .B‬ﺳﻴﺴﺘﻢ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﺁﻳﺎ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ؟‬
‫‪ .C‬ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﺳﻢ‬
‫ﺷﺪﻩ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﺤﺚ ﻛﻨﻴﺪ‪.‬‬
‫‪ .D‬ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﺳﻢ ﻛﻨﻴﺪ ﻭ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻫﺮ ﻧﻤﻮﺩﺍﺭ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪.‬‬
‫‪ 3‬ﺛﺎﻧﻴﻪ ﻭ ﻣﺎﻛﺰﻳﻤﻢ ﺩﺭﺻﺪ ﻓﺮﺍﺟﻬﺶ ﻛﻤﺘﺮ ﺍﺯ ‪ %5‬ﺷﻮﺩ‬ ‫‪ .E‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﻢ ﺗﺎ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﻛﻤﺘﺮ ﺍﺯ‬
‫‪ sisotool‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﺿﺎﻓﻪ ﻛﻨﻴﺪ ﻭ ﭘﺎﺳﺦ ﭘﻠﻪ‬ ‫ﻛﻨﺘﺮﻟﺮ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﺩﺭ ﺟﻌﺒﻪﺍﺑﺰﺍﺭ‬
‫ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ ﻭ ﺑﺮﺭﺳﻲ ﻛﻨﻴﺪ ﻛﻪ ﺧﻮﺍﺳﺘﻪﻫﺎ ﺑﺮﺁﻭﺭﺩﻩ ﺷﺪﻩﺍﻧﺪ ﻳﺎ ﺧﻴﺮ؟‬
‫‪ .F‬ﻫﻤﺎﻥﻃﻮﺭ ﻛﻪ ﻣﻲﺩﺍﻧﻴﻢ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺑﺎ ﻣﻌﺎﺩﻟﻪ ﻣﻘﺎﺑﻞ ﻣﺪﻝ ﻣﻲﺷﻮﺩ ‪:‬‬
‫𝐼𝐼 𝑘𝑘‬
‫‪𝑘𝑘𝑝𝑝 + 𝑘𝑘𝐷𝐷 𝑠𝑠 +‬‬
‫𝑠𝑠‬
‫𝐷𝐷 𝑘𝑘‪𝑘𝑘 𝑝𝑝 𝑠𝑠+‬‬ ‫𝑘𝑘‪𝑠𝑠 2 +‬‬
‫ﻛﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺁﻥ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬
‫𝐼𝐼‬
‫𝑠𝑠‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻣﻼﺣﻈﻪ ﻣﻲﺷﻮﺩ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﻳﻚ ﻗﻄﺐ ﺩﺭ ﻣﺒﺪﺍ ﺍﻳﺠﺎﺩ ﻛﺮﺩﻩ ﻛﻪ ﺑﻪ ﺩﻟﻴﻞ ﺍﻓﺰﺍﻳﺶ ﻧﻮﻉ ﺳﻴﺴﺘﻢ‪ ،‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺋﻢ ﺍﺯ‬
‫ﺑﻴﻦ ﺭﻓﺘﻪ ﻭ ﺍﻓﺰﻭﺩﻥ ﺩﻭ ﺻﻔﺮ ﺑﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﺣﺎﻟﺖ ﮔﺬﺭﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻬﺒﻮﺩ ﻣﻲﺑﺨﺸﺪ‪ .‬ﺩﺭ ﺍﻳﻨﮕﻮﻧﻪ ﻣﻮﺍﺭﺩ ﻣﻌﻤﻮ ًﻻ ﻳﻚ ﺻﻔﺮ ﺭﺍ ﻧﺰﺩﻳﻚ‬
‫ﻣﺒﺪﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻧﺪ ﺗﺎ ﺍﻳﻦ ﻛﻪ ﻗﻄﺐ ﻣﺒﺪﺍ ﺭﺍ ﺟﺒﺮﺍﻥ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﮔﺬﺭﺍ ﺑﻬﺘﺮ ﺷﻮﺩ‪.‬‬
‫ﺩﺭ ﻗﺴﻤﺖ ﻛﻨﺘﺮﻟﺮ ﺟﻌﺒﻪﺍﺑﺰﺍﺭ ‪ sisotool‬ﺩﻭ ﺻﻔﺮ ﺣﻘﻴﻘﻲ ﻭ ﻳﻚ ﻗﻄﺐ ﺩﺭ ﻣﺒﺪﺍ ﺍﺿﺎﻓﻪ ﻛﻨﻴﺪ ﻣﻜﺎﻥ ﺻﻔﺮﻫﺎ ﺭﺍ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺗﻐﻴﻴﺮ ﺩﻫﻴﺪ‬
‫ﺗﺎ ﺑﻪ ﺑﻬﺘﺮﻳﻦ ﭘﺎﺳﺦ ﺑﺮﺳﻴﻢ‪ .‬ﻣﺤﻞ ﺻﻔﺮﻫﺎ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺭﺍ ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪.‬‬
‫‪ .G‬ﺑﻪ ﻛﻤﻚ ﺑﺨﺶ ‪ Automated Tuning‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺍﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﺗﺎ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﺭﺍ‬
‫ﻛﻤﺘﺮ ﺍﺯ ‪ 3‬ﺛﺎﻧﻴﻪ ﻭ ﻣﺎﻛﺰﻳﻤﻢ ﺩﺭﺻﺪ ﻓﺮﺍﺟﻬﺶ ﻛﻤﺘﺮ ﺍﺯ ‪ %5‬ﺷﻮﺩ‪.‬‬
‫‪ .H‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﺯﻳﮕﻠﺮ‪-‬ﻧﻴﻜﻮﻟﺲ ﺍﺑﺘﺪﺍ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ ﻭ ﺳﭙﺲ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪﺍﺑﺰﺍﺭ ‪ pidtuner‬ﺿﺮﺍﻳﺐ ﺭﺍ‬
‫ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﺗﻨﻈﻴﻢ ﻛﻨﻴﺪ ﺗﺎ ﺑﻪ ﺧﻮﺍﺳﺘﻪﻫﺎ ﺑﺮﺳﻴﻢ‪.‬‬
‫ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ simulink‬ﺷﺒﻴﻪ‌ﺳﺎﺯﻱ ﻛﺮﺩﻩ ﻭ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﻃﺮﺍﺣﻲ ﺷﺪﻩ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ‬ ‫‪.I‬‬
‫ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﻭ ﻧﺘﺎﻳﺞ ﺧﻮﺩ ﺭﺍ ﺛﺒﺖ ﻛﻨﻴﺪ‪.‬‬

‫ﺑﺮﺍﻱ ﺷﺒﻴﻪ ‌ﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ simulink‬ﺍﺑﺘﺪﺍ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺯ ﺭﻭﻱ ﻣﻌﺎﺩﻟﻪ ﺭﻳﺎﺿﻲ ﺳﻴﺴﺘﻢ ﺷﺒﻴﻪﺳﺎﺯﻱ ﻣﻲﻛﻨﻴﻢ‪ ،‬ﻣﻌﺎﺩﻟﻪ ﺣﺮﻛﺖ‬
‫ﻻﮔﺮﺍﻧﮋ ﺑﺮﺍﻱ ﺗﻮپ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫𝐽𝐽‬
‫�=‪0‬‬ ‫‪+ 𝑚𝑚� 𝑟𝑟̈ + 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 − 𝑚𝑚𝑚𝑚(𝛼𝛼̇ )2‬‬
‫‪𝑅𝑅2‬‬
‫𝑑𝑑‬
‫𝜃𝜃 = 𝛼‬ ‫ﺯﺍﻭﻳﻪﻱ ﺗﺨﺘﻪ)‪ (α‬ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻛﻤﻚ ﺯﺍﻭﻳﻪﻱ ﭼﺮﺥ ﺩﻧﺪﻩ)‪ (θ‬ﺑﻴﺎﻥ ﻛﺮﺩ‪:‬‬
‫𝐿𝐿‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻌﺎﺩﻟﻪﻱ ﻏﻴﺮ ﺧﻄﻲ ﻻﮔﺮﺍﻧﮋ ﺑﺮﺍﻱ ﺣﺮﻛﺖ ﺭﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﻪ ﺻﻮﺭﺕ ﻣﺴﺘﻘﻴﻢ ﻣﺪﻝ ﻛﻨﻴﻢ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮔﺎﻡﻫﺎﻱ ﺯﻳﺮ ﺭﺍ‬
‫ﻃﻲ ﻛﻨﻴﺪ‪:‬‬

‫ﺍﺑﺘﺪﺍ ﺩﻭ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻭ ﺳﭙﺲ ﻳﻚ ﺑﻠﻮﻙ ﺧﺮﻭﺟﻲ ﻭﺍﺭﺩ ﻛﻨﻴﺪ‪.‬‬ ‫•‬

‫ﻣﻄﺎﺑﻖ ﺷﻜﻞ ‪ 2‬ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻭ ﺑﻠﻮﻙ ﺧﺮﻭﺟﻲ ﺭﺍ ﺑﻪ ﻫﻢ ﻭﺻﻞ ﻛﻨﻴﺪ‪.‬‬ ‫•‬
‫ﺑﻠﻮﻙ ﺧﺮﻭﺟﻲ ﺭﺍ ﺗﺤﺖ ﻋﻨﻮﺍﻥ ‪ r‬ﻭ ﺧﻄﻮﻁ ﺭﺍ ﻣﻄﺎﺑﻖ ﺑﺎ ﻧﺎﻡﻫﺎﻳﻲ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﻣﻲﺑﻴﻨﻴﺪ ﻧﺎﻣﮕﺬﺍﺭﻱ ﻛﻨﻴﺪ‪.‬‬ ‫•‬

‫ﺷﻜﻞ‪2‬‬

‫𝑟𝑟 ‪𝑑𝑑 2‬‬ ‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬

‫ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﺧﺮﻭﺟﻲ‬ ‫𝑟𝑟� ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﻭﺭﻭﺩﻱ ﺩﺭﻳﺎﻓﺖ ﻣﻲﻛﻨﺪ ﻭ‬ ‫𝛼𝛼‬ ‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﻠﻮﻙ ﺗﺎﺑﻊ ﺭﺍ ﻭﺍﺭﺩ ﻛﻨﻴﻢ ﻛﻪ ﺑﺮﺩﺍﺭ �‬
‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬
‫ﻣﻲﺩﻫﺪ‪.‬‬
‫‌‬

‫ﺑﻠﻮﻙ ‪ F cn‬ﺍﺯ ﻗﺴﻤﺖ ‪ user defined function‬ﻭﺍﺭﺩ ﻧﻤﺎﻳﻴﺪ‪.‬‬ ‫•‬

‫ﺑﺮ ﺭﻭﻱ ﺑﻠﻮﻙ ‪ F cn‬ﺩﻭﺑﺎﺭ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﺗﺎﺑﻊ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻛﻨﻴﺪ‪:‬‬ ‫•‬

‫)‪(-1/(J/(R^2)+m))*(m*g*sin(u[3])-m*u[1]*(u[4])^2‬‬

‫ﺍﻳﻦ ﺑﻠﻮﻙ ﺑﺮﺩﺍﺭ ﻭﺭﻭﺩﻱ ‪ u‬ﺭﺍ ﺩﺭﻳﺎﻓﺖ ﻣﻲﻛﻨﺪ ﻛﻪ ﺩﺍﺭﺍﻱ ﭼﻬﺎﺭ ﻋﻀﻮ ﻣﻲﺑﺎﺷﺪ ﻭ ﺍﻳﻦ ﺍﻋﻀﺎ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬

‫𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑‬
‫]‪𝑢𝑢 = [𝑢𝑢[1‬‬ ‫]‪u[2] u[3‬‬ ‫𝑟𝑟� = ]]‪u[4‬‬ ‫𝛼𝛼‬ ‫�‬
‫𝑑𝑑𝑑𝑑‬ ‫𝑑𝑑𝑑𝑑‬

‫ﺷﻜﻞ‪ .3‬ﺗﻌﺮﻳﻒ ﺗﺎﺑﻊ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫ﺷﻜﻞ‪4‬‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺮﺩﺍﺭ ﻭﺭﻭﺩﻱ ‪ u‬ﺑﺮﺍﻱ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻓﻮﻕ ﺭﺍ ﺑﺴﺎﺯﻳﻢ ‪:‬‬

‫ﺍﺑﺘﺪﺍ ‪ mux‬ﺭﺍ ﻭﺍﺭﺩ ﺳﻴﺴﺘﻢ ﻛﻨﻴﺪ ﻭ ﺗﻌﺪﺍﺩ ﻭﺭﻭﺩﻱﻫﺎﻱ ﺁﻥ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 4‬ﺍﻧﺘﺨﺎﺏ ﻧﻤﺎﻳﻴﺪ‪.‬‬ ‫•‬
‫ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 5‬ﻭﺭﻭﺩﻱﻫﺎﻱ ‪ r‬ﻭ ‪ 𝑑𝑑𝑑𝑑�dt‬ﺭﺍ ﺍﺯ ﻣﺤﻠﻲ ﻛﻪ ﻧﺎﻣﮕﺬﺍﺭﻱ ﻧﻤﻮﺩﻳﺪ ﺑﻪ ﻭﺭﻭﺩﻱﻫﺎﻱ ‪ mux‬ﻭﺻﻞ ﻧﻤﺎﻳﻴﺪ‪.‬‬ ‫•‬

‫ﺷﻜﻞ‪ .5‬ﻭﺍﺭﺩ ﻛﺮﺩﻥ ﻭﺭﻭﺩﻱﻫﺎ ﺑﺮﺍﻱ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﺗﺎﺑﻊ‬

‫ﻭ ﺩﺭ ﻧﻬﺎﻳﺖ ﺑﺮﺍﻱ ﻭﺭﻭﺩﻱﻫﺎﻱ 𝛼 ﻣﺎﻧﻨﺪ ﺷﻜﻞ ‪ 6‬ﻋﻤﻞ ﻣﻲﻛﻨﻴﻢ‪:‬‬

‫ﺷﻜﻞ‪ .6‬ﻣﺪﻝ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‬

‫ﺍﮔﺮ ﺑﺨﻮﺍﻫﻴﻢ ﺍﻳﻦ ﻣﺪﻝ ﺭﺍ ﺩﺭ ﺑﻠﻮﻙ ‪ subsystem‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﻛﺎﻓﻴﺴﺖ ﺩﺭ ﻳﻚ ﭘﻨﺠﺮﻩ ﺩﻳﮕﺮ ﺑﻠﻮﻙ ‪ subsystem‬ﺭﺍ ﻭﺍﺭﺩ ﻛﻨﻴﻢ ﻭ‬
‫ﺳﭙﺲ ﻣﺪﻝ ﺑﺎﻻ )ﺷﻜﻞ ‪ (6‬ﺭﺍ ﺩﺭ ﺁﻥ ﻛﭙﻲ ﻛﻨﻴﻢ‪ .‬ﻛﻪ ﺩﺭ ﺷﻜﻞ ‪ 7‬ﺍﻳﻦ ﻣﻮﺿﻮﻉ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .7‬ﺗﻌﺮﻳﻒ ﻣﺪﻝ ﺗﻮپ ﻭ ﺗﺨﺘﻪ ﺩﺭ ﻳﻚ ﺯﻳﺮ ﺳﻴﺴﺘﻢ‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻫﻢ‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺷﻜﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ simulink‬ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﻣﻲﻛﻨﻴﻢ‪.‬‬

‫ﺷﻜﻞ‪ .8‬ﺍﻋﻤﺎﻝ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺑﻪ ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‬

‫ﻗﺒﻞ ﺍﺯ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺑﺎﻳﺪ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﺗﻌﺮﻳﻒ ﻛﻨﻴﻢ‪:‬‬

‫;‪m = 0.111; R = 0.015; g = -9.8; L = 1.0; d = 0.03; J = 9.99e-6‬‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺗﻮﺍﻧﻴﻢ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ‪:‬‬

‫ﺷﻜﻞ‪ .9‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺗﻮپ ﻭ ﺗﺨﺘﻪ‬

‫ﻣﺪﻝ ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺩﺭ ﻣﺤﻴﻂ ﺳﻴﻤﻮﻟﻴﻨﻚ ﺭﺍ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﺻﻮﺭﺕ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻭ ﻳﺎ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺩﺭ ‪ MATLAB‬ﺩﺍﺷﺖ ‪ .‬ﺑﺮﺍﻱ ﺍﻳﻦ ﻛﺎﺭ‬
‫ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﺩﺳﺘﻮﺭ ‪ linmod‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﺎﻳﻴﻢ‪ .‬ﺑﺎﻳﺪ ﺗﻮﺟﻪ ﺩﺍﺷﺖ ﻛﻪ ﻣﺪﻝ ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺣﺘﻤﺎً ﺑﺎﻳﺪ ﺩﺍﺭﺍﻱ ﺑﻠﻮﻙﻫﺎﻱ ﻭﺭﻭﺩﻱ ﻭ ﺑﻠﻮﻙﻫﺎﻱ‬
‫ﺧﺮﻭﺟﻲ ﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﺍﻳﻦ ﻛﻪ ﻣﺪﻝ ﺗﻮپ ﻭ ﺗﺨﺘﻪ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﻛﺎﻓﻴﺴﺖ ﻭﺍﺭﺩ ﻛﻨﻴﻢ‪:‬‬

‫)'‪[A,B,C,D]=linmod('ball‬‬
‫)‪[num,den]=ss2tf(A,B,C,D‬‬
‫ﺩﺭ ﻣﺤﻴﻂ ﺳﻴﻤﻮﻟﻴﻨﻚ ﻳﻚ ﻛﻨﺘﺮﻟﺮ ﭘﻴﺸﻔﺎﺯ ﺩﺍﺭﺍﻱ ﺻﻔﺮﻱ ﺩﺭ ‪ -0.01‬ﻭ ﻗﻄﺒﻲ ﺩﺭ ‪ -5‬ﺑﺎ ﺑﻬﺮﻩﻱ ‪ 37.1‬ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺗﻌﺮﻳﻒ ﻛﺮﺩﻩ ﻭ ﭘﺎﺳﺦ‬
‫ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺭﺍ ﺍﻛﻨﻮﻥ ﺩﺭ ﺣﻀﻮﺭ ﺍﻳﻦ ﻛﻨﺘﺮﻟﺮ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪.‬‬

‫ﺗﻮﺟﻪ‪ :‬ﺍﻧﻴﻤﻴﺸﻦ ﻣﺮﺑﻮﻁ ﺑﻪ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﺎ ﺍﺟﺮﺍﻱ ﻓﺎﻳﻞ ‪ bbGUI.m‬ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺍﻳﻦ ﺍﻧﻴﻤﻴﺸﻦ ﻛﻪ ﺑﻪ‬
‫ﺻﻮﺭﺕ ‪ GUI‬ﻣﻲﺑﺎﺷﺪ ﺑﺮﺍﻱ ﺩﺭﻙ ﺑﻬﺘﺮ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺑﺎ ﺍﺟﺮﺍﻱ ﺍﻳﻦ‬
‫ﻓﺎﻳﻞ ﻛﺸﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :11‬ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺍﺑﺘﺪﺍ ﺑﻪ ﻣﺪﻝﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ ﺩﺭ ‪ MATLAB‬ﻣﻲﭘﺮﺩﺍﺯﺩ‪ .‬ﺳﭙﺲ ﻣﺪﻝ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﻣﻮﺭﺩ ﺗﺤﻠﻴﻞ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺩﺭ ﺍﻧﺘﻬﺎ‬
‫ﺩﺍﻧﺸﺠﻮﻳﺎﻥ ﺑﻪ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﭘﺮﺩﺍﺯﻧﺪ ﻭ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﻣﻲﺩﻫﻨﺪ‪.‬‬

‫ﺷﻜﻞ‪ 1‬ﮔﺎﺭﻱ ﺑﺎ ﻳﻚ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﻛﻪ ﺩﺭ ﺁﻥ ﻧﻴﺮﻭﻱ ﺿﺮﺑﻪﻱ ‪ F‬ﺑﻪ ﺟﺮﻡ ‪ M‬ﺍﻋﻤﺎﻝ ﺷﺪﻩ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪.1‬ﮔﺎﺭﻱ ﻭ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ‬

‫‪ 𝜃 = 0‬ﺭﺍ‬ ‫ﺍﺑﺘﺪﺍ ﻣﻌﺎﺩﻻﺕ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺣﺮﻛﺖ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ ﻭ ﺳﭙﺲ ﺧﻄﻲ ﺳﺎﺯﻱ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺣﺪﻭﺩ ﺯﺍﻭﻳﻪﻱ‬
‫ﺍﻧﺠﺎﻡ ﻣﻲﺩﻫﻴﻢ )ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﻓﺮﺽ ﻣﻲﻛﻨﻴﻢ ﭘﺎﻧﺪﻭﻝ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺑﻴﺸﺘﺮ ﺍﺯ ﭼﻨﺪ ﺩﺭﺟﻪ ﺍﺯ ﺧﻂ ﻋﻤﻮﺩ ﺣﺮﻛﺖ ﻛﻨﺪ( ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ‬
‫ﻓﺮﺽ ﻣﻲﻛﻨﻴﻢ ﻛﻪ‪:‬‬

‫‪0.5kg‬‬ ‫ﺟﺮﻡ ﮔﺎﺭﻱ‬ ‫‪M‬‬

‫‪0.2kg‬‬ ‫ﺟﺮﻡ ﭘﺎﻧﺪﻭﻝ‬ ‫‪m‬‬
‫‪0.1 N/m/sec‬‬ ‫ﺍﺻﻄﻜﺎﻙ ﮔﺎﺭﻱ‬ ‫‪b‬‬
‫‪0.3 m‬‬ ‫ﻃﻮﻝ ﻣﺮﻛﺰ ﺟﺮﻡ ﭘﺎﻧﺪﻭﻝ‬ ‫‪l‬‬
‫‪0.006 kg*m^2‬‬ ‫ﺍﻳﻨﺮﺳﻲ)ﻟﺨﺘﻲ( ﭘﺎﻧﺪﻭﻝ‬ ‫‪I‬‬
‫ﻧﻴﺮﻡ ﺍﻋﻤﺎﻝ ﺷﺪﻩ ﺑﻪ ﮔﺎﺭﻱ‬ ‫‪F‬‬
‫ﻣﺨﺘﺼﺎﺕ ﻣﻜﺎﻥ ﮔﺎﺭﻱ‬ ‫‪x‬‬
‫ﺯﺍﻭﻳﻪ ﭘﺎﻧﺪﻭﻝ ﻧﺴﺒﺖ ﺑﻪ ﺧﻂ ﻋﻤﻮﺩ‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﻣﺪﻝﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ‪ .‬ﺩﺭ ﺷﻜﻞ ‪ 2‬ﺩﻳﺎﮔﺮﺍﻡ ﺳﻴﺴﺘﻢ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .2‬ﻧﻴﺮﻭﻫﺎﻱ ﺍﻋﻤﺎﻟﻲ ﺩﺭ ﺳﻴﺴﺘﻢ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ‬

‫𝐹𝐹 = 𝑁𝑁 ‪𝑀𝑀𝑥𝑥̈ + 𝑏𝑏𝑥𝑥̇ +‬‬ ‫ﺑﺎ ﺟﻤﻊ ﻧﻴﺮﻭﻫﺎﻱ ﺍﻋﻤﺎﻝ ﺷﺪﻩ ﺑﻪ ﮔﺎﺭﻱ ﺩﺭ ﺟﻬﺖ ﺍﻓﻘﻲ ﻣﻌﺎﺩﻟﻪ ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﺭﻭﺑﻪﺭﻭ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬

‫ﺑﺎﻳﺪ ﺗﻮﺟﻪ ﺩﺍﺷﺖ ﻛﻪ ﺷﻤﺎ ﻣﻲﺗﻮﺍﻧﻴﺪ ﻧﻴﺮﻭﻫﺎ ﺭﺍ ﺩﺭ ﺟﻬﺖ ﻋﻤﻮﺩﻱ ﻧﻴﺰ ﺟﻤﻊ ﻛﻨﻴﺪ ﻭﻟﻲ ﺑﺎ ﺍﻳﻦ ﻛﺎﺭ ﺍﻃﻼﻋﺎﺕ ﻣﻔﻴﺪﻱ ﺣﺎﺻﻞ ﻧﺨﻮﺍﻫﺪ ﺷﺪ‪.‬‬

‫ﺑﺎ ﺟﻤﻊ ﻧﻴﺮﻭﻫﺎﻱ ﺍﻋﻤﺎﻝ ﺷﺪﻩ ﺑﻪ ﭘﺎﻧﺪﻭﻝ ﺩﺭ ﺟﻬﺖ ﺍﻓﻘﻲ ﻣﻌﺎﺩﻟﻪ ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬

‫𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 ‪𝑁𝑁 = 𝑚𝑚𝑥𝑥̈ + 𝑚𝑚𝑚𝑚𝜃𝜃̈ 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 − 𝑚𝑚𝑚𝑚𝜃𝜃̇ 2‬‬

‫ﺍﮔﺮ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﺭﺍ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺍﻭﻝ ﺟﺎﻳﮕﺬﺍﺭﻱ ﻛﻨﻴﺪ ﻣﻌﺎﺩﻟﻪ ﺍﻭﻝ ﺣﺮﻛﺖ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬

‫𝐹𝐹 = 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 ‪(𝑀𝑀 + 𝑚𝑚)𝑥𝑥̈ + 𝑏𝑏𝑥𝑥̇ + 𝑚𝑚𝑚𝑚𝜃𝜃̈ 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 − 𝑚𝑚𝑚𝑚𝜃𝜃̇ 2‬‬ ‫)‪(1‬‬

‫ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﻣﻌﺎﺩﻟﻪ ﺩﻭﻡ ﺣﺮﻛﺖ ﺑﺮﺁﻳﻨﺪ ﻧﻴﺮﻭﻫﺎﻱ ﻋﻤﻮﺩﻱ ﭘﺎﻧﺪﻭﻝ ﺭﺍ ﻣﻲﻧﻮﻳﺴﻴﻢ‪:‬‬

‫𝜃𝜃 ‪𝑃𝑃 sin 𝜃𝜃 + 𝑁𝑁 cos 𝜃𝜃 − 𝑚𝑚𝑚𝑚 sin 𝜃𝜃 = 𝑚𝑚𝑚𝑚𝜃𝜃̈ + 𝑚𝑚𝑥𝑥̈ cos‬‬

‫ﺑﺮﺍﻱ ﺭﻫﺎﻳﻲ ﺍﺯ ﺟﻤﻠﻪﻫﺎﻱ ‪ N‬ﻭ ‪ P‬ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺑﺎﻻ‪ ،‬ﻣﻌﺎﺩﻟﻪ ﺑﺮﺁﻳﻨﺪ ﮔﺸﺘﺎﻭﺭﻫﺎ ﺣﻮﻝ ﻣﺮﻛﺰ ﺛﻘﻞ ﭘﺎﻧﺪﻭﻝ ﺭﺍ ﻣﻲﻧﻮﻳﺴﻴﻢ‪:‬‬

‫̈𝜃𝜃𝐼𝐼 = 𝜃𝜃 ‪−𝑝𝑝𝑝𝑝 sin 𝜃𝜃 − 𝑁𝑁𝑁𝑁 cos‬‬

‫ﺍﺯ ﺗﺮﻛﻴﺐ ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﺍﺧﻴﺮ ﻣﻌﺎﺩﻟﻪ ﺩﻭﻡ ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﺪ‪:‬‬

‫𝜃𝜃 ‪(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 )𝜃𝜃̈ + 𝑚𝑚𝑚𝑚𝑚𝑚 sin 𝜃𝜃 = −𝑚𝑚𝑚𝑚𝑥𝑥̈ cos‬‬ ‫)‪(2‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺳﻴﺴﺘﻢ)ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﺑﺪﺳﺖ ﺁﻣﺪﻩ( ﺭﺍ ﺣﻮﻝ ﺯﺍﻭﻳﻪ ‪ θ = π‬ﺧﻄﻲ ﺳﺎﺯﻱ ﻛﻨﻴﻢ‪ .‬ﻓﺮﺽ ﻣﻲﻛﻨﻴﻢ ﻛﻪ ‪φ ) θ = π + φ‬‬
‫‪dθ‬‬
‫ﺑﻴﺎﻥ ﻛﻨﻨﺪﻩ ﻳﻚ ﺯﺍﻭﻳﻪﻱ ﻛﻮﭼﻚ ﻣﻲﺑﺎﺷﺪ‪ (.‬ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ sin 𝜃𝜃 = −𝜑𝜑 ، cos 𝜃𝜃 = −1‬ﻭ ‪ ( )2 = 0‬ﺑﻌﺪ ﺍﺯ ﺧﻄﻲ ‌ﺳﺎﺯﻱ ﺩﻭ ﻣﻌﺎﺩﻟﻪ‬
‫‪dt‬‬
‫ﺣﺮﻛﺖ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺷﻮﻧﺪ‪ u ):‬ﻧﺸﺎﻥ ﺩﻫﻨﺪﻩﻱ ﻭﺭﻭﺩﻱ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ(‬

‫̈𝑥𝑥𝑚𝑚𝑚𝑚 = 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 ‪(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 )𝜑𝜑̈ −‬‬

‫𝑢𝑢 = ̈𝜑𝜑𝑚𝑚𝑚𝑚 ‪(𝑀𝑀 + 𝑚𝑚)𝑥𝑥̈ + 𝑏𝑏𝑥𝑥̇ −‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ‪ .‬ﺑﺎ ﮔﺮﻓﺘﻦ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﺍﺯ ﻃﺮﻓﻴﻦ ﻣﻌﺎﺩﻻﺕ ﺧﻄﻲ ﺷﺪﻩ ﺩﺭ ﺑﺎﻻ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 )Φ(𝑠𝑠)𝑠𝑠 2 − 𝑚𝑚𝑚𝑚𝑚𝑚Φ(𝑠𝑠) = 𝑚𝑚𝑚𝑚𝑚𝑚(𝑠𝑠)𝑠𝑠 2‬‬

‫)𝑠𝑠(𝑈𝑈 = ‪(𝑀𝑀 + 𝑚𝑚)𝑋𝑋(𝑠𝑠)𝑠𝑠 2 + 𝑏𝑏𝑏𝑏(𝑠𝑠)𝑠𝑠 − 𝑚𝑚𝑚𝑚Φ(𝑠𝑠)𝑠𝑠 2‬‬ ‫)‪(3‬‬

‫ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺑﻪ ﺯﺍﻭﻳﻪ ‪ Φ‬ﺑﻪ ﻋﻨﻮﺍﻥ ﺧﺮﻭﺟﻲ ﻣﻲﻧﮕﺮﻳﻢ ﺑﺎ ﺣﻞ ﻣﻌﺎﺩﻟﻪ ﺍﻭﻝ ﺑﺮﺍﻱ )𝑠𝑠(𝑋𝑋 ﺩﺍﺭﻳﻢ‪:‬‬

‫𝑔𝑔 ) ‪(𝐼𝐼 + 𝑚𝑚𝑙𝑙2‬‬

‫� = )𝑠𝑠(𝑋𝑋‬ ‫)𝑠𝑠(‪− 2 � Φ‬‬
‫𝑚𝑚𝑚𝑚‬ ‫𝑠𝑠‬

‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﻣﻌﺎﺩﻟﻪ ﻓﻮﻕ ﺩﺭ ﻣﻌﺎﺩﻟﻪ ﺩﻭﻡ ﺣﺮﻛﺖ ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺷﺪﻩ )ﻣﻌﺎﺩﻟﻪ ‪ (3‬ﺩﺍﺭﻳﻢ‪:‬‬

‫‪𝑚𝑚𝑚𝑚 2‬‬
‫)𝑠𝑠(‪Φ‬‬ ‫𝑠𝑠‬
‫𝑞𝑞‬
‫=‬
‫)𝑠𝑠(𝑈𝑈‬ ‫𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 ‪𝑏𝑏(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 ) 3 (𝑀𝑀 + 𝑚𝑚)𝑚𝑚𝑚𝑚𝑚𝑚 2‬‬
‫‪𝑠𝑠 4 +‬‬ ‫‪𝑠𝑠 −‬‬ ‫‪𝑠𝑠 −‬‬ ‫𝑠𝑠‬
‫𝑞𝑞‬ ‫𝑞𝑞‬ ‫𝑞𝑞‬

‫] ‪𝑞𝑞 = [(𝑀𝑀 + 𝑚𝑚)(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 ) − (𝑚𝑚𝑚𝑚)2‬‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ‬

‫ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺎﻻ ﻣﺸﺨﺺ ﺍﺳﺖ ﻛﻪ ﻳﻚ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺩﺭ ﻣﺒﺪﺍ ﻫﻤﺪﻳﮕﺮ ﺭﺍ ﺣﺬﻑ ﻣﻲﻛﻨﻨﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺣﺎﺻﻞ‬
‫ﻣﻲﮔﺮﺩﺩ‪:‬‬

‫𝑚𝑚𝑚𝑚‬
‫)𝑠𝑠(‪Φ‬‬ ‫𝑠𝑠‬
‫𝑞𝑞‬
‫=‬
‫)𝑠𝑠(𝑈𝑈‬ ‫𝑚𝑚𝑚𝑚𝑚𝑚)𝑚𝑚 ‪𝑏𝑏(𝐼𝐼 + 𝑚𝑚𝑙𝑙2 ) 2 (𝑀𝑀 +‬‬ ‫𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏‬
‫‪𝑠𝑠 3 +‬‬ ‫‪𝑠𝑠 −‬‬ ‫‪𝑠𝑠 −‬‬
‫𝑞𝑞‬ ‫𝑞𝑞‬ ‫𝑞𝑞‬

‫ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ‪ .‬ﭘﺲ ﺍﺯ ﺍﻧﺠﺎﻡ ﻣﺤﺎﺳﺒﺎﺕ ﺟﺒﺮﻱ ﻣﻌﺎﺩﻻﺕ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﻣﺎﺗﺮﻳﺲ ‪ C‬ﻳﻚ ﻣﺎﺗﺮﻳﺲ ‪ 2‬ﺩﺭ ‪ 4‬ﺍﺳﺖ؛ ﺯﻳﺮﺍ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﻣﻮﻗﻌﻴﺖ ﮔﺎﺭﻱ ﻭ ﻣﻮﻗﻌﻴﺖ ﭘﺎﻧﺪﻭﻝ ﺩﺭ ﻧﻈﺮ‬
‫ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﻣﺴﺌﻠﻪ ﻃﺮﺍﺣﻲ ﻓﻀﺎﻱ ﺣﺎﻟﺖ‪ ،‬ﻣﺎ ﺳﻴﺴﺘﻢ ﭼﻨﺪ ﺧﺮﻭﺟﻲ ﺭﺍ ﻛﻨﺘﺮﻝ ﻣﻲﻛﻨﻴﻢ ﺍﺯ ﺍﻳﻦﺭﻭ ﺩﺭ ﺳﻄﺮ ﺍﻭﻝ ﻣﻮﻗﻌﻴﺖ ﮔﺎﺭﻱ‬
‫ﻭ ﺩﺭ ﺳﻄﺮ ﺩﻭﻡ ﻣﻮﻗﻌﻴﺖ ﭘﺎﻧﺪﻭﻝ ﺭﺍ ﺩﺍﺭﻳﻢ‪.‬‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ M-file‬ﻧﻮﺷﺘﻪ ﺗﺎ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪ .‬ﺳﭙﺲ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺧﺮﻭﺟﻲﻫﺎﻱ‬
‫ﺳﻴﺴﺘﻢ ﺣﺎﺻﻞ ﺍﺯ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺑﺎ ﻣﻘﺪﺍﺭ ‪ 0.2‬ﺭﺍ ﺑﺒﻴﻨﻴﻢ‪.‬‬

‫‪M‬‬ ‫=‬ ‫;‪.5‬‬

‫‪m‬‬ ‫=‬ ‫;‪0.2‬‬
‫‪b‬‬ ‫=‬ ‫;‪0.1‬‬
‫‪I‬‬ ‫=‬ ‫;‪0.006‬‬
‫‪g‬‬ ‫=‬ ‫;‪9.8‬‬
‫‪l‬‬ ‫=‬ ‫;‪0.3‬‬

‫‪p = i*(M+m)+M*m*l^2; %denominator for the A and B matrices‬‬

‫‪A = [0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫;‪0‬‬
‫‪0 –(i+m*l^2)*b/p (m^2*g*l^2)/p‬‬ ‫;‪0‬‬
‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫;‪1‬‬
‫‪0 –(m*l*b)/p‬‬ ‫]‪m*g*l*(M+m)/p 0‬‬
‫[ = ‪B‬‬ ‫;‪0‬‬
‫;‪(i+m*l^2)/p‬‬
‫;‪0‬‬
‫]‪m*l/p‬‬
‫;‪C = [1 0 0 0‬‬
‫]‪0 0 1 0‬‬
‫;‪D = [0‬‬
‫]‪0‬‬
‫;)‪pend=ss(A,B,C,D‬‬
‫;‪T=0:0.05:10‬‬
‫;))‪U=0.2*ones(size(T‬‬
‫;)‪[Y,T,X]=lsim(pend,U,T‬‬
‫)‪plot(T,Y‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫‪ .B‬ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ M-file‬ﻧﻮﺷﺘﻪ ﺗﺎ ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪ .‬ﺳﭙﺲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺭﺍ‬
‫ﻳﺎﺩﺩﺍﺷﺖ ﻛﻨﻴﺪ‪ .‬ﺳﻴﺴﺘﻢ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ﺿﺮﺑﻪ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﺁﻳﺎ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ؟‬

‫‪M‬‬ ‫=‬ ‫;‪.5‬‬

‫‪m‬‬ ‫=‬ ‫;‪0.2‬‬
‫‪b‬‬ ‫=‬ ‫;‪0.1‬‬
‫‪i‬‬ ‫=‬ ‫;‪0.006‬‬
‫‪g‬‬ ‫=‬ ‫;‪9.8‬‬
‫‪l‬‬ ‫=‬ ‫;‪0.3‬‬

‫;‪q = (M+m)*(i+m*l^2)-(m*l)^2‬‬ ‫‪%simplifies input‬‬

‫;]‪num = [m*l/q 0‬‬

‫‪den = [1 b*(i+m*l^2)/q‬‬ ‫‪-(M+m)*m*g*l/q‬‬ ‫;]‪-b*m*g*l/q‬‬
‫)‪pend=tf(num,den‬‬
‫ﺗﻮﺟﻪ‪ :‬ﭘﺲ ﺍﺯ ﺍﻧﺠﺎﻡ ﻗﺴﻤﺖﻫﺎﻱ ‪ A‬ﻭ ‪ B‬ﺩﺭ ﻣﻲﻳﺎﺑﻴﺪ ﻛﻪ ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ PID‬ﻭ ﻳﺎ ﭘﻴﺶﻓﺎﺯ ﭘﺲﻓﺎﺯ ﺑﻪ‬
‫ﺭﻭﺵﻫﺎﻱ ﻣﻜﺎﻥ ﻫﻨﺴﻲ ﺳﻴﺴﺘﻢﻫﺎ ﻭ ﻳﺎ ﺑﻪ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﻪ ﺍﺣﺘﻤﺎﻝ ﺯﻳﺎﺩ ﻣﻨﺠﺮ ﺑﻪ ﻛﻨﺘﺮﻟﺮﻱ ﻋﻤﻠﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ‬
‫ﻧﻤﻲﺷﻮﺩ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻗﺒﻼً ﻧﻴﺰ ﺑﻴﺎﻥ ﺷﺪ ﻭﻗﺘﻲ ﻣﺎ ﻣﺴﺌﻠﻪ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺗﻚ ﻭﺭﻭﺩﻱ‪ -‬ﺗﻚ ﺧﺮﻭﺟﻲ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪ ،‬ﺍﺯ ﻣﻜﺎﻥ ‪ x‬ﮔﺎﺭﻱ‬
‫ﺻﺮﻓﻨﻈﺮ ﻣﻲ ‌ﻛﻨﻴﻢ‪ .‬ﭘﺎﻧﺪﻭﻝ ﺩﺭ ﺣﺎﻟﺖ ﻣﻌﻜﻮﺱ ﻣﻲﺗﻮﺍﻧﺪ ﭘﺎﻳﺪﺍﺭ ﺑﺸﻮﺩ ﺍﮔﺮ ﻣﻜﺎﻥ ‪ x‬ﺛﺎﺑﺖ ﺑﺎﺷﺪ ﻭ ﻳﺎ ﮔﺎﺭﻱ ﺑﺎ ﺳﺮﻋﺖ ﺛﺎﺑﺖ) ﺑﺪﻭﻥ ﺷﺘﺎﺏ(‬
‫ﺣﺮﻛﺖ ﻛﻨﺪ‪ .‬ﺷﺎﻳﺎﻥ ﺫﻛﺮ ﺍﺳﺖ ﻛﻪ ﺍﻳﻦ ﻣﺜﺎﻝ ﺗﻨﻬﺎ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻟﻲ ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﻭ ﺗﺤﻠﻴﻞ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ ﻭ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ‬
‫ﺳﻴﺴﺘﻢ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ ﺩﺭ ﻋﻤﻞ ﻧﻤﻲﺑﺎﺷﺪ‪.‬‬

‫‪ .C‬ﻧﻤﻮﺩﺍﺭ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻛﻤﻚ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ sisotool‬ﺭﺳﻢ ﻛﻨﻴﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ‬
‫ﺑﻪ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺻﺤﺒﺖ ﻛﻨﻴﺪ‪.‬‬
‫‪ .D‬ﻫﻤﺎﻥﻃﻮﺭ ﻛﻪ ﺑﻴﺎﻥ ﺷﺪ ﺩﺭ ﺭﻭﺵﻫﺎﻱ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺩﺭ ﻛﻨﺘﺮﻝ ﺧﻄﻲ ﻣﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺗﻚ ﻭﺭﻭﺩﻱ‪ -‬ﺗﻚ ﺧﺮﻭﺟﻲ ﻛﻨﺘﺮﻟﺮ‬
‫ﻃﺮﺍﺣﻲ ﻣﻲﻛﻨﻴﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻜﺎﻥ ﭘﺎﻧﺪﻭﻝ ﺭﺍ ﻛﻨﺘﺮﻝ ﻛﻨﻴﻢ ﻭ ﻣﺤﺪﻭﺩﻳﺘﻲ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﮔﺎﺭﻱ ﻧﺪﺍﺭﻳﻢ‪ .‬ﻓﺮﺽ‬
‫ﻣﻲﻛﻨﻴﻢ ﻛﻪ ﺳﻴﺴﺘﻢ ﺍﺯ ﻧﻘﻄﻪ ﺗﻌﺎﺩﻝ ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ ﻭ ﻭﺭﻭﺩﻱ ﺿﺮﺑﻪ ‪ 1N‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﻋﻤﺎﻝ ﻣﻲﻛﻨﻴﻢ‪ .‬ﭘﺎﻧﺪﻭﻝ ﺩﺭ ﻣﺪﺕ ﺯﻣﺎﻥ ﻛﻤﺘﺮ‬
‫ﺍﺯ ‪ 5‬ﺛﺎﻧﻴﻪ ﺑﺎﻳﺪ ﺑﻪ ﺣﺎﻟﺖ ﻗﺎﺋﻢ ﺑﺮﮔﺮﺩﺩ ﻭ ﻫﻴﭻﮔﺎﻩ ﺑﻴﺸﺘﺮ ﺍﺯ ‪ 0.05‬ﺭﺍﺩﻳﺎﻥ ﺍﺯ ﺣﺎﻟﺖ ﻋﻤﻮﺩﻱ ﺩﻭﺭ ﻧﺸﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺷﺮﺍﻳﻂ ﻻﺯﻡ ﻃﺮﺍﺣﻲ‬
‫ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬
‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪ 5‬ﺛﺎﻧﻴﻪ‬ ‫•‬
‫ﺯﺍﻭﻳﻪ ﭘﺎﻧﺪﻭﻝ ﻫﺮﮔﺰ ﺍﺯ ﺍﺯ ‪ 0.05‬ﺭﺍﺩﻳﺎﻥ ﻧﺴﺒﺖ ﺑﻪ ﺧﻂ ﻋﻤﻮﺩ ﺩﻭﺭ ﻧﺸﻮﺩ‪.‬‬ ‫•‬
‫ﻛﻨﺘﺮﻝ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺗﺎ ﺣﺪﻱ ﺑﺎ ﻛﻨﺘﺮﻝ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﻛﻪ ﺗﺎﻛﻨﻮﻥ ﺍﻧﺠﺎﻡ ﺩﺍﺩﻩﺍﻳﺪ ﻛﻤﻲ ﻣﺘﻔﺎﻭﺕ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺑﻪ ﺩﻧﺒﺎﻝ‬
‫ﻛﻨﺘﺮﻝ ﻣﻮﻗﻌﻴﺖ ﭘﺎﻧﺪﻭﻝ ﻫﺴﺘﻴﻢ‪ ،‬ﻛﻪ ﺑﻌﺪ ﺍﺯ ﻳﻚ ﺍﻏﺘﺸﺎﺵ ﺍﻭﻟﻴﻪ ﻣﻲﺑﺎﻳﺴﺖ ﺑﻪ ﺣﺎﻟﺖ ﻋﻤﻮﺩﻱ ﺑﺮﮔﺮﺩﺩ ﺑﻨﺎﺑﺮﺍﻳﻦ ﺳﻴﮕﻨﺎﻝ ﻭﺭﻭﺩﻱ ﻛﻪ‬
‫ﻣﻲﺑﺎﻳﺴﺖ ﺭﺩﻳﺎﺑﻲ ﺷﻮﺩ ﻣﻲﺑﺎﻳﺴﺖ ﺻﻔﺮ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﻮﺩ‪ .‬ﻧﻴﺮﻭﻳﻲ ﻛﻪ ﺑﻪ ﮔﺎﺭﻱ ﻭﺍﺭﺩ ﻣﻲﺷﻮﺩ ﺑﻪ ﻋﻨﻮﺍﻥ ﺍﻏﺘﺸﺎﺵ ﺿﺮﺑﻪﺍﻱ‬
‫ﻣﻲﺗﻮﺍﻧﺪ ﺑﺎ ﺳﻴﺴﺘﻢ ﺟﻤﻊ ﺷﻮﺩ ﺷﻤﺎﺗﻴﻚ ﺍﻳﻦ ﻣﺴﺌﻠﻪ ﻣﺎﻧﻨﺪ ﺷﻜﻞ ‪ 3‬ﻣﻲﺷﻮﺩ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﺷﻜﻞ‪ .3‬ﺷﻤﺎﺗﻴﻚ ﺳﻴﺴﺘﻢ ﭘﺎﻧﺪﻭﻝ ﻣﻌﻜﻮﺱ‬

‫ﺑﺮﺍﻱ ﻭﺍﺭﺩ ﻛﺮﺩﻥ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ MATLAB‬ﺑﻬﺘﺮ ﺍﺳﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﺷﻜﻞ ‪ 4‬ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪.‬‬

‫ﺷﻜﻞ‪ .4‬ﺷﻤﺎﺗﻴﻚ ﺑﺮﺍﻱ ﻭﺍﺭﺩ ﻛﺮﺩﻥ ﺳﻴﺴﺘﻢ ﺩﺭ ‪MATLAB‬‬

‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﻧﻮﺷﺘﻦ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺩﺭ ‪ MATLAB‬ﺣﺎﺻﻞ ‌‬

‫;‪Kd = 1; Kp = 1; Ki = 1‬‬
‫;)]‪contr=tf([Kd Kp Ki],[1 0‬‬
‫;)‪sys_cl=feedback(pend,contr‬‬
‫ﺣﺎﻟﺖ ﺑﺎﻻ ﻓﺮﺽ ﺷﺪﻩ ﺍﺳﺖ ﻛﻪ ﻫﺮ ﺩﻭ ﺑﺨﺶ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻭ ﻣﺸﺘﻖﮔﻴﺮ ﻧﻴﺎﺯ ﻣﻲ ‌ﺑﺎﺷﺪ‪ .‬ﺍﮔﺮ ﻓﻘﻂ ﻳﻜﻲ ﺍﺯ ﺑﺨﺶﻫﺎﻱ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻭ ﻳﺎ‬
‫ﻣﺸﺘﻖ ﮔﻴﺮ ﺭﺍ ﺧﻮﺍﺳﺘﻴﺪ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ MATLAB‬ﺗﺎﻳﭗ ﻛﻨﻴﺪ‪.‬‬

‫‪contr=tf([Kp Ki],[1 0]); % PI control‬‬

‫;)‪contr=tf([Kd Kp],1‬‬ ‫‪% PD control‬‬

‫ﺍﺑﺘﺪﺍ ﭘﺎﺳﺦ ﺿﺮﺑﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺗﺎﻳﭗ ﻛﻨﻴﺪ‪:‬‬

‫;‪t=0:0.01:5‬‬
‫)‪impulse(sys_cl,t‬‬
‫)]‪axis([0 1.5 0 40‬‬
‫‪U‬‬ ‫‪U‬‬

‫ﺩﺭ ﺍﻳﻦ ﺻﻮﺭﺕ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 5‬ﻣﻲﺷﻮﺩ‪:‬‬

‫ﺷﻜﻞ‪ .5‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻧﺎﺷﻲ ﺍﺯ ﺍﻏﺘﺸﺎﺵ ﺿﺮﺑﻪﺍﻱ ﺑﻪ ﻫﻤﺮﺍﻩ ﻣﻘﺎﺩﻳﺮ ‪Kd = 1; Kp = 1; Ki = 1‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ ﭘﺎﺳﺦ ﭘﺎﻳﺪﺍﺭ ﻧﻴﺴﺖ ﺍﺑﺘﺪﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﻬﺮﻩ ﺗﻨﺎﺳﺒﻲ ﺭﺍ ﺍﻓﺰﺍﻳﺶ ﺩﻫﻴﻢ ﻭ ﺍﺛﺮ ﺁﻥ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ ﺍﮔﺮ‬
‫‪ Kp=100‬ﺍﻧﺘﺨﺎﺏ ﻛﻨﻴﻢ ﻭ ﺩﺳﺘﻮﺭ ‪ axis([0, 2.5, -0.2, 0.2]),‬ﺭﺍ ﺑﺰﻧﻴﻢ ﺷﻜﻞ ﭘﺎﺳﺦ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪6‬‬
‫ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .6‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﻓﺰﺍﻳﺶ ﺑﻬﺮﻩ ﺗﻨﺎﺳﺒﻲ‬

‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺩﺭ ﺣﺪﻭﺩ ‪ 2‬ﺛﺎﻧﻴﻪ ﻣﻲﺑﺎﺷﺪ ﻭ ﻗﺎﺑﻞ ﻗﺒﻮﻝ ﺍﺳﺖ‪ .‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺻﻔﺮ ﺷﺪﻩ ﺍﺳﺖ ﺿﺮﻳﺐ‬
‫ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﻣﻨﺎﺳﺐ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﺍﻣﺘﺤﺎﻥ ﻗﺴﻤﺖ ﺑﻬﺮﻩ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﺭﺍ ﺣﺬﻑ ﻛﻨﻴﺪ ﻭ ﭘﺎﺳﺦ ﺭﺍ ﻣﺠﺪﺩﺍً ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﻣﻘﺪﺍﺭ‬
‫ﻓﺮﺍﺟﻬﺶ ﺳﻴﺴﺘﻢ ﺑﺴﻴﺎﺭ ﺯﻳﺎﺩ ﻣﻲﺑﺎﺷﺪ ﻭ ﺧﻮﺍﺳﺘﻪ ﺩﻭﻡ ﻃﺮﺍﺣﻲ ﺑﺮﺁﻭﺭﺩﻩ ﻧﺸﺪﻩ ﺍﺳﺖ ﺑﺮﺍﻱ ﻛﻢ ﻛﺮﺩﻥ ﻓﺮﺍﺟﻬﺶ ﻣﻘﺪﺍﺭ ‪ kd‬ﺭﺍ ﺍﻓﺰﺍﻳﺶ‬
‫ﻣﻲﺩﻫﻴﻢ ﺍﮔﺮ ﻣﻘﺪﺍﺭ ﺑﻬﺮﻩ ﻗﺴﻤﺖ ﻣﺸﺘﻖﮔﻴﺮ ﺭﺍ ﻣﺜﻼً ﺣﺪﻭﺩ ‪ 20‬ﺗﻨﻈﻴﻢ ﻛﻨﻴﻢ ﺩﺍﺭﻳﻢ‬

‫ﺷﻜﻞ‪ .7‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﻌﺪ ﺍﺯ ﺗﻨﻈﻴﻢ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻟﺮ‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﺷﻜﻞ ‪ 7‬ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ ﻓﺮﺍﺟﻬﺶ ﺳﻴﺴﺘﻢ ﻛﻤﺘﺮ ﺍﺯ ‪ 0.05‬ﺷﺪ‪ .‬ﺍﻛﻨﻮﻥ ﻫﺮ ﺩﻭ ﺧﻮﺍﺳﺘﻪﻱ ﻃﺮﺍﺣﻲ ﺑﺮﺁﻭﺭﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺒﻴﻨﻴﻢ ﭼﻪ ﺍﺗﻔﺎﻗﻲ ﺑﺮ ﺳﺮ ﻣﻜﺎﻥ ﮔﺎﺭﻱ)ﺍﺭﺍﺑﻪ( ﻣﻲﺍﻓﺘﺪ؟‬
‫ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻣﻲ ﻛﻪ ﺩﺭ ﺍﺑﺘﺪﺍ ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﺴﺌﻠﻪ ﺭﺳﻢ ﺷﺪ ﻛﺎﻣﻞ ﻧﺒﻮﺩ‪ .‬ﺑﻠﻮﻙ ﻣﺸﺨﺺ ﻛﻨﻨﺪﻩ ﻣﻜﺎﻥ ﮔﺎﺭﻱ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻧﺸﺪﻩ ﺑﻮﺩ ﺑﻪ‬
‫ﺧﺎﻃﺮ ﺍﻳﻨﻜﻪ ﻣﺘﻐﻴﺮ )‪ x(s‬ﻛﻨﺘﺮﻝ ﻧﻤﻲﺷﺪ‪ .‬ﺍﻛﻨﻮﻥ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺒﻴﻨﻴﻢ ﭼﻪ ﺑﻼﻳﻲ ﺳﺮ ﮔﺎﺭﻱ ﻣﻲﺁﻳﺪ ﻭﻗﺘﻲ ﻛﻪ ﻛﻨﺘﺮﻟﺮ ﺯﺍﻭﻳﻪﻱ ﭘﺎﻧﺪﻭﻝ‬
‫ﺩﺭ ﺳﻴﺴﺘﻢ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻭﺍﻗﻌﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‬

‫ﺷﻜﻞ‪ .8‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻭﺍﻗﻌﻲ ﺳﻴﺴﺘﻢ‬

‫ﻣﻲﺗﻮﺍﻥ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻓﻮﻕ ﺭﺍ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ﻧﻤﺎﻳﺶ ﺩﺍﺩ‪:‬‬

‫ﺷﻜﻞ‪ .9‬ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡ ﻭﺍﻗﻌﻲ ﺳﻴﺴﺘﻢ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻭﺭﻭﺩﻱ ﺿﺮﺑﻪ ﺑﻪ ﻣﻜﺎﻥ ﮔﺎﺭﻱ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬
‫)𝑠𝑠(𝑥𝑥‬ ‫‪𝐺𝐺2‬‬
‫=‬
‫‪𝑓𝑓(𝑠𝑠) 1 + 𝐾𝐾𝐾𝐾𝐺𝐺1‬‬
‫ﺍﻛﻨﻮﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﺮﺍﻱ ﻛﻞ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺍﺧﺘﻴﺎﺭ ﺩﺍﺭﻳﻢ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺍﺯ ﻭﺭﻭﺩﻱ )‪ U(s‬ﺑﻪ ﺧﺮﻭﺟﻲ )‪ X(S‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ‬
‫ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬

‫ﺍﻛﻨﻮﻥ ﺑﺮﺍﻱ ﻣﺸﺎﻫﺪﻩ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﻭﺍﺭﺩ ﻛﻨﻴﺪ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ))‪ (x(s‬ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 10‬ﻣﻲﺷﻮﺩ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﻳﺎﺯﺩﻫﻢ‬

‫;‪M = .5; m = 0.2; b = 0.1; i = 0.006; g = 9.8; l = 0.3‬‬

‫;‪q = (M+m)*(i+m*l^2)-(m*l)^2‬‬ ‫‪%simplifies input‬‬

‫;]‪num1 = [m*l/q 0 0‬‬

‫‪den1 = [1 b*(i+m*l^2)/q‬‬ ‫‪-(M+m)*m*g*l/q‬‬ ‫‪-b*m*g*l/q‬‬ ‫;]‪0‬‬
‫;)‪G1=tf(num1,den1‬‬

‫‪num2 = [(i+m*l^2)/q‬‬ ‫‪0‬‬ ‫;]‪-m*g*l/q‬‬

‫;‪den2 = den1‬‬
‫;)‪G2=tf(num2,den2‬‬

‫;‪kd = 20; kp = 100; ki = 1‬‬

‫;)]‪contr=tf([kd kp ki],[1 0‬‬

‫;‪xpos=feedback(1,G1*contr)*G2‬‬

‫;‪t=0:0.01:5‬‬
‫)‪impulse(xpos,t‬‬

‫ﺷﻜﻞ‪ .10‬ﻣﻜﺎﻥ ﮔﺎﺭﻱ‬

‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﻣﻼﺣﻈﻪ ﻣﻲﺷﻮﺩ ﮔﺎﺭﻱ ﺩﺭ ﺟﻬﺖ ﻣﻨﻔﻲ ﺑﺎ ﻳﻚ ﺳﺮﻋﺖ ﺛﺎﺑﺖ ﺩﺭ ﺣﺎﻝ ﺣﺮﻛﺖ ﺍﺳﺖ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺎ ﻭﺟﻮﺩ ﺍﻳﻨﻜﻪ ﻛﻨﺘﺮﻟﺮ‬
‫‪ PID‬ﺯﺍﻭﻳﻪ ﭘﺎﻧﺪﻭﻝ ﺭﺍ ﭘﺎﻳﺪﺍﺭ ﻛﺮﺩ ﻭﻟﻲ ﺍﻳﻦ ﻃﺮﺍﺣﻲ ﺑﺮﺍﻱ ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ﻭﺍﻗﻌﻲ ﻣﻨﺎﺳﺐ ﻧﻤﻲﺑﺎﺷﺪ‪.‬‬
‫‪ .E‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻛﻪ ﺩﻭ ﺧﻮﺍﺳﺘﻪ ﻣﻄﺮﺡ ﺷﺪﻩ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﺳﺎﺯﺩ‪.‬‬

‫ﺗﻮﺟﻪ‪ :‬ﺍﻧﻴﻤﻴﺸﻦ ﻣﺮﺑﻮﻁ ﺑﻪ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﺎ ﺍﺟﺮﺍﻱ ﻓﺎﻳﻞ ‪ invGUI.m‬ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺍﻳﻦ ﺍﻧﻴﻤﻴﺸﻦ ﻛﻪ ﺑﻪ‬
‫ﺻﻮﺭﺕ ‪ GUI‬ﻣﻲﺑﺎﺷﺪ ﺑﺮﺍﻱ ﺩﺭﻙ ﺑﻬﺘﺮ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺑﺎ ﺍﺟﺮﺍﻱ ﺍﻳﻦ‬
‫ﻓﺎﻳﻞ ﻛﺸﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﺁﺯﻣﺎﻳﺶ‪ :12‬ﻛﻨﺘﺮﻝ ﺩﻭﺭﺍﻥ ﻫﻮﺍﭘﻴﻤﺎ� ﺣﻮﻝ ﻣﺤﻮﺭ ﻋﺮﺿﻲ‬

‫‪F25‬‬

‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺩﺍﻧﺸﺠﻮ ﺍﺑﺘﺪﺍ ﺑﺎ ﻣﻌﺎﺩﻻﺕ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺩﻭﺭﺍﻥ ﻫﻮﺍﭘﻴﻤﺎ ﺁﺷﻨﺎ ﻣﻲﺷﻮﺩ‪ .‬ﺳﭙﺲ ﻣﺪﻝ‬ ‫ﻫﺪﻑ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺭﺍ ﻣﻮﺭﺩ ﺗﺤﻠﻴﻞ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺯﻣﺎﻧﻲ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻣﻲﻛﻨﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ‬
‫ﺳﻴﺴﺘﻢ ﺍﺗﻮﭘﺎﻳﻠﺘﻲ ﻃﺮﺍﺣﻲ ﻣﻲﺷﻮﺩ ﻛﻪ ﺣﺮﻛﺖ ﺩﻭﺭﺍﻧﻲ ﻫﻮﺍﭘﻴﻤﺎ ﺭﺍ ﻛﻨﺘﺮﻝ ﻣﻲﻛﻨﺪ‪.‬‬

‫ﻣﻌﺎﺩﻻﺗﻲ ﻛﻪ ﺣﺮﻛﺖ ﻫﻮﺍﭘﻴﻤﺎ ﺭﺍ ﻛﻨﺘﺮﻝ ﻣﻲﻛﻨﻨﺪ ﺑﺴﻴﺎﺭ ﭘﻴﭽﻴﺪﻩ ﻣﻲﺑﺎﺷﻨﺪ ﻛﻪ ﺷﺎﻣﻞ ﺷﺶ ﺟﻔﺖ ﻣﻌﺎﺩﻻﺕ‬ ‫ﺗﺌﻮﺭﻱ ﺁﺯﻣﺎﻳﺶ‪:‬‬
‫ﺩﺭ ﺍﻳﻦ ﺁﺯﻣﺎﻳﺶ ﺳﻴﺴﺘﻢ ﺍﺗﻮﭘﺎﻳﻠﺘﻲ ﻃﺮﺍﺣﻲ‬ ‫ﻏﻴﺮﺧﻄﻲ ﻣﻲﺑﺎﺷﻨﺪ‪ .‬ﺑﻪ ﻫﺮ ﺣﺎﻝ ﺗﺤﺖ ﻓﺮﺿﻴﺎﺕ ﺧﺎﺻﻲ ﻣﻲﺗﻮﺍﻥ ﻣﻌﺎﺩﻻﺕ ﺭﺍ ﺧﻄﻲ ﻛﺮﺩ‬
‫ﻣﻲﻛﻨﻴﻢ ﻛﻪ ﺣﺮﻛﺖ ﺩﻭﺭﺍﻧﻲ )ﭘﻴﺘﭻ( ﻫﻮﺍﭘﻴﻤﺎ ﺭﺍ ﻛﻨﺘﺮﻝ ﻣﻲﻛﻨﺪ�‪.‬‬
‫‪F26‬‬ ‫‌‬

‫ﻣﺤﻮﺭﻫﺎﻱ ﻣﺨﺘﺼﺎﺕ ﭘﺎﻳﻪ ﻭ ﻧﻴﺮﻭﻫﺎﻱ ﺗﺎﺛﻴﺮﮔﺬﺍﺭ ﺑﺮ ﺭﻭﻱ ﻳﻚ ﻫﻮﺍﭘﻴﻤﺎ ﺩﺭ ﺷﻜﻞ ‪ 1‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .1‬ﻣﺤﻮﺭﻫﺎﻱ ﻣﺨﺘﺼﺎﺕ ﭘﺎﻳﻪ ﻭ ﻧﻴﺮﻭﻫﺎﻱ ﺗﺎﺛﻴﺮﮔﺬﺍﺭ ﺑﺮ ﺭﻭﻱ ﻳﻚ ﻫﻮﺍﭘﻴﻤﺎ‬

‫ﻓﺮﺽ ﺑﺮ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﻫﻮﺍﭘﻴﻤﺎ ﺩﺭ ﻳﻚ ﺍﺭﺗﻔﺎﻉ ﺛﺎﺑﺖ ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﻭ ﺑﺎ ﻳﻚ ﺳﺮﻋﺖ ﺛﺎﺑﺖ ﺩﺭ ﺣﺎﻝ ﺣﺮﻛﺖ ﺍﺳﺖ‪ .‬ﻫﻤﭽﻨﻴﻦ ﻓﺮﺽ ﻣﻲﺷﻮﺩ ﻛﻪ‬
‫ﺗﻐﻴﻴﺮﺍﺕ ﺩﺭ ﺯﺍﻭﻳﻪﻱ ﭘﻴﺘﭻ ﺑﺮ ﺭﻭﻱ ﺳﺮﻋﺖ ﻫﻮﺍﭘﻴﻤﺎ ﻫﻴﭻ ﺗﺎﺛﻴﺮﻱ ﻧﺪﺍﺭﺩ‪) .‬ﺍﻳﻦ ﻓﺮﺽ ﻏﻴﺮ ﻭﺍﻗﻌﻲ ﻣﻲﺑﺎﺷﺪ ﻭﻟﻲ ﻣﺴﺌﻠﻪ ﺭﺍ ﺳﺎﺩﻩ ﻣﻲﻛﻨﺪ‪(.‬‬
‫ﺗﺤﺖ ﺍﻳﻦ ﻓﺮﺿﻴﺎﺕ ﻣﻌﺎﺩﻻﺕ ﺣﺮﻛﺖ ﻫﻮﺍﭘﻴﻤﺎ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻴﺎﻥ ﻣﻲﺷﻮﺩ‬

‫ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻭﺭﻭﺩﻱ ﺯﺍﻭﻳﻪﻱ ﺧﻤﺶ)ﺯﺍﻭﻳﻪﻱ ﺍﻧﺤﺮﺍﻑ( ﺳﻜﺎﻥ ﺑﺎﻻ ﺩﻫﻨﺪﻩ � ﻭ ﺧﺮﻭﺟﻲ ﺯﺍﻭﻳﻪﻱ ﭘﻴﺘﭻ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺩﺭ ﺷﻜﻞ ‪ 3‬ﺳﻜﺎﻥ ﺑﺎﻻ‬
‫‪F27‬‬

‫ﺩﻫﻨﺪﻩ ﻭ ﺩﺭ ﺷﻜﻞ ‪ 4‬ﺍﺭﺗﺒﺎﻁ ﺑﻴﻦ ﺳﻜﺎﻥ ﺑﺎﻻ ﺩﻫﻨﺪﻩ ﻭ ﭘﻴﺘﭻ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫‪1‬‬
‫‪Pitch control‬‬
‫� ﺑﺮﺍﻱ ﺗﻮ ﺿﻴﺤﺎﺕ ﺑﻴﺸﺘﺮ ﺩﺭ ﻣﻮﺭﺩ ﺣﺮﻛﺖ ﻭ ﻛﻨﺘﺮﻝ ﻫﻮﺍﭘﻴﻤﺎ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﻪ ﺳﺎﻳﺖ ‪ http://www.nasa.gov‬ﻣﺮﺍﺟﻌﻪ ﻧﻤﺎﻳﻴﺪ‪.‬‬
‫‪3‬‬
‫‪Elevator deflection angle‬‬
‫‪95‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﺷﻜﻞ‪ .3‬ﺍﺭﺗﺒﺎﻁ ﺑﻴﻦ ‪ elevator‬ﻭ ‪pitch‬‬ ‫ﺷﻜﻞ‪ .2‬ﺳﻜﺎﻥ ﺑﺎﻻ ﺩﻫﻨﺪﻩ )‪ (elevator‬ﺩﺭ ﺍﻧﺘﻬﺎﻱ ﻫﻮﺍﭘﻴﻤﺎ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ‬

‫ﺑﺮﺍﻱ ﻳﻚ ﻫﻮﺍﭘﻴﻤﺎﻱ ﺑﻮﻳﻴﻨﮓ� ﻣﺪﻝ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪F28‬‬

‫𝑒𝑒𝛿𝛿‪α̇ = −0.313α + 56.7𝑞𝑞 + 0.232‬‬

‫𝑒𝑒𝛿𝛿‪𝑞𝑞̇ = −0.0139α − 0.426𝑞𝑞 + 0.0203‬‬

‫𝑞𝑞‪𝜃𝜃̇ = 56.7‬‬

‫ﺩﺭ ﻣﻌﺎﺩﻻﺕ ﻓﻮﻕ ‪ α‬ﺯﺍﻭﻳﻪﻱ ﺣﻤﻠﻪ �‪ q ،‬ﻧﺮﺥ � ‪ 𝛿𝛿𝑒𝑒 ، pitch‬ﺯﺍﻭﻳﻪﻱ ﺍﻧﺤﺮﺍﻑ ﺳﻜﺎﻥ ﺑﺎﻻﺑﺮ‪ ،‬ﻭ ‪ θ‬ﺯﺍﻭﻳﻪﻱ � ‪ pitch‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪31F‬‬ ‫‪30F‬‬ ‫‪F29‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪ .‬ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺑﺎﻻ ﺍﺯ ﻃﺮﻓﻴﻦ ﻣﻌﺎﺩﻻﺕ ﻓﻮﻕ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﻣﻲﮔﻴﺮﻳﻢ‪ .‬ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﻣﻌﺎﺩﻻﺕ‬
‫ﺑﺎﻻ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫)𝑠𝑠( 𝑒𝑒𝛿𝛿‪sα(s) = −0.313α(s) + 56.7𝑞𝑞(𝑠𝑠) + 0.232‬‬

‫)𝑠𝑠( 𝑒𝑒𝛿𝛿‪𝑠𝑠𝑠𝑠(𝑠𝑠) = −0.0139α(s) − 0.426𝑞𝑞(𝑠𝑠) + 0.0203‬‬

‫)𝑠𝑠(𝑞𝑞‪𝑠𝑠𝑠𝑠(𝑠𝑠) = 56.7‬‬

‫ﺑﻌﺪ ﺍﺯ ﺍﻧﺠﺎﻡ ﻳﻚ ﺳﺮﻱ ﻋﻤﻠﻴﺎﺕ ﺟﺒﺮﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺑﻪ ﻓﺮﻡ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫)𝑠𝑠(𝜃𝜃‬ ‫‪1.151𝑠𝑠 + 0.1774‬‬

‫‪= 3‬‬
‫𝑠𝑠‪𝛿𝛿𝑒𝑒 (𝑠𝑠) 𝑠𝑠 + 0.739𝑠𝑠 2 + 0.921‬‬

‫‪1‬‬
‫‪Boeing's commercial aircraft‬‬
‫‪2‬‬
‫‪Angle of attack‬‬
‫‪3‬‬
‫‪Pitch rate‬‬
‫‪4‬‬
‫‪Pitch angle‬‬
‫‪96‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﻓﻀﺎﻱ ﺣﺎﻟﺖ‪ .‬ﻣﻌﺎﺩﻻﺕ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺑﻪ ﺭﺍﺣﺘﻲ ﺍﺯ ﺭﻭﻱ ﻣﻌﺎﺩﻻﺕ )‪ (1‬ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫̇‪α‬‬ ‫‪−0.313‬‬ ‫‪56.7‬‬ ‫𝛼𝛼 ‪0‬‬ ‫‪0.232‬‬

‫𝑒𝑒𝛿𝛿 �‪�𝑞𝑞̇ � = �−0.0139 −0.426 0� �𝑞𝑞 � + �0.0203‬‬
‫̇𝜃𝜃‬ ‫‪0‬‬ ‫‪56.7‬‬ ‫𝜃𝜃 ‪0‬‬ ‫‪0‬‬

‫ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﻛﻪ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺯﺍﻭﻳﻪﻱ ‪ pitch‬ﺗﻌﺮﻳﻒ ﻛﺮﺩﻳﻢ ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﺧﺮﻭﺟﻲ ﺑﻪ ﻓﺮﻡ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫𝛼𝛼‬
‫‪𝑦𝑦 = [0‬‬ ‫� 𝑞𝑞 � ]‪0 1‬‬
‫𝜃𝜃‬

‫ﻣﺮﺍﺣﻞ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﻳﺶ‪:‬‬

‫‪ .A‬ﺍﻛﻨﻮﻥ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺧﺼﻮﺻﻴﺎﺕ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ‪ MATLAB‬ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ‪ .‬ﺩﺭ ﺍﺑﺘﺪﺍ ﻣﻲﺧﻮﺍﻫﻴﻢ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﻭﺭﻭﺩﻱ‬
‫ﭘﻠﻪ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﻢ ﻭ ﺑﺒﻴﻨﻴﻢ ﻛﺪﺍﻡ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻧﻴﺎﺯ ﺑﻪ ﺑﻬﺒﻮﺩ ﺩﺍﺭﻧﺪ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻭﺭﻭﺩﻱ 𝑟𝑟𝑟𝑟𝑟𝑟‪ 𝛿𝛿𝑒𝑒 = 0.2‬ﺑﺎﺷﺪ‪).‬ﺣﺪﻭﺩ‬
‫ﻳﺎﺯﺩﻩ ﺩﺭﺟﻪ( ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺩﺳﺘﻮﺭﺍﺕ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻣﺤﻴﻂ ‪ m-file‬ﺑﻨﻮﻳﺴﻴﺪ‪.‬‬

‫;‪delta_e=0.2‬‬
‫;]‪num=[1.151 0.1774‬‬
‫;]‪den=[1 0.739 0.921 0‬‬
‫;)‪pitch=tf(num,den‬‬
‫)‪step(delta_e*pitch‬‬
‫‪U‬‬ ‫‪U‬‬

‫)]‪axis([0 15 0 0.8‬‬
‫ﭘﺎﺳﺨﻲ ﻛﻪ ﻣﺸﺎﻫﺪﻩ ﻣﻲﻛﻨﻴﺪ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ‪ 4‬ﻣﻲﺑﺎﻳﺴﺖ ﺑﺎﺷﺪ‪:‬‬

‫ﺷﻜﻞ‪ .4‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ‬

‫‪97‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫‪4‬‬ ‫ﺍﻛﻨﻮﻥ ﻣﺪﻝ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ ﺷﻜﻞ ﭘﺎﺳﺦ ﻣﻲﺑﺎﻳﺴﺖ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ‬
‫ﺑﺎﺷﺪ‪.‬‬

‫‪ .B‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﺿﺎﻓﻪ ﻛﻨﻴﻢ ﺗﺎ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﺳﺎﺯﺩ‪:‬‬
‫ﻓﺮﺍﺟﻬﺶ ﻛﻤﺘﺮ ﺍﺯ ‪%10‬‬ ‫•‬
‫ﺯﻣﺎﻥ ﺻﻌﻮﺩ ﻛﻤﺘﺮ ﺍﺯ ‪ 2‬ﺛﺎﻧﻴﻪ‬ ‫•‬
‫ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻛﻤﺘﺮ ﺍﺯ ‪ 10‬ﺛﺎﻧﻴﻪ‬ ‫•‬
‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻛﻤﺘﺮ ﺍﺯ ‪%2‬‬ ‫•‬

‫ﻭﺭﻭﺩﻱ ﺩﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺯﺍﻭﻳﻪﻱ ﺧﻤﺶ ﺳﻜﺎﻥ ﺑﺎﻻ ﺩﻫﻨﺪﻩ � ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 0.2‬ﺭﺍﺩﻳﺎﻥ )ﺣﺪﻭﺩ ‪ 11‬ﺩﺭﺟﻪ( ﻣﻲﺑﺎﺷﺪ‪ .‬ﻭ ﺧﺮﻭﺟﻲ‬
‫‪F32‬‬

‫ﺯﺍﻭﻳﻪﻱ ‪ (θ) pitch‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻟﺮ ‪ PID‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫𝐼𝐼𝑘𝑘‬ ‫𝐼𝐼𝑘𝑘 ‪𝑘𝑘𝐷𝐷 𝑠𝑠 2 + 𝑘𝑘𝐷𝐷 𝑠𝑠 +‬‬

‫‪𝑘𝑘𝑝𝑝 +‬‬ ‫= 𝑠𝑠 𝐷𝐷𝑘𝑘 ‪+‬‬
‫𝑠𝑠‬ ‫𝑠𝑠‬
‫ﻗﺪﻡ ﺑﻪ ﻗﺪﻡ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ I ،P‬ﻭ ‪ D‬ﺭﺍ ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﺿﺎﻓﻪ ﻣﻲﻛﻨﻴﻢ)ﺷﻜﻞ‪ (5‬ﻭ ﺍﺛﺮ ﻛﻨﺘﺮﻟﺮ ﺭﺍ ﺩﺭ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻣﺸﺎﻫﺪﻩ ﻣﻲﻛﻨﻴﻢ‪.‬‬

‫ﺷﻜﻞ‪ .5‬ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ‬

‫ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ‪ .‬ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺷﻮﺩ‪:‬‬

‫)𝑠𝑠(𝜃𝜃‬ ‫)‪𝑘𝑘𝑝𝑝 (1.151𝑠𝑠 + 0.1774‬‬

‫‪= 3‬‬
‫𝑝𝑝𝑘𝑘‪𝛿𝛿𝑒𝑒 (𝑠𝑠) 𝑠𝑠 + 0.739𝑠𝑠 2 + �1.151𝑘𝑘𝑝𝑝 + 0.921�𝑠𝑠 + 0.1774‬‬

‫ﺩﺭ ﺍﺑﺘﺪﺍ ﻓﻘﻂ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ﺑﻪ ﺳﻴﺴﺘﻢ ﺑﺎ ﺑﻬﺮﻩ ‪ 2‬ﺑﻪ ﺳﻴﺴﺘﻢ ﺍﺿﺎﻓﻪ ﻣﻲﻛﻨﻴﻢ ﺑﺎﻳﺪ ﺷﻜﻞ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ﺯﻳﺮ ﺷﻮﺩ‪.‬‬

‫‪1‬‬
‫‪Elevator deflection angle‬‬
‫‪98‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﺷﻜﻞ‪ .6‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﻌﺪ ﺍﺯ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ‬

‫ﻛﻨﺘﺮﻝ ‪ . PD‬ﻳﺎﺩﺁﻭﺭﻱ ﻣﻲﺷﻮﺩ ﻛﻪ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ‪ PD‬ﺑﺎﻋﺚ ﻛﺎﻫﺶ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﻭ ﻓﺮﺍﺟﻬﺶ ﻣﻲﺷﻮﺩ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬
‫ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ‪ PD‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪.‬‬

‫)𝑠𝑠(𝜃𝜃‬ ‫𝑝𝑝𝑘𝑘‪1.151𝑘𝑘𝐷𝐷 𝑠𝑠 2 + �1.151𝑘𝑘𝑝𝑝 + 0.1774𝑘𝑘𝐷𝐷 �𝑠𝑠 + 0.1774‬‬

‫‪= 3‬‬
‫𝑝𝑝𝑘𝑘‪𝛿𝛿𝑒𝑒 (𝑠𝑠) 𝑠𝑠 + (0.739 + 1.151𝑘𝑘𝐷𝐷 )𝑠𝑠 2 + �1.151𝑘𝑘𝑝𝑝 + 0.921 + 0.1774𝑘𝑘𝐷𝐷 �𝑠𝑠 + 0.1774‬‬

‫ﺍﮔﺮ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻟﺮ ﺗﻨﺎﺳﺒﻲ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 9‬ﻭ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻟﺮ ﻣﺸﺘﻖﮔﻴﺮ ﺭﺍ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 4‬ﺑﺮﮔﺰﻳﻨﻴﻢ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻫﻤﺎﻧﻨﺪ ﺷﻜﻞ ‪ 7‬ﺧﻮﺍﻫﺪ ﺷﺪ‪.‬‬

‫ﺷﻜﻞ‪.7‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ‪PD‬‬

‫ﻛﻨﺘﺮﻝ ‪ . PID‬ﻫﺮ ﭼﻨﺪ ﺗﻤﺎﻡ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺑﺮﺁﻭﺭﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻛﻨﺘﺮﻟﺮ ﺍﻧﺘﮕﺮﺍﻟﻲ ﺑﺮﺍﻱ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﭘﺎﺳﺨﻲ ﻧﺮﻡﺗﺮ‬
‫ﻣﻲﺗﻮﺍﻧﺪ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﮔﻴﺮﺩ‪ .‬ﺑﻌﺪ ﺍﺯ ﭼﻨﺪﻳﻦ ﻣﺮﺣﻠﻪ ﺳﻌﻲ ﻭ ﺧﻄﺎ ﺿﺮﺍﻳﺐ ﻛﻨﺘﺮﻟﺮ ﺑﻪ ﺻﻮﺭﺕ ‪𝑘𝑘𝑝𝑝 = 2, 𝑘𝑘𝐼𝐼 = 4, 𝑘𝑘𝐷𝐷 = 3‬‬
‫ﭘﺎﺳﺦ ﻧﺮﻡﺗﺮﻱ ﺭﺍ ﺗﻮﻟﻴﺪ ﻣﻲﻛﻨﺪ ﻛﻪ ﺗﻤﺎﻡ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﻣﻲﺳﺎﺯﺩ‪.‬‬

‫‪99‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﺷﻜﻞ‪ .8‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﻛﻨﺘﺮﻟﺮ ‪PID‬‬

‫ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﺑﻴﺎﻥ ﺷﺪﻩ ﺩﺭ ﻗﺴﻤﺖ ﻗﺒﻞ ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﺳﺎﺯﺩ‪.‬‬

‫‌‬ ‫‪ .C‬ﺑﻪ ﻛﻤﻚ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻧﻤﺎﻳﻴﺪ ﻛﻪ‬
‫ﻳﺎﺩﺁﻭﺭﻱ ﻣﻲﺷﻮﺩ ﻛﻪ ﺑﻬﺘﺮﻳﻦ ﺭﺍﻩ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻣﻲﺑﺎﺷﺪ ﺍﻛﻨﻮﻥ‬
‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺮﺍﻱ ﻫﻤﻴﻦ ﺳﻴﺴﺘﻢ ﺑﻪ ﻛﻤﻚ ﺭﻭﺵ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻛﻨﺘﺮﻟﺮ ﻃﺮﺍﺣﻲ ﻛﻨﻴﻢ‪ .‬ﺍﺑﺘﺪﺍ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺭﺍ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ‬
‫ﺑﺎﺯ ﺭﺳﻢ ﻣﻲﻛﻨﻴﻢ‪.‬‬

‫ﺷﻜﻞ‪ .9‬ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻃﺮﺍﺣﻲ ﻣﻲﺑﺎﻳﺴﺖ ‪ 𝜔𝜔𝑛𝑛 ≥ 0.9, 𝜁𝜁 ≥ 0.52‬ﺑﺎﺷﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ‪ 2‬ﺭﺍﺑﻄﻪﺍﻱ ﻛﻪ ﺩﺭ ﺯﻳﺮ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ‬
‫ﺍﺳﺖ ﺩﺭ ﻣﻴﺎﺑﻴﻢ ﻛﻪ ﻓﺮﻛﺎﻧﺲ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻭ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻣﻲﺑﺎﻳﺴﺖ ﺑﻪ ﺗﺮﺗﻴﺐ ﺑﻴﺸﺘﺮ ﺍﺯ ‪ 0.9‬ﻭ ‪ 52‬ﺩﺭﺟﻪ ﺑﺎﺷﻨﺪ‪.‬‬

‫‪100‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫‪1.8‬‬ ‫‪1.8‬‬ ‫) ‪𝑃𝑃𝑃𝑃(deg‬‬

‫= ‪𝑡𝑡r‬‬ ‫=‬ ‫= 𝜁𝜁 ‪,‬‬
‫𝑛𝑛 𝜔𝜔‬ ‫‪BW‬‬ ‫‪100‬‬

‫ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ‪ .‬ﺍﻳﻦ ﺟﺒﺮﺍﻥﺳﺎﺯ ﻓﺎﺯ ﻣﺜﺒﺖ ﺑﻪ ﺳﻴﺴﺘﻢ ﻣﻲﺩﻫﺪ‪ .‬ﺩﺭ ﻧﺘﻴﺠﻪ ﺣﺎﺷﻴﻪ ﻓﺎﺯ ﻭ ﻃﺒﻴﻌﺘﺎً ﻣﻴﺮﺍﻳﻲ ﻧﻴﺰ ﺯﻳﺎﺩﺗﺮ ﻣﻲﺷﻮﺩ ﻭ‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻓﺰﺍﻳﺶ ﻣﻴﺮﺍﻳﻲ ﻛﻢ ﻣﻲﺷﻮﺩ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺑﻴﺎﻥ ﺷﺪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﻴﺶﻓﺎﺯ ﺑﻪ‬
‫ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ‌ﺷﻮﺩ‪:‬‬

‫‪𝑎𝑎𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠 + 1‬‬

‫( 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑘𝑘 = )𝑠𝑠(𝑐𝑐‬ ‫)‬
‫‪𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠 + 1‬‬

‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑘𝑘 ‪ 𝑎𝑎𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 , 𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 ,‬ﺭﺍ ﺑﻴﺎﺑﻴﺪ ﻭ ﺳﭙﺲ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ ﭼﻪ ﺗﻔﺎﻭﺗﻲ‬
‫ﻧﺴﺒﺖ ﺑﻪ ﻗﺒﻞ ﺣﺎﺻﻞ ﺷﺪﻩ ﺍﺳﺖ؟‬
‫ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ‪ .‬ﺍﻳﻦ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺑﺎﻋﺚ ﻛﺎﻫﺶ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻣﻲﺷﻮﺩ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﻚ ﺟﺒﺮﺍﻥﺳﺎﺯ ﭘﺲﻓﺎﺯ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‬
‫ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪𝑘𝑘𝑙𝑙𝑙𝑙𝑙𝑙 𝑎𝑎𝑙𝑙𝑙𝑙𝑙𝑙 𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠 + 1‬‬

‫= )𝑠𝑠(𝑐𝑐‬ ‫(‬ ‫)‬
‫𝑙𝑙𝑙𝑙𝑙𝑙𝑎𝑎‬ ‫‪𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠 + 1‬‬

‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ 𝑙𝑙𝑙𝑙𝑙𝑙𝑘𝑘 ‪ 𝑎𝑎𝑙𝑙𝑙𝑙𝑙𝑙 , 𝑇𝑇𝑙𝑙𝑙𝑙𝑙𝑙 ,‬ﺭﺍ ﺑﻴﺎﺑﻴﺪ ﻭ ﺳﭙﺲ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ ﭼﻪ ﺗﻔﺎﻭﺗﻲ ﻧﺴﺒﺖ‬
‫ﺑﻪ ﻗﺒﻞ ﺣﺎﺻﻞ ﺷﺪﻩ ﺍﺳﺖ؟‬
‫‪ .D‬ﺑﻪ ﻛﻤﻚ ﺭﻭﺵ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﻛﻨﺘﺮﻟﺮﻱ ﻃﺮﺍﺣﻲ ﻛﻨﻴﺪ ﻛﻪ ﺧﻮﺍﺳﺘﻪﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻣﻄﺮﺡ ﺩﺭ ﺑﺨﺶ ‪ B‬ﺭﺍ ﺑﺮﺁﻭﺭﺩﻩ ﺳﺎﺯﺩ‪.‬‬
‫‪ .E‬ﻣﺪﻝ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺳﻴﻤﻮﻟﻴﻨﻚ ﺷﺒﻴﻪﺳﺎﺯﻱ ﻛﺮﺩﻩ ﻭ ﺳﭙﺲ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱﻫﺎﻱ ﻣﺘﻔﺎﻭﺕ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ ﻭﻧﺘﺎﻳﺞ‬
‫ﺧﻮﺩ ﺭﺍ ﺑﺮﺍﻱ ﻫﺮ ﻭﺭﻭﺩﻱ ﺑﻪ ﻃﻮﺭ ﺟﺪﺍﮔﺎﻧﻪ ﺑﻴﺎﻥ ﻛﻨﻴﺪ‪.‬‬
‫ﺑﺮﺍﻱ ﺳﺎﺧﺘﻦ ﻣﺪﻝ ﺩﺭ ﺳﻴﻤﻮﻟﻴﻨﻚ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻛﻨﻴﺪ‪ :‬ﺍﺑﺘﺪﺍ ﺷﻜﻞ ‪ 10‬ﺭﺍ ﺩﺭ ﺳﻴﻤﻮﻟﻴﻨﻚ ﺑﺴﺎﺯﻳﺪ‪.‬‬

‫ﺷﻜﻞ‪ .10‬ﻣﺪﻝ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ‬

‫ﺳﭙﺲ ﺍﺯ ﻃﺮﺡ ﺧﻮﺩ ﻳﻚ ﻣﺪﻝ ﺑﺴﺎﺯﻳﺪ ﻭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱﻫﺎﻱ ﻣﺘﻔﺎﻭﺕ ﺭﺍ ﺑﺪﺳﺖ ﺁﻭﺭﻳﺪ‪.‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﺁﺯﻣﺎﻳﺶ ﺩﻭﺍﺯﺩﻫﻢ‬

‫ﺷﻜﻞ‪ .11‬ﺍﻋﻤﺎﻝ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﺑﻪ ﺳﻴﺴﺘﻢ‬

‫‪ .F‬ﺳﻴﺴﺘﻢ ﺭﺍ ﻭﺍﺭﺩ ﺟﻌﺒﻪﺍﺑﺰﺍﺭ ‪ sisotool‬ﻛﻨﻴﺪ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻣﻜﺎﻥ ﻭ ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺭﺳﻢ ﻧﻤﺎﻳﻴﺪ‪.‬‬

‫ﺗﻮﺟﻪ‪ :‬ﺍﻧﻴﻤﻴﺸﻦ ﻣﺮﺑﻮﻁ ﺑﻪ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﺗﻮﺍﻧﻴﺪ ﺑﺎ ﺍﺟﺮﺍﻱ ﻓﺎﻳﻞ ‪ pitchGUI.m‬ﻣﺸﺎﻫﺪﻩ ﻧﻤﺎﻳﻴﺪ‪ .‬ﺍﻳﻦ ﺍﻧﻴﻤﻴﺸﻦ ﻛﻪ‬
‫ﺑﻪ ﺻﻮﺭﺕ ‪ GUI‬ﻣﻲﺑﺎﺷﺪ ﺑﺮﺍﻱ ﺩﺭﻙ ﺑﻬﺘﺮ ﭘﺎﺳﺦ ﻓﻴﺰﻳﻜﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺑﺎ ﺍﺟﺮﺍﻱ‬
‫ﺍﻳﻦ ﻓﺎﻳﻞ ﻛﺸﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪Sisotool‬‬

‫ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ siso‬ﻳﻚ ﻭﺍﺳﻂ ﮔﺮﺍﻓﻴﻜﻲ ﻛﺎﺭﺑﺮ ﻣﻲ ‌ﺑﺎﺷﺪ ﻛﻪ ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢ ‌ﻫﺎﻱ ﺗﻚ ﻭﺭﻭﺩﻱ‪ -‬ﺗﻚ ﺧﺮﻭﺟﻲ ﻭ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮ ﺑﺮﺍﻱ‬
‫ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻣﻮﺍﺭﺩ ﺯﻳﺮ ﺍﺷﺎﺭﻩ ﻛﺮﺩ ‪:‬‬
‫ﻣﻲﮔﻴﺮﺩ‪ .‬ﺩﺭ ﻣﻮﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪‌ siso‬‬
‫ﺳﻴﺴﺘﻢﻫﺎ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ‌‬
‫‌‬ ‫ﺍﻳﻦ‬

‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺭﻳﺸﻪﻫﺎ‪ ،‬ﺑﻮﺩ‪ ،‬ﻧﺎﻳﻜﻮﻳﻴﺴﺖ ﻭ ﻧﻴﻜﻮﻟﺰ ‌‬
‫‌‬ ‫ﻳﻚ ﻭﺍﺳﻂ ﮔﺮﺍﻓﻴﻜﻲ ﺑﺮﺍﻱ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﻭ ﺗﻨﻈﻴﻢ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ‬ ‫•‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ siso‬ﺑﺎ ‪ LTI viewer‬ﺩﺭ ﺍﺭﺗﺒﺎﻁ ‌‬ ‫•‬
‫ﺍﻳﻦ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﻗﺎﺑﻠﻴﺖ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ‪ ……, LQG , PID‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺧﻮﺩﻛﺎﺭ ﺩﺍﺭﺍ ﻣﻲ‌ﺑﺎﺷﺪ‪.‬‬ ‫•‬

‫‪ >> sisotool‬ﺑﺎ‬ ‫ﺻﻔﺤﻪﻱ ﺩﺳﺘﻮﺭﺍﺕ� ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ matlab‬ﻋﺒﺎﺭﺕ ﺭﻭﺑﻪﺭﻭ ﻧﻮﺷﺘﻪ ﺷﻮﺩ ‪:‬‬
‫‪F3‬‬ ‫‌‬ ‫ﺑﺮﺍﻱ ﺑﺎﺯ ﻛﺮﺩﻥ ﺍﻳﻦ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﻛﺎﻓﻴﺴﺖ ﺩﺭ‬

‫ﻧﻮﺷﺘﻦ ﺩﺳﺘﻮﺭ ﻓﻮﻕ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ siso‬ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﻣﻲ ﺷﻮﺩ‪).‬ﺷﻜﻞ‪(1‬‬

‫ﺷﻜﻞ‪.1‬ﻧﻤﺎﻱ ﻛﻠﻲ ﺍﺯ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪siso‬‬

‫ﻣﻲﺷﻮﺩ‬
‫ﺩﺭ ﻗﺴﻤﺖ ﻓﻮﻗﺎﻧﻲ ﺍﻳﻦ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﻣﻨﻮﻱ ﺯﻳﺮ ﺩﻳﺪﻩ ‌‬

‫ﮔﺰﻳﻨﻪﻫﺎﻱ ﻣﻨﻮﻱ ‪: file‬‬

‫‌‬
‫" ‪load‬‬ ‫ﺑﺮﺍﻱ ﺑﺎﺯ ﻛﺮﺩﻥ ﻳﻚ ‪ siso design‬ﺍﺯ ﺍﻳﻦ ﮔﺰﻳﻨﻪ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﺍﻳﻦ ﮔﺰﻳﻨﻪ ﭘﻨﺠﺮﻩ‬ ‫‪:load‬‬ ‫•‬
‫ﻣﻲﺷﻮﺩ‪ .‬ﻻﺯﻡ ﺑﻪ ﺫﻛﺮ ﺍﺳﺖ ﻛﻪ ﭘﺮﻭژﻩﻫﺎ ﺑﺎ ﻓﺮﻣﺖ ‪ MAT‬ﺫﺧﻴﺮﻩ ﻣﻲ ﺷﻮﻧﺪ‪.‬‬
‫‪ "projects‬ﺑﺎﺯ ‌‬

‫‪1‬‬
‫‪Command window‬‬
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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫‪ :save‬ﺑﺮﺍﻱ ﺫﺧﻴﺮﻩ ﻛﺮﺩﻥ ﭘﺮﻭژﻩ ‌ﻱ ﺗﻌﺮﻳﻒ ﺷﺪﻩ ﺩﺭ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪ SISO‬ﺍﺯ ﺍﻳﻦ ﮔﺰﻳﻨﻪ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﮔﺰﻳﻨﻪ‬ ‫•‬
‫‪ Save‬ﭘﻨﺠﺮﻩ "‪ "save project‬ﺑﺎﺯ ﻣﻴﺸﻮﺩ‪.‬‬

‫ﺷﻜﻞ‪ .3‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﺑﺎﺯ ﻛﺮﺩﻥ ﭘﺮﻭژﻩﻫﺎ‬ ‫ﺷﻜﻞ‪.2‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﺫﺧﻴﺮﻩ ﻛﺮﺩﻥ ﭘﺮﻭژﻩﻫﺎ‬

‫ﺑﺮﺍﻱ ﺫﺧﻴﺮﻩ ﺳﺎﺯﻱ‪ ،‬ﻳﻚ ﻧﺎﻡ ﺑﺮﺍﻱ ﭘﺮﻭژﻩ‌ﻱ ﺧﻮﺩ ﺑﺮﮔﺰﻳﻨﻴﺪ ﻭ ﺳﭙﺲ ﺑﺮ ﺭﻭﻱ ‪ ok‬ﻛﻠﻴﻚ ﻛﻨﻴﺪ‪.‬‬

‫ﻣﻲﺷﻮﺩ‪.‬‬
‫ﭘﻨﺠﺮﻩﻱ ‪ sisotool export‬ﺑﺎﺯ ‌‬
‫‌‬ ‫ﺑﺎ ﻛﻠﻴﻚ ﻛﺮﺩﻥ ﺑﺮ ﺭﻭﻱ ﺍﻳﻦ ﮔﺰﻳﻨﻪ‬ ‫‪:Export‬‬ ‫•‬

‫ﺷﻜﻞ‪ .4‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﻓﺮﺳﺘﺎﺩﻥ ﺩﺍﺩﻩﻫﺎ ﺑﻪ ‪ workspace‬ﻭﻳﺎ ﺩﻳﺴﻚ‬

‫ﺑﻪ ﻛﻤﻚ ﺍﻳﻦ ﭘﻨﺠﺮﻩ ﻣﻴﺘﻮﺍﻥ ﻣﻮﺍﺭﺩ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﺍﺩ ‪:‬‬
‫ﻓﺮﺳﺘﺎﺩﻥ ﻣﺪﻝ ﻫﺎ ﺑﻪ ﻓﻀﺎﻱ ﻛﺎﺭﻱ ‪ matlab‬ﻳﺎ ﺩﺭﻭﻥ ﻳﻚ ﺩﻳﺴﻚ‪.‬‬ ‫•‬
‫ﺫﺧﻴﺮﻩ ﻛﺮﺩﻥ ﺗﻐﻴﻴﺮﺍﺕ ﺑﺮ ﺭﻭﻱ ﻣﺪﻝ ‌ﻫﺎ ﻛﻪ ﺷﺎﻣﻞ ﻣﺪﻝ ‌ﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺑﺴﺘﻪ‪ ،‬ﺗﻮﺍﺑﻊ ﺗﺒﺪﻳﻞ ﺣﺴﺎﺳﻴﺖ ﻭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻤﻬﺎ ﻭ‬ ‫•‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪‌ ....‬‬
‫ﺩﺭ ﻣﻨﻮﻱ ‪ edit‬ﻗﺴﻤﺘﻲ ﺗﺤﺖ ﻋﻨﻮﺍﻥ ‪ sisotool preferences‬ﻣﻮﺟﻮﺩ ﻣﻲ ‌ﺑﺎﺷﺪ ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﺍﻳﻦ ﮔﺰﻳﻨﻪ ﭘﻨﺠﺮﻩ ﺯﻳﺮ ﺑﺎﺯ‬ ‫•‬
‫ﻣﻲﺷﻮﺩ‪:‬‬
‫‌‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫ﺷﻜﻞ‪ .5‬ﭘﻨﺠﺮﻩ ﺗﻨﻈﻴﻤﺎﺕ‬

‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﭘﻨﺠﺮﻩ ﻣﻲ ‌ﺗﻮﺍﻥ ﻣﻮﺍﺭﺩ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﺍﺩ ‪.1 :‬ﺗﻌﻴﻴﻦ ﻭﺍﺣﺪﻫﺎ ‪ .2‬ﺗﻌﻴﻴﻦ ﻓﻮﻧﺖ ﻧﻮﺷﺘﻪ ‌ﻫﺎﻱ ﺑﺮ ﭼﺴﺐ ‌ﻫﺎ ‪ ،‬ﻣﻮﺿﻮﻉ ‌ﻫﺎ ﻭ ‪......‬‬
‫ﻗﻄﺐﻫﺎ ﺩﺭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩ‪.‬‬
‫‌‬ ‫ﺟﺒﺮﺍﻥﺳﺎﺯ ‪.4‬ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﻳﺎ ﺣﺬﻑ ﻛﺮﺩﻥ ﺻﻔﺮﻫﺎ ﻭ‬
‫‌‬ ‫‪.3‬ﺗﻐﻴﻴﺮ ﻓﺮﻣﺖ‬

‫ﻣﻨﻮﻱ ‪: architecture‬‬

‫ﺩﺭ ﻗﺴﻤﺖ ‪ architecture‬ﻣﻲ‌ﺗﻮﺍﻥ ﻛﺎﺭﻫﺎﻱ ﺯﻳﺮ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﺍﺩ‪.1 :‬ﺗﻌﻴﻴﻦ ﺳﺎﺧﺘﺎﺭ ﻛﻨﺘﺮﻟﻲ ‪ .2‬ﻭﺍﺭﺩﻛﺮﺩﻥ ﻣﺪﻝ ‌ﻫﺎ ﺑﻪ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪.3‬ﺗﻐﻴﻴﺮ‬
‫ﻧﻤﻮﻧﻪﺑﺮﺩﺍﺭﻱ ﺑﺮﺍﻱ ﮔﺴﺴﺘﻪ ﻛﺮﺩﻥ ﺳﻴﺴﺘﻢ‪.‬‬
‫‌‬ ‫ﺯﻣﺎﻥ‬

‫‪Architecture‬‬

‫ﺷﻜﻞ‪ .6‬ﻣﻨﻮﻱ ‪architecture‬‬

‫ﺑﺎ ﻛﻠﻴﻚ ﻛﺮﺩﻥ ﺑﺮ ﺭﻭﻱ ﻣﻨﻮﻱ " ‪ "control architecture‬ﭘﻨﺠﺮﻩ ﺯﻳﺮ ﺑﺎﺯ ﻣﻲ ‌ﺷﻮﺩ ﻛﻪ ﺩﺭ ﺁﻥ ﺑﻠﻮﻙ ﺩﻳﺎﮔﺮﺍﻡﻫﺎﻱ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﺪﻝ‬
‫ﻣﻮﺭﺩ ﻧﻈﺮ ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ‪:‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫ﺷﻜﻞ‪ .7‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﺳﺎﺧﺘﺎﺭ ﻛﻨﺘﺮﻟﻲ‬

‫ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﻋﻼﻣﺖﻫﺎﻱ‬ ‫ﻫﻤﭽﻨﻴﻦ ﻣﻲ ‌ﺗﻮﺍﻥ ﺳﺎﺧﺘﺎﺭ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻭ ﻋﻼﻣﺖ ‌ﻫﺎﻱ ﺑﻠﻮﻙ ‌ﻫﺎﻱ ﺟﻤﻊ ﻛﻨﻨﺪﻩ ﺭﺍ ﺩﺭ ﺁﻥ ﻣﺸﺨﺺ ﻛﺮﺩ‪.‬‬
‫ﺑﻠﻮﻙﻫﺎﻱ ﺟﻤﻊ ﻛﻨﻨﺪﻩ ﻣﻲ ‌ﺑﺎﻳﺴﺖ ﺍﺯ ﻗﺴﻤﺖ ”‪ “sign‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺩﺭ ﻗﺴﻤﺖ “‪ “blocks and signals‬ﻣﻲ‌ﺗﻮﺍﻥ ﺑﺮﺍﻱ ﻫﺮ ﺑﻠﻮﻙ‬
‫‌‬
‫ﻣﻲﺑﺎﺷﺪ ﻳﻚ ﺍﺳﻢ ﺩﻟﺨﻮﺍﻩ ﺑﺮﮔﺰﻳﺪ‪.‬‬
‫ﻛﻪ ﺩﺭ ﺳﺎﺧﺘﺎﺭ ﻛﻨﺘﺮﻟﻲ ﻣﻮﺟﻮﺩ ‌‬

‫‪2‬‬ ‫ﺑﺮﺍﻱ ﺗﻐﻴﻴﺮ ﻧﺎﻡ‬

‫ﺑﺎﺭ ﻛﻠﻴﻚ ﻛﻨﻴﺪ‬

‫ﺷﻜﻞ‪ .8‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﺗﻐﻴﻴﺮ ﻧﺎﻡ ﺑﻠﻮﻙﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ‬

‫ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﻗﺴﻤﺖ ”‪ “system data‬ﺩﺭ ﭘﻨﻞ ”‪ “architecture‬ﭘﻨﺠﺮﻩ ‌ﻱ ‪ system data‬ﺑﺎﺯ ﻣﻲ‌ﺷﻮﺩ ﻛﻪ ﺩﺭ ﺷﻜﻞ ‪ 9‬ﻧﺸﺎﻥ‬
‫ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ‪ .9‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﻭﺍﺭﺩ ﻛﺮﺩﻥ ﻣﺪﻝ ﺑﻪ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪siso‬‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺑﺮﺍﻱ ﻫﺮ ﻳﻚ ﺍﺯ ﺑﻠﻮﻙ ‌ﻫﺎﻳﻲ ﻛﻪ ﺩﺭ ﺳﺎﺧﺘﺎﺭ ﻛﻨﺘﺮﻟﻲ ﻣﻮﺟﻮﺩ ﻣﻲ ‌ﺑﺎﺷﻨﺪ ﻳﻚ ﻣﺪﻝ ﺭﺍ ﻭﺍﺭﺩ ﻛﺮﺩ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻓﺮﺽ ﻛﻨﻴﺪ‬
‫‌‬
‫ﻣﻲﺧﻮﺍﻫﻴﻢ ﺑﺮﺍﻱ ﺑﻠﻮﻙ ‪) G‬ﭘﻼﻧﺖ( ﻳﻚ ﻣﺪﻝ ﺭﺍ ﺗﻌﺮﻳﻒ ﻛﻨﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ‪:‬‬
‫‌‬

‫‪ .1‬ﺑﺮ ﺭﻭﻱ ﮔﺰﻳﻨﻪ ‪ Browse‬ﻛﻠﻴﻚ ﻛﻨﻴﺪ‪ .‬ﭘﻨﺠﺮﻩ ‪ Model import‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﺷﻜﻞ ﺯﻳﺮ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﺑﺎﺯ‬
‫ﻣﻲﺷﻮﺩ‪.‬‬
‫‌‬

‫ﺷﻜﻞ‪ .10‬ﻭﺍﺭﺩ ﻛﺮﺩﻥ ﻣﺪﻝ ﺑﺮﺍﻱ ‪G‬‬

‫‪ 2‬ﺑﺨﺶ ‪ Matlab Workspace‬ﻭ‬ ‫‪ .2‬ﺍﺯ ﻣﺪﻝ ﻫﺎﻱ ﻣﻮﺟﻮﺩ ﺩﺭ ﻟﻴﺴﺖ ﻳﻚ ﻣﺪﻝ ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻛﺮﺩﻩ ‪ ،‬ﻣﻲ ﺗﻮﺍﻥ ﻣﺪﻝ ﻫﺎ ﺭﺍ ﺍﺯ‬
‫‪ MAT-file‬ﻭﺍﺭﺩ ﻛﺮﺩ‪.‬‬
‫‪ .3‬ﺑﺮ ﺭﻭﻱ ‪ Import‬ﻛﻠﻴﻚ ﻙﻧﻴﺪ ‪ .‬ﺳﭙﺲ ‪ Close‬ﺭﺍ ﺑﺰﻧﻴﺪ‪ .‬ﺍﻛﻨﻮﻥ ‌‬
‫ﻣﻲﺗﻮﺍﻧﻴﺪ ﻣﺪﻝ ﺑﺎﺭ ﺷﺪﻩ ﺑﺮ ﺭﻭﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪.‬‬
‫‪ .4‬ﺳﭙﺲ ﺑﺮ ﺭﻭﻱ ‪ ok‬ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﺍﻛﻨﻮﻥ ﻣﺪﻝ ﺷﻤﺎ ﻭﺍﺭﺩ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﺩﺭ ﻗﺴﻤﺖ ‪ sample‬ﻛﻠﻴﻚ ﻛﻨﻴﺪ‪ .‬ﭘﻨﺠﺮﻩ ﺯﻳﺮ ﮔﺸﻮﺩﻩ ﻣﻲ‌ﺷﻮﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﭘﻨﺠﺮﻩ ﻣﻲ‌ﺗﻮﺍﻥ ﻧﺮﺥ ﻧﻤﻮﻧﻪ‌ﺑﺮﺩﺍﺭﻱ ﺑﺮﺍﻱ ﮔﺴﺴﺘﻪ‌ﺳﺎﺯﻱ ﻭ ﻫﻤﭽﻨﻴﻦ‬
‫ﺭﻭﺵ ﺗﺒﺪﻳﻞ ﺑﺮﺍﻱ ﮔﺴﺴﺘﻪ ‌ﺳﺎﺯﻱ ﺭﺍ ﻣﺸﺨﺺ ﻛﺮﺩ ﻛﻪ ﺍﺯ ﺟﻤﻠﻪ ﺭﻭﺵ ‌ﻫﺎﻱ ﺗﺒﺪﻳﻞ ﺑﺮﺍﻱ ﮔﺴﺴﺘﻪ ﻛﺮﺩﻥ ﺳﻴﺴﺘﻢ ﻣﻲ ‌ﺗﻮﺍﻥ ﺑﻪ ﻧﮕﻬﺪﺍﺭﻧﺪﻩ ‌ﻱ‬
‫ﻧﮕﻬﺪﺍﺭﻧﺪﻩﻱ ﻣﺮﺗﺒﻪ ﻳﻚ ‪ ،‬ﺗﺎﺳﺘﻴﻦ ﻭ ‪ . . .‬ﺍﺷﺎﺭﻩ ﻛﺮﺩ‪.‬‬
‫‌‬ ‫ﻣﺮﺗﺒﻪ ﺻﻔﺮ‪،‬‬

‫ﺷﻜﻞ‪ .11‬ﮔﺴﺴﺘﻬﺴﺎﺯﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪siso‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫‪: Compensator Editor‬‬

‫ﻣﻲﺗﻮﺍﻥ ﺑﺮﺍﻱ ﺍﺿﺎﻓﻪ ﻛﺮﺩﻥ ﻭ ﻳﺎ ﻭﻳﺮﺍﻳﺶ ﺻﻔﺮ‪ ،‬ﻗﻄﺐ ﻭ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻟﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪.‬‬
‫ﺍﺯ ﭘﻨﻞ ‪‌ Compensator Editor‬‬

‫ﺷﻜﻞ‪ .12‬ﭘﻨﻞ ﻣﺮﺑﻮﻁ ﺑﻪ ﺟﺒﺮﺍﻥﺳﺎﺯ‬

‫ﺩﺭ ﻗﺴﻤﺖ ﺑﺎﻻﻱ ﭘﻨﻞ ﺟﺒﺮﺍﻥ ‌ﺳﺎﺯ ﻣﻲ ‌ﺗﻮﺍﻥ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ ) ‪ c‬ﻳﺎ ‪ ( F‬ﺭﺍ ﻣﺸﺨﺺ ﻛﺮﺩ ﻭ ﺑﻬﺮﻩ ﺭﺍ ﺑﺮﺍﻱ ﺁﻥ ﺗﻌﺮﻳﻒ ﻛﺮﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ‬
‫ﻫﻤﭽﻨﻴﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻛﻨﺘﺮﻟﻲ ﻧﻴﺰ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺩﺭ ﻗﺴﻤﺖ ‪ Dynamics‬ﻣﻲ ‌ﺗﻮﺍﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺑﻪ ﻛﻨﺘﺮﻟﺮ ﺍﺿﺎﻓﻪ ﻛﺮﺩ ﻭ ﺩﺭ‬
‫ﻗﺴﻤﺖ ‪ Edit selected Dynamics‬ﻣﻲ ‌ﺗﻮﺍﻥ ﻣﻜﺎﻥ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺭﺍ ﺗﻨﻈﻴﻢ ﻛﺮﺩ‪ .‬ﺩﺭ ﻗﺴﻤﺖ ﭘﺎﻳﻴﻦ ﺍﻳﻦ ﭘﻨﻞ ‪ 3‬ﮔﺰﻳﻨﻪ ‌ﻱ ‪Show‬‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪ ،Architecture‬ﺑﺮﺍﻱ ﻣﺸﺎﻫﺪﻩ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ؛ ‪ ، Store Design‬ﺑﺮﺍﻱ ﺫﺧﻴﺮﻩ ﺳﺎﺯﻱ ﻛﻨﺘﺮﻟﺮ ﻭ ‪ Help‬ﻣﻮﺟﻮﺩ ‌‬

‫‪:Graphical Tuning‬‬
‫ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﭘﻨﻞ ‪ Graphical Tuning‬ﺷﻜﻞ ‪ 13‬ﻣﺸﺎﻫﺪﻩ ﻣﻲ ‌ﺷﻮﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﻣﻲﺗﻮﺍﻥ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻪ ﺭﻳﺸﻪﻫﺎ ﻭ ﻧﻴﻜﻮﻟﺰ ﺭﺍ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ ﺭﺍ ﺑﺮﺍﻱ ﻫﺮ ﺩﻭ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺳﻢ ﻛﺮﺩ‪ .‬ﺩﺭ‬
‫ﻗﺴﻤﺖ ﺑﺎﻻﻱ ﺍﻳﻦ ﺻﻔﺤﻪ ﻣﻲﺗﻮﺍﻥ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻣﺨﺘﻠﻒ ﺑﺮﺍﻱ ﺭﺳﻢ ﺭﺍ ﻣﺸﺨﺺ ﻛﺮﺩ‪ .‬ﺩﺭ ﻗﺴﻤﺖ ﭘﺎﻳﻴﻦ ﺍﻳﻦ ﺻﻔﺤﻪ ﻧﻴﺰ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺣﻠﻘﻪ‬
‫ﺑﺎﺯ ﻭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﺪﻝ ﻛﻨﺘﺮﻟﻲ ﻣﺸﺎﻫﺪﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺮﺍﻱ ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﻳﮕﺮ ﺑﺮﺍﻱ ﺳﺎﺧﺘﺎﺭ ﻛﻨﺘﺮﻟﻲ‬
‫ﻣﻮﺟﻮﺩ ﻣﻲﺗﻮﺍﻥ ﺑﺮ ﺭﻭﻱ ﮔﺰﻳﻨﻬﻲ ‪ Select New Loops to tune‬ﻛﻠﻴﻚ ﻛﺮﺩ‪.‬‬

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‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫ﺷﻜﻞ‪ .13‬ﻗﺴﻤﺖ ‪Graphical Tuning‬‬

‫ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﮔﺰﻳﻨﻬﻲ ” ‪ “Select New Loops to tune‬ﭘﻨﺠﺮﻩ ﺯﻳﺮ ﺑﺎﺯ ﻣﻲﺷﻮﺩ )ﺷﻜﻞ ‪ (14‬ﻛﻪ ﺩﺭ ﺍﻳﻦ ﭘﻨﺠﺮﻩ ﻣﻲﺗﻮﺍﻥ‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺳﺎﺧﺘﺎﺭ ﺍﺻﻠﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺗﻌﻴﻴﻦ ﻛﺮﺩ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻓﺮﺽ ﻛﻨﻴﺪ ﻣﻲﺧﻮﺍﻫﻴﻢ ﺗﺎﺑﻊ‬
‫ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻭﺭﻭﺩﻱ ﻧﻮﻳﺰ ﺑﻪ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺩﺭ ﻗﺴﻤﺖ ‪ closed Loop input‬ﻭﺭﻭﺩﻱ ﺭﺍ ﻧﻮﻳﺰ‬
‫)‪ (n‬ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ ﻭ ﺩﺭ ﻗﺴﻤﺖ ‪ closed Loop output‬ﺧﺮﻭﺟﻲ ﺭﺍ ﺧﺮﻭﺟﻲ ﺍﺻﻠﻲ ﺳﻴﺴﺘﻢ )‪ (y‬ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ ﻭ ﺳﭙﺲ‬
‫ﺑﺮﺍﻱ ﺳﺎﺧﺘﺎﺭﻫﺎﻳﻲ ﻛﻪ ﺷﺎﻣﻞ ﭼﻨﺪ ﻛﻨﺘﺮﻟﺮ ﻣﻲﺑﺎﺷﻨﺪ ﻣﺸﺨﺺ ﻣﻲﻛﻨﻴﻢ ﻛﻪ ﺑﺎ ﻛﺪﺍﻡ ﻛﻨﺘﺮﻟﺮ ﻣﻲﺧﻮﺍﻫﻴﻢ ﻓﺮﺁﻳﻨﺪ ﺗﻨﻈﻴﻢ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﻢ‪.‬‬
‫ﺳﭙﺲ ﺩﺭ ﺑﺨﺶ ‪ Initial blocks to tune‬ﻛﻨﺘﺮﻟﺮ ﻣﻮﺭﺩ ﻧﻈﺮ ﺭﺍ ﺑﺮ ﻣﻲﮔﺰﻳﻨﻴﻢ‪.‬‬

‫ﺷﻜﻞ‪ .14‬ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ n‬ﺑﻪ ﺧﺮﻭﺟﻲ ‪y‬‬

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 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫‪: Analysis Plot‬‬

‫ﻣﻲﺷﻮﺩ‪:‬‬
‫ﺑﺎ ﻛﻠﻴﻚ ﺑﺮ ﺭﻭﻱ ﭘﻨﻞ ”‪“ Analysis plot‬ﭘﻨﺠﺮﻩ ﺯﻳﺮ ﺑﺎﺯ ‌‬

‫ﺷﻜﻞ‪ .15‬ﭘﻨﺠﺮﻩ ‪Analysis Plot‬‬

‫ﺩﺭ ﻳﻚ ﭘﻨﺠﺮﻩ ‪ LTI Viewer‬ﺗﺎ ‪ 6‬ﻧﻤﻮﺩﺍﺭ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﻫﻤﺰﻣﺎﻥ ﻣﻲ ‌ﺗﻮﺍﻥ ﺭﺳﻢ ﻛﺮﺩ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﻓﺮﺽ ﻛﻨﻴﺪ ﻣﻲ ﺧﻮﺍﻫﻴﺪ ﻧﻤﻮﺩﺍﺭ‬
‫ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻛﻨﻴﺪ‪ .‬ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﻨﻈﻮﺭ ﺑﺮﺍﻱ ﻛﺸﻴﺪﻥ ﻳﻚ ﻧﻤﻮﺩﺍﺭ ﺍﺑﺘﺪﺍ ﺩﺭ ﻗﺴﻤﺖ ﺑﺎﻻﻱ ﺍﻳﻦ ﭘﻨﺠﺮﻩ‬
‫"‪ "Plot1‬ﻧﻤﻮﺩﺍﺭ ”‪ “step‬ﺭﺍ ﻣﺸﺨﺺ ﻛﻨﻴﺪ ﻭ ﺳﭙﺲ ﺩﺭ‬ ‫ﻧﻤﻮﺩﺍﺭﻫﺎﻳﻲ ﻛﻪ ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﺪﻧﻈﺮ ﻣﻲﺑﺎﺷﺪ ﺭﺍ ﻣﺸﺨﺺ ﻛﻨﻴﺪ ﺩﺭ ﻗﺴﻤﺖ‬
‫ﻗﺴﻤﺖ ”‪ “Contents of Plots‬ﺩﺭ ﺳﺘﻮﻥ ﻳﻚ ﺩﺭ ﻣﻘﺎﺑﻞ ﺭﺩﻳﻒ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ r‬ﺑﻪ ﺧﺮﻭﺟﻲ ‪ y‬ﻛﻠﻴﻚ ﻛﻨﻴﺪ‪ .‬ﺑﺮﺍﻱ‬
‫ﺗﻌﺮﻳﻒ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﻳﮕﺮ ﻣﻲﺗﻮﺍﻥ ﺑﺮ ﺭﻭﻱ ﮔﺰﻳﻨﻪ ”‪ “Add Responses‬ﻛﻠﻴﻚ ﻛﺮﺩ‪.‬‬

‫‪: Automated Tuning‬‬

‫ﺍﻟﮕﻮﺭﻳﺘﻢﻫﺎﻱ ﺯﻳﺮ ﺍﺷﺎﺭﻩ ﻛﺮﺩ‪:‬‬
‫‌‬ ‫ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﻣﻲﺗﻮﺍﻥ ﺭﻭﺷﻲ ﺑﺮﺍﻱ ﺗﻨﻈﻴﻢ ﺧﻮﺩﻛﺎﺭ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﻛﻪ ﻣﻲﺗﻮﺍﻥ ﺑﻪ‬

‫‪ :Optimization-Based Tuning‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺟﺒﺮﺍﻥﺳﺎﺯ ﺭﺍ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺤﺪﻭﺩﻳﺖﻫﺎﻱ ﺑﻴﺎﻥ ﺷﺪﻩ ﺩﺭ‬
‫‪U‬‬ ‫‪U‬‬ ‫•‬
‫ﻣﻲﻛﻨﺪ‪.‬‬
‫ﻗﺴﻤﺖ ”‪ “Graphical Tuning‬ﻭ ”‪ “Analysis Plot‬ﺑﻬﻴﻨﻪ ‌‬
‫”‪“Robust response time‬‬ ‫‪ PID‬ﺭﺍ ﺑﺎ ﺭﻭﺵﻫﺎﻱ ﻣﺘﻔﺎﻭﺗﻲ ﭼﻮﻥ‬ ‫‪ :PID Tuning‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻨﺘﺮﻟﺮ‬ ‫•‬
‫ﻣﻲﻛﻨﺪ‪.‬‬
‫”‪ “Parameter Search‬ﻭ ”‪ “Ziegler-Nichols‬ﭘﻴﺪﺍ ‌‬
‫‪Internal Model Control(IMC) Tuning‬‬ ‫•‬

‫‪110‬‬
‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﭘﻴﻮﺳﺖ‪ :‬ﺟﻌﺒﻪ ﺍﺑﺰﺍﺭ ‪sisotool‬‬

‫‪ :LQG Synthesis‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﻛﻨﺘﺮﻟﺮ � ‪ LQG‬ﺭﺍ ﻃﺮﺍﺣﻲ ﻣﻲ‌ﻛﻨﺪ‪.‬‬

‫‪34F‬‬ ‫•‬
‫‪ :Loop Shaping‬ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﻳﻚ ﻛﻨﺘﺮﻟﺮ ﭘﺎﻳﺪﺍﺭ ﺳﺎﺯ ﻣﺮﺗﺒﻪ ﻛﺎﻣﻞ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﻜﻞ ﻳﺎ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﺣﻠﻘﻪ ﺑﺎﺯ ﻣﻄﻠﻮﺏ‬ ‫•‬
‫ﻃﺮﺍﺣﻲ ﻣﻲ‌ﻛﻨﺪ‪.‬‬

‫ﺷﻜﻞ‪ .16‬ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻁ ﺑﻪ ﻃﺮﺍﺣﻲ ﺧﻮﺩﻛﺎﺭ ﻛﻨﺘﺮﻟﺮ‬

‫‪1‬‬
‫‪Linear-Quadratic-Gaussian‬‬
‫‪111‬‬
 ‫ﺁﺯﻣﺎﻳﺸﮕﺎﻩ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺳﺠﺎﺩ‬ ‫ﻣﺮﺍﺟﻊ‬

:‫ﻣﺮﺍﺟﻊ‬
.‫ ﺍﻧﺘﺸﺎﺭﺍﺕ ﻧﺺ‬.‫[ ﻛﺎﺗﺴﻮ ﻫﻴﻜﻮ ﺍﮔﺎﺗﺎ "ﻣﻬﻨﺪﺳﻲ ﻛﻨﺘﺮﻝ" ﻣﺤﻤﻮﺩ ﺩﻳﺎﻧﻲ‬1]

[2] N. S. Nise, Control Systems Engineering, Fifth Edition, Wiley, John & Sons Inc, 2008.

[3] B. C. Kuo and F.Golnaraghi, Automatic Control Systems, Ninth Edition, Wiley, John & Sons Inc,
2010.

[4] K. J. Astrom and T. Hagglund, PID Controllers:Theory, Design and Tuning, Second Edition, 1995.

[5] K. Ogata, System Dynamics, Fourth Edition, Pearson Prentice Hall, 2004.

[6] J. J. D’Azzo, C. H. Houpis, and S. N. Sheldon, Linear Control System Analysis and Design with
Matlab, Fifth Edition, Marcel Dekker Inc, 2003.

[7] B. C. Kuo and D. C. Hanselman, MATLAB Tools for Control System Analysis and Design, Prentice
Hall Inc, 1994.

[8] N. Sadati, A. Aflaki, and M. Jahed, “Multivariable Anesthesia Control Using Reinforcement
Learning,” IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan, October 8-
11, 2006.

[9] "Aircraft Pitch Motion" Available at http://www.nasa.gov/

[10] “Michigan engineering, college of engineering, control laboratory” Available

at http://www.engin.umich.edu/
U U

[11] R. T. Schneider, "Pneumatic Robots Continue to Improve," Conference on Hydraulics & Pneumatics,
October 1992

[12] A. Bittar, and R. M. Sales, "H2 and H2 Control for MagLev Vehicles," IEEE Control Systems, vol.
18, no. 4, August 1998, pp. 18-25.

112