‫سایت اختصاصی‬

.ir
‫مهندسی کنترل‬

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https://controlengineers.ir

@controlengineers
 ‫ﺳﻼم!‬
‫‪ .۱‬ﻟﻄﻔﺎﹰ ﻗﺴﻤﺖ ﺩﺭﺱ ﺍﻳﻦ ﺟﺰﻭة ﺧﻼﺻﻪ ﺭﺍ ﺧﻴﻠﻲ ﺧﻴﻠﻲ ﺳﺮﻳﻊ ﻧﺨﻮﺍﻧﻴﺪ! )ﻣﺜﻼﹰ ﺣﺪﺍﻛﺜﺮ ﺩﺭ ﻳﻜﺴﺎﻋﺖ(‪.‬‬
‫‪ .۲‬ﻟﻄﻔﺎﹰ ﺗﺴﺘﻬﺎﻱ ﺍﻳﻦ ﺟﺰﻭة ﺧﻼﺻﻪ ﺭﺍ ﻣﻮﺷﻜﺎﻓﺎﻧﻪ ﻭ ﺑﺎ ﺩﻗﺖ ﺑﺨﻮﺍﻧﻴﺪ! )ﻳﺎ ﺗﺴﺘﻲ ﺭﺍ ﺣﻞ ﻧﻜﻨﻴﺪ‪ ،‬ﻳﺎ ﺍﮔﺮ ﺣﻞ ﻣﻲﻛﻨﻴﺪ‪ ،‬ﺑﺎ‬
‫ﺗﻤﺎﻡ ﻭﺟﻮﺩ! ﺩﺭﻛﺶ ﻛﻨﻴﺪ(‪.‬‬
‫‪ .۳‬ﺑﻪ ﻗﺴﻤﺘﻬﺎﻳﻲ ﻛﻪ ﺑﺎ ﺗﻴﺘﺮِ ‪» :‬ﻧﻜﺘﻪ ﺑﺴﻴﺎﺭ ﻣﻬﻢ« ﻭ »ﺍﺷﺘﺒﺎﻫﺎﺕ ﺭﺍﻳﺞ« ﻣﺸﺨﺺ ﻛﺮﺩﻩﺍﻡ‪ ،‬ﺑﺴﻴﺎﺭ ﺩﻗﺖ ﻛﻨﻴﺪ )ﺣﺘﻲ ﺑﺎ‬
‫ﻭﺟﻮﺩﻳﻜﻪ ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﻋﺰﻳﺰﺍﻥ ﺍﺯ ﺍﻳﻦ ﻧﻜﺎﺕ ﺁﮔﺎﻫﻨﺪ‪ ،‬ﺑﺎﺯ ﻫﻢ ﺩﺭ ﺟﻠﺴﻪ ﻛﻨﻜﻮﺭ‪ .( ... ،‬ﺗﻨﻬﺎ ﺭﺍﻩ ﺣﻞ ﺍﻳﻦ ﻣﺸﻜﻞ‪ ،‬ﺗﺴﺖ‬
‫ﺯﺩﻥ ﺍﺳﺖ‪.‬‬

‫‪.ir‬‬
‫‪ .۴‬ﺩﻧﺒﺎﻝ ﺍﺑﺪﺍﻉ ﺭﻭﺷﻬﺎﻱ ﺗﺴﺘﻲ ﺟﺪﻳﺪ ﻧﺒﺎﺷﻴﺪ! ﺗﻨﻬﺎ ﺭﻫﻴﺎﻓﺘﻬﺎﻱ ﺷﻤﺎ ﺑﺮﺍﻱ ﺣﻞ ﺗﺴﺖ‪ ،‬ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ ‪:‬‬

‫‪rs‬‬
‫ﺩﺭﻙ ﻛﺎﻣﻞ ﺗﺌﻮﺭﻱ ‪ +‬ﺣﻞ ﻣﺜﺎﻟﻬﺎﻱ ﻣﺘﻌﺪﺩ ‪ +‬ﻣﺮﻭﺭ ﺁﻣﻮﺧﺘﻪﻫﺎ‬
‫‪ ۵‬ﺍﻛﻴﺪﺍﹰ ﺗﻮﺻﻴﻪ ﻣﻲﻛﻨﻢ ﺗﺴﺘﻬﺎﻱ ‪ ۵‬ﺳﺎﻝ ﮔﺬﺷﺘﻪ ﺭﺍ ﭼﻨﺪﻳﻦ ﻣﺮﺗﺒﻪ ﻣﺮﻭﺭ ﻛﻨﻴﺪ‪.‬‬

‫‪ee‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻓﺮﺻﺖ ﺑﺴﻴﺎﺭ ﺍﻧﺪﻛﻲ ﻛﻪ ﺑﺮﺍﻱ ﺗﻬﻴﺔ ﺍﻳﻦ ﺟﺰﻭﻩ ﺩﺭ ﺍﺧﺘﻴﺎﺭ ﺩﺍﺷﺘﻴﻢ‪ ،‬ﺍﺣﺘﻤﺎﻝ ﺑﺮﻭﺯ ﺍﺷﺘﺒﺎﻫﺎﺕ ﭼﺎﭘﻲ ﺩﺭ ﺁﻥ‬
‫ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺳﭙﺎﺳﮕﺰﺍﺭ ﺧﻮﺍﻫﻢ ﺷﺪ ﺍﮔﺮ ﺍﺯ ﻃﺮﻳﻖ ﺍﻳﻤﻴﻞ ﻭ ‪ ، ...‬ﺍﻳﻦ ﺧﻄﺎﻫﺎﻱ ﺍﺣﺘﻤﺎﻟﻲ ﺭﺍ ﮔﻮﺷﺰﺩ ﻛﻨﻴﺪ‪.‬‬
‫‪in‬‬
‫ﺍﻣﻴﺪﻭﺍﺭﻡ ﺑﻪ ﻫﻤﺔ ﺁﺭﺯﻭﻫﺎﻱ ﭘﺎﻛﺘﺎﻥ ﺑﺮﺳﻴﺪ ‪...‬‬
‫ارادﺗﻤﻨﺪ ﺷﻤﺎ‪ ،‬ﻣﺼﻄﻔﯽ ﺗﻘﻮي ﮐﻨﯽ‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
 ‫در ﺟﺪول ذﯾﻞ دروس ﺑﻪ ﺳﺮﻓﺼﻠﻬﺎي ﻣﻬﻢ آن ﻃﺒﻘﻪ ﺑﻨﺪي ﺷﺪه و ﻣﺸﺨﺺ ﺷﺪه اﺳﺖ ﮐﻪ در ﻫﺮ ﺳﺎل از ﻫﺮ ﻣﺒﺤﺚ ﭼﻨﺪ ﺗﺴﺖ ﺳﻮال‬
‫ﺷﺪه اﺳﺖ و داﻧﺸﺠﻮي ﻣﺤﺘﺮم ﻣﯽ ﺗﻮاﻧﺪ زﻣﺎن ﺑﺎﻗﯿﻤﺎﻧﺪه ﺗﺎ ﮐﻨﮑﻮر را ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ اﻫﻤﯿﺖ ﻣﺒﺎﺣﺚ ﻣﺪﯾﺮﯾﺖ ﻧﻤﺎﯾﺪ‪.‬‬

‫ﺩﺭﺱ‪ :‬ﺳﻴﺴﺘﻤﻬﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬ ‫ﺭﺷﺘﻪ‪ :‬ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ‬

‫ﻧﺴﺒﺖ ﺍﺯ‬ ‫ﻣﺠﻤﻮﻉ ‪۵‬‬ ‫‪۱۳۸۹‬‬ ‫‪۱۳۸۸‬‬ ‫‪۱۳۸۷‬‬ ‫‪۱۳۸۶‬‬ ‫‪۱۳۸۵‬‬
‫ﻣﺒﺤﺚ‬ ‫ﺭﺩﻳﻒ‬
‫ﮐﻞ‬ ‫ﺳﺎﻝ‬ ‫ﺗﻌﺪﺍﺩ ﺗﺴﺖ‬ ‫ﺗﻌﺪﺍﺩ ﺗﺴﺖ‬ ‫ﺗﻌﺪﺍﺩ ﺗﺴﺖ‬ ‫ﺗﻌﺪﺍﺩ ﺗﺴﺖ‬ ‫ﺗﻌﺪﺍﺩ ﺗﺴﺖ‬
‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﺗﻌﺮﯾﻒ ﺳﯿﺴﺘﻢ و اﻧﻮاع ﺳﯿﺴﺘﻢ‬ ‫‪1‬‬
‫‪1%‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﻣﺪل ﺳﺎزي ﺑﻪ روش ﺗﺎﺑﻊ ﺗﺒﺪﯾﻞ‬ ‫‪2‬‬
‫‪8%‬‬ ‫‪6‬‬ ‫‪2‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫ﻣﺪل ﺳﺎزي ﺑﻪ روش ﺳﯿﮕﻨﺎل ﮔﺬر ﺟﺮﯾﺎن‬ ‫‪3‬‬

‫‪.ir‬‬
‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﻣﺪل ﺳﺎزي ﺑﻪ روش ﺑﻠﻮك دﯾﺎﮔﺮام‬ ‫‪4‬‬
‫‪8%‬‬ ‫‪6‬‬ ‫‪0‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫ﻣﺪل ﺳﺎزي ﺑﻪ روش ﻓﻀﺎي ﺣﺎﻟﺖ‬ ‫‪5‬‬
‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﺳﯿﺴﺘﻤﻬﺎي درﺟﻪ اول‬ ‫‪6‬‬

‫‪rs‬‬
‫‪3%‬‬ ‫‪2‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫ﺣﺴﺎﺳﯿﺖ‬ ‫‪7‬‬
‫‪11%‬‬ ‫‪8‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫ﺳﯿﺴﺘﻤﻬﺎي درﺟﻪ دوم‬ ‫‪8‬‬

‫‪ee‬‬
‫‪1%‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫ﺳﯿﺴﺘﻤﻬﺎي درﺟﻪ ﺳﻮم و ﺑﺎﻻﺗﺮ‬ ‫‪9‬‬
‫‪9%‬‬ ‫‪7‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫ﺑﺪﺳﺖ آوردن ﺧﻄﺎي ﻣﺎﻧﺪﮔﺎر‬ ‫‪10‬‬
‫‪9%‬‬ ‫‪7‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪0‬‬ ‫ﺗﻌﺮﯾﻒ ﺣﺪ ﺑﻬﺮه و ﺣﺪ ﻓﺎز‬ ‫‪11‬‬
‫‪in‬‬
‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﺗﻌﺮﯾﻒ ﭘﺎﯾﺪاري و ﺗﻌﺎدل‬ ‫‪12‬‬
‫‪8%‬‬ ‫‪6‬‬ ‫‪0‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫ﺑﺮرﺳﯽ ﭘﺎﯾﺪاري ﺑﻪ روش راوث‬ ‫‪13‬‬
‫‪ng‬‬
‫‪13%‬‬ ‫‪10‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫ﺑﺮرﺳﯽ ﭘﺎﯾﺪاري ﺑﻪ روش ﻣﮑﺎن ﻫﻨﺪﺳﯽ رﯾﺸﻪ ﻫﺎ‬ ‫‪14‬‬
‫‪12%‬‬ ‫‪9‬‬ ‫‪3‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪2‬‬ ‫ﺑﺮرﺳﯽ ﭘﺎﯾﺪاري ﺑﻪ روش ﻧﺎﯾﮑﻮﺋﯿﺴﺖ‬ ‫‪15‬‬
‫‪7%‬‬ ‫‪5‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫ﺑﺮرﺳﯽ ﭘﺎﯾﺪاري ﺑﻪ روش ﺑﻮد‬ ‫‪16‬‬
‫‪le‬‬

‫‪1%‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﺑﺮرﺳﯽ ﭘﺎﯾﺪاري ﺑﻪ روش ﻧﯿﮑﻮﻟﺰ‬ ‫‪17‬‬
‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﺗﻌﺮﯾﻒ و ﺧﻮاص ﮐﻨﺘﺮل ﮐﻨﻨﺪه ﻫﺎ‬ ‫‪18‬‬
‫‪ro‬‬

‫‪1%‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﻃﺮاﺣﯽ ﮐﻨﺘﺮل ﮐﻨﻨﺪه ﺑﻪ روش زﻣﺎﻧﯽ‬ ‫‪19‬‬
‫‪4%‬‬ ‫‪3‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫ﻃﺮاﺣﯽ ﮐﻨﺘﺮل ﮐﻨﻨﺪه ﺑﻪ روش ﻓﺮﮐﺎﻧﺴﯽ‬ ‫‪20‬‬
‫‪3%‬‬ ‫‪2‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﻣﺪل رﯾﺎﺿﯽ ﺳﯿﺴﺘﻤﻬﺎي ﻣﮑﺎﻧﯿﮑﯽ‬ ‫‪21‬‬
‫‪nt‬‬

‫‪0%‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫ﻣﺪل رﯾﺎﺿﯽ ﺳﯿﺴﺘﻤﻬﺎي ﻫﯿﺪروﻟﯿﮑﯽ‬ ‫‪22‬‬
‫‪100%‬‬ ‫‪75‬‬ ‫‪15‬‬ ‫‪15‬‬ ‫‪15‬‬ ‫‪15‬‬ ‫‪15‬‬ ‫ﺟﻤﻊ‬
‫‪co‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫ﺳﻴﮕﻨﺎﻝ ﻓﻠﻮﮔﺮﺍﻑ ﻭ ﺭﻭﺵ ﺳﺎﺩﻩ ﺳﺎﺯﻱ ﻣﻴﺴﻮﻥ‬
‫‪ee‬‬
‫‪in‬‬
‫ﻳﮑﻲ ﺍﺯ ﭘﺎﻳﻪﺍﻱﺗﺮﻳﻦ ﻧﻴﺎﺯﻫﺎ ﺩﺭ ﺩﺭﺱ »ﺳﻴﺴﺘﻢﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺧﻄﻲ« ﻣﺤﺎﺳﺒﺔ ﺳﺮﻳﻊ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺧﻄﻲ ﺍﺳﺖ‪ .‬ﮔﺮﭼﻪ ﺭﻭﺵﻫﺎﻱ‬

‫ﻣﺘﻌﺪﺩﻱ )ﻧﻈﻴﺮ ﺳﺎﺩﻩ ﺳﺎﺯﻱ ﺑﻠﻮﮐﻲ‪ ،‬ﻧﻮﺷﺘﻦ ﺭﻭﺍﺑﻂ ﺭﻳﺎﺿﻲ ﺷﺎﺧﻪ ﻫﺎ ﻭ …( ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﻨﻈﻮﺭ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ ،‬ﺑﺎ ﺍﻳﻦ ﺣﺎﻝ ﺩﺭ ﻋﻤﻞ ﻏﺎﻟﺒﺎﹰ ﺍﺯ ﺭﻭﺵ‬
‫‪ng‬‬

‫ﻣﻴﺴﻮﻥ )ﺑﻪ ﺩﻟﻴﻞ ﺳﺮﻋﺖ ﺑﺎﻻ( ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪ .‬ﭘﻴﺶ ﺍﺯ ﺑﻴﺎﻥ ﮐﺮﺩﻥ ﺭﻭﺵ ﻣﻴﺴﻮﻥ‪ ،‬ﺍﺑﺘﺪﺍ ﺑﻪ ﻣﺮﻭﺭ ﭼﻨﺪ ﻧﮑﺘﻪ ﻣﻲﭘﺮﺩﺍﺯﻳﻢ‪:‬‬

‫‪۱‬ـ »ﺣﻠﻘﻪ«‪ ،‬ﻣﺴﻴﺮ ﺑﺴﺘﻪﺍﻱ ﺍﺳﺖ ﮐﻪ ﺍﺯ ﻫﻴﭻ ﻧﻘﻄﺔ ﺁﻥ ﺑﻴﺶ ﺍﺯ ﻳﮏ ﺑﺎﺭ ﻋﺒﻮﺭ ﻧﮑﺮﺩﻩ ﺑﺎﺷﻲ‪.‬‬
‫‪le‬‬

‫‪۲‬ـ »ﺣﻠﻘﺔ ﻣﺴﺘﻘﻞ ﺍﺯ ﻳﮏ ﻣﺴﻴﺮ« ﺣﻠﻘﻪﺍﻱ ﺍﺳﺖ ﮐﻪ ﻫﻴﭻ ﮔﺮﻩ ﻳﺎ ﺷﺎﺧﺔ ﻣﺸﺘﺮﮐﻲ ﺑﺎ ﺁﻥ ﻣﺴﻴﺮ ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬

‫‪۳‬ـ »ﺣﻠﻘﻪﻫﺎﻱ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ« ﺣﻠﻘﻪﻫﺎﻳﻲ ﻫﺴﺘﻨﺪ ﮐﻪ ﻫﻴﭻ ﮔﺮﻩ ﻳﺎ ﺷﺎﺧﺔ ﻣﺸﺘﺮﮐﻲ ﺑﺎ ﻫﻤﺪﻳﮕﺮ ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ‪.‬‬
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‫‪co‬‬

‫‪۴‬ـ ﻣﻨﻈﻮﺭ ﺍﺯ »ﺑﻬﺮﺓ ﻣﺴﻴﺮ«‪ ،‬ﺣﺎﺻﻠﻀﺮﺏِ ﮐﻠﻴﺔ ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲﻫﺎﻱِ ﺷﺎﺧﻪﻫﺎﻱ ﺁﻥ ﻣﺴﻴﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲﻫﺎﻱ ﻣﺴﻴﺮ ‪ = Õ‬ﺑﻬﺮﺓ ﻣﺴﻴﺮ‬

‫‪٥‬ـ ﻣﻨﻈﻮﺭ ﺍﺯ »ﺑﻬﺮﺓ ﺣﻠﻘﻪ‪ «١‬ﺣﺎﺻﻠﻀﺮﺏِ ﮐﻠﻴﺔ ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲﻫﺎﻱِ‪ ٢‬ﺷﺎﺧﻪﻫﺎﻱ ﺁﻥ ﺣﻠﻘﻪ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲﻫﺎﻱ ﺣﻠﻘﻪ ‪ = Õ‬ﺑﻬﺮﺓ ﺣﻠﻘﻪ‬

‫‪۶‬ـ ﺍﮔﺮ ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲ ﻳﮏ ﺷﺎﺧﻪ ﻣﺸﺨﺺ ﻧﺸﺪﻩ ﺑﻮﺩ‪ ،‬ﮔﻴﻦ ﺁﻥ ﺷﺎﺧﻪ ﺭﺍ ﺑﻪ ﻃﻮﺭ ﭘﻴﺶﻓﺮﺽ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 1‬ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬‬

‫‪1‬‬
‫‪- Loop Gain‬‬
‫‪2‬‬
‫‪- Transmittance‬‬
 ‫‪ ٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪x‬‬ ‫‪1‬‬ ‫‪y‬‬

‫ﺑﻪ ﻣﻌﻨﻲ ﺑﺎﻓﺮ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﺣﻖ ﻳﮏ ﮐﺮﺩﻥِ ﮔﺮﻩﻫﺎﻱ ‪ x‬ﻭ ‪ y‬ﺭﺍ ﻧﺪﺍﺭﻳﻢ!‬ ‫‪۷‬ـ ﻣﻔﻬﻮﻡ‬

‫‪۸‬ـ ﭼﻨﺎﻧﭽﻪ ﮔﻴﻦ ﺷﺎﺧﻪﺍﻱ ﻣﻨﻔﻲ ﺑﻮﺩ‪ ،‬ﺍﻳﻦ ﻋﻼﻣﺖ ﻣﻨﻔﻲ ﺑﻪ ﻫﻴﭻ ﻋﻨﻮﺍﻥ ﺑﻪ ﻣﻌﻨﺎﻱ ﺗﻐﻴﻴﺮ ﺟﻬﺖ ﻧﻤﻲﺑﺎﺷﺪ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﻣﺠﺎﺯ ﺑﻪ ﺳﺎﺩﻩ ﺳﺎﺯﻱ‬

‫ﺯﻳﺮ ﻧﻴﺴﺘﻴﻢ‪:‬‬

‫‪.ir‬‬
‫‪۹‬ـ ﺣﻠﻘﻪﻫﺎﻱ »ﺳﻮﺩﻩ« ﺣﺘﻤﺎﹰ ﺑﺎﻳﺪ ﺩﺭ ﺗﺤﻠﻴﻞ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺑﮕﻴﺮﻧﺪ ﻭ ﻧﻤﻲﺗﻮﺍﻧﻴﻢ ﺁﻥﻫﺎ ﺭﺍ ﺣﺬﻑ ﮐﻨﻴﻢ‪) .‬ﺣﻠﻘﺔ ﺳﻮﺩﻩ‪،‬‬

‫ﺣﻠﻘﻪﺍﻱ ﺍﺳﺖ ﮐﻪ ﻳﮏ ﮔﺮﻩ ﺭﺍ ﻣﺴﺘﻘﻴﻤﺎﹰ ﺑﻪ ﺧﻮﺩﺵ ﻣﺘﺼﻞ ﮐﻨﺪ‪:‬‬

‫‪rs‬‬
‫‪ee‬‬
‫ﺑﺮﺍﻱ ﻧﻮﺷﺘﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺑﻪ ﺭﻭﺵ ﻣﻴﺴﻮﻥ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺻﻮﺭﺕ ﻭ ﻣﺨﺮﺝ ﮐﺴﺮ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﺍﺑﻄﺔ ﺗﺠﺮﺑﻲ ﺯﻳﺮ ﺑﻨﻮﻳﺴﻴﻢ‪.‬‬

‫ﺍﻟﻒ ـ ﺻﻮﺭﺕ ﮐﺴﺮ ‪ :‬ﺑﻪ ﺍﺯﺍﻱ ‪ -i‬ﺍﻣﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ )ﺍﺯ ﻭﺭﻭﺩﻱ ﺑﻪ ﺧﺮﻭﺟﻲ(‪ Pi ( s ) ،‬ﺭﺍ ﺑﻨﻮﻳﺴﻴﺪ ﻭ ﺳﭙﺲ ﮐﻠﻴﺔ ‪ Pi‬ﻫﺎ ﺭﺍ )ﺑﻪ ﺍﺯﺍﻱ‬
‫‪in‬‬
‫ﻣﺴﻴﺮﻫﺎﻱ ﭘﻴﺸﺮﻭﻱ ﻣﺨﺘﻠﻒ( ﺑﺎ ﻫﻢ ﺟﻤﻊ ﮐﻨﻴﺪ‪:‬‬
‫‪ng‬‬

‫)ﺑﻬﺮﺓ ﺣﻠﻘﻪﻫﺎﻱ ﻣﺴﺘﻘﻞ ﺍﺯ ﺍﻳﻦ ﻣﺴﻴﺮ( ‪) ´ [1 - S‬ﺑﻬﺮﺓ ﻣﺴﻴﺮ ‪ -i‬ﺍﻡ( = ) ‪Pi ( s‬‬

‫)ﺣﺎﺻﻠﻀﺮﺏ ﺑﻬﺮﺓ ﺣﻠﻘﻪﻫﺎﻱ ﺩﻭ ﺑﻪ ﺩﻭ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ ﺩﺭ ﺍﻳﻦ ﻣﺴﻴﺮ( ‪+ S‬‬

‫‪le‬‬

‫)ﺣﺎﺻﻠﻀﺮﺏ ﺑﻬﺮﺓ ﺣﻠﻘﻪﻫﺎﻱ ﺳﻪ ﺑﻪ ﺳﻪ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ ﺩﺭ ﺍﻳﻦ ﻣﺴﻴﺮ( ‪-S‬‬

‫]‪±‬‬
‫‪ro‬‬

‫ﺏ ـ ﻣﺨﺮﺝ ﮐﺴﺮ‪ :‬ﺑﺮﺍﻱ ﻧﻮﺷﺘﻦ ﻣﺨﺮﺝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪ ،‬ﺍﺯ ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﺪ ‪:‬‬
‫‪nt‬‬

‫)ﺑﻬﺮﺓﺣﻠﻘﻪﻫﺎ( ‪Q ( s ) =1 - S‬‬

‫)ﺣﺎﺻﻠﻀﺮﺏ ﺑﻬﺮﺓ ﺣﻠﻘﻪﻫﺎﻱ ﺩﻭ ﺑﻪ ﺩﻭ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ( ‪+S‬‬

‫‪co‬‬

‫)ﺣﺎﺻﻠﻀﺮﺏ ﺑﻬﺮﺓ ﺣﻠﻘﻪﻫﺎﻱ ﺳﻪ ﺑﻪ ﺳﻪ ﻣﺘﻘﻞ ﺍﺯ ﻫﻢ ( ‪- S‬‬

‫‪±‬‬

‫ﮔﺮﭼﻪ ﻣﻤﮑﻦ ﺍﺳﺖ ﺩﺭ ﺍﻭﻟﻴﻦ ﻧﮕﺎﻩ ﺣﺠﻢ ﻣﺤﺎﺳﺒﺎﺕ ﺯﻳﺎﺩ ﺑﻪ ﻧﻈﺮ ﺑﺮﺳﺪ‪ ،‬ﺑﺎ ﺍﻳﻦ ﺣﺎﻝ ﺑﺎ ﮐﻤﻲ ﺗﻤﺮﻳﻦ ﻭ ﻣﻤﺎﺭﺳﺖ‪ ،‬ﻗﺎﺩﺭ ﺧﻮﺍﻫﻴﺪ ﺑﻮﺩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬

‫ﺭﻭﺵ ﻓﻮﻕ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻫﺮ ﺳﻴﺴﺘﻢ ﭘﻴﭽﻴﺪﻩﺍﻱ ﺭﺍ ﺑﻪ ﺳﺮﻋﺖ ﺑﻨﻮﻳﺴﻴﺪ‪ .‬ﺑﺮﺍﻱ ﺩﺭﮎ ﺑﻬﺘﺮ ﺭﻭﺵ ﻣﻴﺴﻮﻥ‪ ،‬ﺑﻪ ﺑﺮﺭﺳﻲ ﭼﻨﺪ ﻧﻤﻮﻧﻪ ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ‬

‫ﻣﻲﭘﺮﺩﺍﺯﻳﻢ‪.‬‬
‫ﺳﻴﮕﻨﺎﻝ ﻓﻠﻮﮔﺮﺍﻑ ﻭ ﺭﻭﺵ ﺳﺎﺩﻩﺳﺎﺯﻱ ﻣﻴﺴﻮﻥ ‪٣‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﻫﺴﺘﻪﺍﻱ ‪(۸۱‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﻌﺪﺍﺩ ﻣﺴﻴﺮﻫﺎﻱ ﻣﺴﺘﻘﻴﻢ ﺍﺯ ﮔﺮﻩ ﻭﺭﻭﺩﻱ ﺑﻪ ﺧﺮﻭﺟﻲ )ﻣﺴﻴﺮﻫﺎﻱ ﭘﻴﺸﺮﻭ( ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫‪4 (۱‬‬
‫‪5 (۲‬‬
‫‪6 (۳‬‬
‫‪7 (۴‬‬

‫ﺣﻞ ‪:‬‬
‫ﺩﺭ ﺍﻳﻦ ﮔﺮﺍﻑ ‪ 7‬ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪:‬‬

‫‪.ir‬‬
‫‪G1G 2G 7 , G1G8 , G 6 H1G 2G 7 , G 6 H1G8 , G 6 H 2G 7 , G 6G 4 , G1G 2G 3G 4‬‬

‫‪rs‬‬
‫ﺍﺷﺘﺒﺎﻩ ﺭﺍﻳﺞ‪:‬‬

‫‪ee‬‬
‫‪ G 6 H 2G 3G 4 (۱‬ﻣﺴﻴﺮ ﻣﺴﺘﻘﻴﻢ ﻧﻴﺴﺖ‪.‬‬

‫‪ (۲‬ﻣﺴﻴﺮ ‪ G 6 H 2G 7‬ﺍ ﻓﺮﺍﻣﻮﺵ ﻧﮑﻨﻴﺪ‪.‬‬

‫‪in‬‬
‫‪C‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﻫﺴﺘﻪﺍﻱ ‪(۸۱‬‬ ‫ﺳﻴﺴﺘﻢ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺩﺭ ‪ SFG‬ﺷﮑﻞ ﺯﻳﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‪R‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪s 2 + 3s + 2‬‬ ‫‪s 2 + 3s + 2‬‬ ‫‪s 2 + 2s + 3‬‬ ‫‪s 2 + 2s + 3‬‬

‫‪ro‬‬

‫‪(۴‬‬ ‫‪(۳‬‬ ‫‪(۲‬‬ ‫‪(۱‬‬

‫‪6s 2 + 2s + 2‬‬ ‫‪2s 2 + 6s + 4‬‬ ‫‪6s 2 + 2s + 2‬‬ ‫‪2s 2 + 6s + 2‬‬
‫ﺣﻞ ‪:‬‬
‫‪nt‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﮔﺮﺍﻑ ﺩﺍﺩﻩ ﺷﺪﻩ‪ 4،‬ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ﺩﺭ ﺍﻳﻦ ﮔﺮﺍﻑ ﻭﺟﻮ ﺩﺍﺭﺩ‪:‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪2‬‬

‫‪co‬‬

‫= ‪1´1´ ´ 2 ´ ´ 1´ 1‬‬ ‫ﺍﻭﻟﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ‪:‬‬

‫‪s‬‬ ‫‪s‬‬ ‫‪s2‬‬
‫‪1 ´1´1´1´1 = 1‬‬ ‫ﺩﻭﻣﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‪:‬‬

‫‪1‬‬ ‫‪1‬‬
‫= ‪1´1´1´ ´1´1‬‬ ‫ﺳﻮﻣﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ‪:‬‬
‫‪s‬‬ ‫‪s‬‬
‫‪1‬‬ ‫‪2‬‬
‫= ‪1´1´ ´ 2 ´1´1‬‬ ‫ﭼﻬﺎﺭﻣﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ‪:‬‬
‫‪s‬‬ ‫‪s‬‬
 ‫‪ ٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﭘﺲ ﺍﺯ ﺣﺬﻑ ﮔﺮﻩﻫﺎ ﻭ ﺷﺎﺧﻪﻫﺎﻱ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﻫﺮ ﻳﮏ ﺍﺯ ﺍﻳﻦ ﻣﺴﻴﺮﻫﺎﻱ ﭘﻴﺸﺮﻭ‪ ،‬ﻫﻴﭻ ﺣﻠﻘﻪﺍﻱ ﺑﺎﻗﻲ ﻧﻤﻲﻣﺎﻧﺪ )ﺟﻤﻼﺕِ ﺩﺍﺧﻞ‬

‫]…[ ﻣﺮﺑﻮﻁ ﺑﻪ ﺻﻮﺭﺕ ﮐﺴﺮ ﻇﺎﻫﺮ ﻧﻤﻲﺷﻮﻧﺪ(‪ ،‬ﻭ ﻟﺬﺍ ﻫﺮ ﻳﮏ ﺍﺯ ﺟﻤﻼﺕ ﻓﻮﻕ‪ ،‬ﺩﺭ ﺣﻘﻴﻘﺖ ﻫﻤﺎﻥ ) ‪ Pi ( s‬ﻣﻲﺑﺎﺷﻨﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺻﻮﺭﺕ ﮐﺴﺮ‪ ،‬ﺑﻪ‬

‫ﺷﮑﻞ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪:‬‬

‫‪2‬‬ ‫‪1 2‬‬

‫=‬ ‫‪+1+ +‬‬
‫)‪C (s‬‬ ‫‪s2‬‬ ‫‪s s‬‬

‫‪1‬‬ ‫‪1‬‬

‫‪.ir‬‬
‫ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ‬ ‫ﻼ ‪ 6‬ﺣﻠﻘﻪ ﺩﺭ ﺍﻳﻦ ﮔﺮﺍﻑ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﮐﻪ ﺍﺯ ﺍﻳﻦ ‪ 6‬ﺣﻘﻠﻪ‪ ،‬ﺗﻨﻬﺎ ﺩﻭ ﺣﻠﻘﺔ )‪´ ( -2 ) , ´ ( -1‬‬
‫ﺑﺮﺍﻱ ﻧﻮﺷﺘﻦ ﻣﺨﺮﺝ ﮐﺴﺮ ﻧﻴﺰ‪ ،‬ﮐ ﹰ‬
‫‪s‬‬ ‫‪s‬‬
‫ﻫﺴﺘﻨﺪ )ﻫﻴﭻ ﮔﺮﻩ ﻭ ﺷﺎﺧﺔ ﻣﺸﺘﺮﮐﻲ ﻧﺪﺍﺭﻧﺪ(‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﺨﺮﺝ ﮐﺴﺮ‪ ،‬ﺑﻪ ﺷﮑﻞ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ‪:‬‬

‫‪rs‬‬
‫)‪R (s‬‬ ‫‪é2‬‬ ‫‪1 2 1 2 ù é -1 -2 ù‬‬
‫‪=1 - ê -1 - - - - ú + ê ´ ú‬‬
‫‪2‬‬ ‫‪s s s sû ë s s û‬‬
‫‪ës‬‬

‫‪2‬‬ ‫‪1 2‬‬ ‫‪2‬‬ ‫‪3‬‬

‫‪ee‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞِ ﺍﻳﻦ ﺳﻴﺴﺘﻢِ ﻧﺴﺒﺘﺎﹰ ﭘﻴﭽﻴﺪﻩ‪ ،‬ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﺑﺎ ‪:‬‬
‫‪in‬‬
‫‪+‬‬ ‫‪1‬‬ ‫‪+‬‬ ‫‪+‬‬ ‫‪+‬‬ ‫‪1‬‬ ‫‪+‬‬
‫)‪C (s‬‬ ‫‪s2‬‬ ‫‪s s‬‬ ‫‪2‬‬ ‫‪2‬‬
‫‪s s + 3s + 2‬‬
‫=‬ ‫‪= s‬‬ ‫=‬
‫)‪R (s‬‬ ‫‪æ 2‬‬ ‫‪1 2 1 2 ö æ -1 -2 ö‬‬ ‫‪4 6 2s 2 + 6s + 4‬‬
‫‪1 - ç - 2 -1 - - - - ÷ + ç ´ ÷ 2 + 2 +‬‬
‫‪ng‬‬
‫‪è s‬‬ ‫‪s s s sø è s‬‬ ‫‪s ø‬‬ ‫‪s‬‬ ‫‪s‬‬

‫) ‪C2 ( s‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۰‬‬ ‫ﮔﺮﺍﻑ ﮔﺬﺭ ﺳﻴﮕﻨﺎﻝ )‪ (SFG‬ﺯﻳﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫) ‪R 2 (s‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫) ‪-G 3H1 (1 + G1H3‬‬

‫‪(۱‬‬
‫‪1 + G1H3 + G1G 2 H3 + G1G 2G 3H1H 2‬‬

‫‪-G 3H1 (1 + G1H3 ) + G 3G1G 4 H1‬‬

‫‪(۲‬‬
‫‪1 + G1H3 + G1G 2G 3 + G1G 2G 3H1H 2 + G1G 2 H1H 2‬‬

‫‪G 3H1 (1 + G1H3 ) + G 3G1G 4 H1‬‬

‫‪(۳‬‬
‫‪1 + G1H3 + G1G 2G 3 + G1G 2G 3H1H 2 + G1G 4 H1H3‬‬

‫‪-G 3H1 (1 + G1H3 ) + G 3G1G 4 H1‬‬

‫‪(۴‬‬
‫‪1 + G1H3 + G1G 2G 3 + G1G 2G 3H1H 2‬‬
‫ﺳﻴﮕﻨﺎﻝ ﻓﻠﻮﮔﺮﺍﻑ ﻭ ﺭﻭﺵ ﺳﺎﺩﻩﺳﺎﺯﻱ ﻣﻴﺴﻮﻥ ‪٥‬‬

‫ﺣﻞ ‪:‬‬
‫ﺍﻭﻟﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‪ :‬ﭘﺲ ﺍﺯ ﺣﺬﻑ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭﻱِ ‪ ، ( -1) ´ G 3 ´1´ H1 ´1‬ﺗﻨﻬﺎ ﻳﮏ ﺣﻠﻘﺔ ﻣﺴﺘﻘﻞ ﺍﺯ ﺍﻳﻦ ﻣﺴﻴﺮ ﺑﺎﻓﻲ ﻣﻲﻣﺎﻧﺪ )ﺣﻠﻘﺔ‬

‫) ‪ ،( G1 ´ ( - H3‬ﻭ ﻟﺬﺍ ﺟﻤﻠﺔ ﻧﺎﺷﻲ ﺍﺯ ﺍﻳﻦ ﻣﺴﻴﺮ‪ ،‬ﺑﻪ ﺷﮑﻞِ ‪ -G 3H1 éë1 - ( -G1H3 ) ùû‬ﺩﺭ ﺻﻮﺭ ِ‬
‫ﺕ ﮐﺴﺮ ﻇﺎﻫﺮ ﻣﻲﮔﺮﺩﺩ‪.‬‬

‫ﺩﻭﻣﻴﻦ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‪ :‬ﭘﺲ ﺍﺯ ﺣﺬﻑ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭﻱِ ‪ ، ( -1) ´ G 3 ´ ( -1) ´ G1 ´ G 4 ´ H1 ´ 1‬ﻫﻴﭻ ﺣﻠﻘﻪﺍﻱ ﺑﺎﻗﻲ ﻧﻤﻲﻣﺎﻧﺪ‪ ،‬ﻭ ﻟﺬﺍ‬

‫ﺟﻤﻠﺔ ﻧﺎﺷﻲ ﺍﺯ ﺍﻳﻦ ﻣﺴﻴﺮ‪ ،‬ﺑﻪ ﺷﮑﻞِ ‪ G 3G1G 4 H1‬ﺩﺭ ﺻﻮﺭﺕ ﮐﺴﺮ ﻇﺎﻫﺮ ﻣﻲﮔﺮﺩﺩ‪.‬‬

‫‪.ir‬‬
‫ﻣﺨﺮﺝ ﮐﺴﺮ‪ :‬ﺍﻳﻦ ﮔﺮﺍﻑ ﮐ ﹰ‬
‫ﻼ ﺩﺍﺭﺍﻱ ‪ 4‬ﺣﻠﻘﻪ ﻣﻲﺑﺎﺷﺪ ﮐﻪ ﻫﻴﭻ ﻳﮏ ﺍﺯﺁﻥﻫﺎ ﻣﺴﺘﻘﻞ ﺍﺯ ﻫﻢ ﻧﻴﺴﺘﻨﺪ )ﺯﻳﺮﺍ ﻻﺍﻗﻞ ﺩﺭ ﻳﮏ ﮔﺮﻩ ﻳﺎ ﺷﺎﺧﻪ ﺍﺷﺘﺮﺍﮎ‬

‫ﺩﺍﺭﻧﺪ(‪ ،‬ﻭ ﻟﺬﺍ ﻣﺨﺮﺝ ﮐﺴﺮ ﺑﻪ ﺷﮑﻞ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫‪rs‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﻳﻦ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪ee‬‬
‫‪C2‬‬ ‫‪-G 3H1 éë1 - ( -G1H3 ) ùû + G 3G1G 4 H1‬‬
‫=‬
‫] ‪R 2 1 - [ -G1H3 - G1G 2G 3H1H 2 - G1G 4 H1H 2 - G1G 2G 3‬‬

‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪in‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺗﺮﻣﻴﻨﺎﻥ ﮔﺮﺍﻑ ‪ ، SFG‬ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﺔ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬
‫‪ng‬‬

‫‪D‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۱‬‬ ‫ﮐﺪﺍﻡ ﺍﺳﺖ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ﺑﻠﻮﮐﻲ ﺳﻴﺴﺘﻤﻲ ﻣﻄﺎﺑﻖ ﺷﮑﻞ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‪C‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪G 2G 3‬‬
‫‪(۱‬‬
‫‪1 + G 2 H 2 + G 2G 3H3 + G1G 2 H1‬‬

‫‪G 2G 3‬‬
‫‪(۲‬‬
‫‪1 + G 2 H 2 + G1G 2 H1 + G1G 2G 3‬‬

‫‪G 2G 3‬‬
‫‪(۳‬‬
‫‪1 - G 2 H 2 - G 2G 3H3 - G1G 2 H1 - G1G 2G 3‬‬

‫‪G 2G 3‬‬
‫‪(۴‬‬
‫‪1 + G 2 H 2 + G 2G 3H3 + G1G 2 H1 + G1G 2G 3‬‬
 ‫‪ ٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪١‬‬
‫ﺑﻪ ﻋﻨﻮﺍﻥ ﺗﻤﺮﻳﻦ‪ :‬ﺍﺑﺘﺪﺍ ﺑﻠﻮﮎ ﺩﻳﺎﺭﮔﺎﻡ ﺭﺍ ﺑﻪ ‪ SFG‬ﺗﺒﺪﻳﻞ ﻣﻲﮐﻨﻴﻢ ‪:‬‬

‫‪.ir‬‬
‫ﺍﻳﻦ ﮔﺮﺍﻑ ﺩﺍﺭﺍﻱ ﻳﮏ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‪ ،‬ﻭ ‪ 4‬ﺣﻠﻘﻪ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻏﻴﺮ ﻣﺴﺘﻘﻞ ﺑﻮﺩﻥِ ﺍﻳﻦ ﺣﻠﻘﻪﻫﺎ‪ ،‬ﺗﻨﻬﺎ ﮔﺰﻳﻨﻪﺍﻱ ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﮐﻪ ﺩﺭ‬

‫‪rs‬‬
‫ﻣﺨﺮﺟﺶ ‪ 5‬ﺟﻤﻠﺔ ﻣﺜﺒﺖ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ .‬ﻳﻌﻨﻲ ﮔﺰﻳﻨﺔ ‪! ۴‬‬

‫‪ee‬‬
‫‪D‬‬ ‫‪G 2G 3‬‬
‫=‬
‫] ‪C 1 - [ -G1G 2 H 2 - G1G 2G 3 - G 2 H 2 - G 2G 3H3‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺮﺍﻱ ﭘﻴﺸﮕﻴﺮﻱ ﺍﺯ ﺑﺮﻭﺯ ﺍﺷﺘﺒﺎﻩ‪ ،‬ﭘﻴﺶ ﺍﺯ ﻧﻮﺷﺘﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪ ،‬ﻋﻼﻣﺖﻫﺎﻱ ﻣﻨﻔﻲِ ﻣﺮﺑﻮﻁ ﺑﻪ ﺟﻤﻊ ﮐﻨﻨﺪﻩﻫﺎ ﺭﺍ ﺑﻪ ﮐﻨﺎﺭ ﺗﺮﻧﺴﻤﻴﺘﺎﻧﺲ‬
‫‪in‬‬
‫ﺷﺎﺧﻪﻫﺎ ﻣﻨﺘﻘﻞ ﮐﻨﻴﺪ‪.‬‬
‫‪ng‬‬

‫ﻣﺜﺎﻝ‪ :‬ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺍﺭﺗﺒﺎﻁ ﺩﻫﻨﺪﻩ ﻭﺭﻭﺩﻱ ) ‪ x ( t‬ﻭ ﺧﺮﻭﺟﻲ ) ‪ y ( t‬ﺩﺭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺷﮑﻞ ﺯﻳﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۷۸‬‬
‫‪le‬‬

‫‪d2 y‬‬ ‫‪dy‬‬ ‫‪d 2 x dx‬‬

‫= ‪+3 + 2y‬‬ ‫‪+6 +6x (۱‬‬
‫‪dt 2‬‬ ‫‪dt‬‬ ‫‪d t2‬‬ ‫‪dt‬‬
‫‪ro‬‬

‫‪d2 y‬‬ ‫‪dy‬‬ ‫‪d2x‬‬ ‫‪dx‬‬

‫‪3‬‬ ‫‪+2‬‬ ‫=‪+ y‬‬ ‫‪+ 6 +6x (۲‬‬
‫‪dt 2‬‬ ‫‪dt‬‬ ‫‪dt‬‬ ‫‪2‬‬ ‫‪dt‬‬
‫‪nt‬‬

‫‪d2 y‬‬ ‫‪dy‬‬ ‫‪d2x‬‬ ‫‪dx‬‬

‫‪+2‬‬ ‫= ‪+ 3y‬‬ ‫‪+ 6 + 7x (۳‬‬
‫‪dt 2‬‬ ‫‪dt‬‬ ‫‪d t2‬‬ ‫‪dt‬‬
‫‪co‬‬

‫‪d2 y‬‬ ‫‪dy‬‬ ‫‪d2x‬‬ ‫‪dx‬‬

‫‪+3‬‬ ‫= ‪+ 2y‬‬ ‫‪+ 6 + 7x (۴‬‬
‫‪dt 2‬‬ ‫‪dt‬‬ ‫‪dt‬‬ ‫‪2‬‬ ‫‪dt‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺍﻳﻦ ﮔﺮﺍﻑ ﺩﺍﺭﺍﻱ ‪ 4‬ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‪ ،‬ﻭ ‪ 2‬ﺣﻠﻘﻪ ﻣﻲﺑﺎﺷﺪ ﮐﻪ ﺍﻳﻦ ﺩﻭ ﺣﻠﻘﻪ‪ ،‬ﻣﺴﺘﻘﻞ ﺍﺯ ﻳﮑﺪﻳﮕﺮ ﻫﺴﺘﻨﺪ‪.‬‬

‫‪1‬‬
‫ـ ﻃﺒﻴﻌﺘﺎﹰ ﺩﺭ ﺟﻠﺴﺔ ﮐﻨﮑﻮﺭ‪ ،‬ﻧﺒﺎﻳﺪ ﺍﻳﻦ ﺗﺮﺳﻴﻢ ﻣﺠﺪﺩ ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﻫﻴﺪ‪ .‬ﻣﻄﻤﺌﻦ ﺑﺎﺷﻴﺪ ﮐﻪ ﺑﺎ ﮐﻤﻲ ﺗﻤﺮﻳﻦ ﻭ ﻣﻤﺎﺭﺳﺖ‪ ،‬ﻗﺎﺩﺭ ﺧﻮﺍﻫﻴﺪﺑﻮﺩ ﻣﺴﺘﻘﻴﻤﺎﹰ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺭﺍ‬
‫ﺑﻨﻮﻳﺴﻴﺪ‪.‬‬
‫ﺳﻴﮕﻨﺎﻝ ﻓﻠﻮﮔﺮﺍﻑ ﻭ ﺭﻭﺵ ﺳﺎﺩﻩﺳﺎﺯﻱ ﻣﻴﺴﻮﻥ ‪٧‬‬

‫‪2 æ æ 2 ö ö 1 1 1 æ æ 1 ö ö é æ 1 2 ö æ 1 öæ 2 ö ù‬‬
‫‪1- -‬‬ ‫‪- ´ + 1- -‬‬ ‫‪+1 1 - - - + -‬‬ ‫‪- ÷ú‬‬
‫‪Y ( s ) s çè çè s ÷ø ÷ø s s s çè çè s ÷ø ÷ø êë çè s s ÷ø çè s ÷ç‬‬
‫‪øè s ø û‬‬
‫=‬
‫) ‪X (s‬‬ ‫‪é -1 2 ù æ 1 öæ 2 ö‬‬
‫÷ ‪1 - ê - ú + ç - ÷ç -‬‬
‫‪ë s s û è s øè s ø‬‬

‫‪Þ‬‬ ‫=‬
‫(‬ ‫‪2‬‬
‫=‬
‫)‬
‫‪Y ( s ) 2 ( s + 2 ) - 1 + ( s + 1) + s + 3s + 2 s 2 + 6s + 6‬‬
‫)‪X (s‬‬ ‫‪s 2 + 3s + 2‬‬ ‫‪s 2 + 3s + 2‬‬

‫ﺍﺷﺘﺒﺎﻩ ﺭﺍﻳﺞ‪ :‬ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﺩﺍﻧﺸﺠﻮﻳﺎﻥ‪ ،‬ﺩﻭ ﺟﻤﻠﺔ ﺁﺧﺮِ ﻣﺮﺑﻮﻁ ﺑﻪ ﺻﻮﺭ ِ‬

‫ﺕ ﮐﺴﺮ ﻓﻮﻕ ﺭﺍ ﻧﻤﻲﻧﻮﻳﺴﻨﺪ !‬

‫‪.ir‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﻪ ﺍﺯﺍﻱ ‪ ، s ® ¥‬ﺩﻭ ﻣﺴﻴﺮ ﺑﺎﻻﻳﻲ ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ ﻭ ) ‪ Y ( s ) = X ( s‬ﻣﻲﺷﻮﺩ‪ ،‬ﻟﺬﺍ ﮔﺰﻳﻨﻪﺍﻱ ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﮐﻪ ﻧﺴﺒﺖ‬

‫‪rs‬‬
‫ﺐ ‪ y¢¢‬ﺑﻪ ﺿﺮﻳﺐِ ‪ x ¢¢‬ﺩﺭ ﺁﻥ ‪ 1‬ﺑﺎﺷﺪ‪ ،‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﻧﮑﺘﻪ‪ ،‬ﻣﻲﺗﻮﺍﻧﺴﺘﻴﻢ ﻣﺴﺘﻘﻴﻤﺎﹰ ﮔﺰﻳﻨﻪ ‪ ۲‬ﺭﺍ ﺣﺬﻑ ﮐﻨﻴﻢ‪.‬‬
‫ﺿﺮﻳ ِ‬

‫‪ee‬‬
‫ﺑﺮﺧﻲ ﺍﺯ ﺍﺷﺘﺒﺎﻫﺎﺕ ﺭﺍﻳﺞ ﻫﻨﮕﺎﻡ ﺳﺎﺩﻩ ﺳﺎﺯﻱ ‪ SFG‬ﻫﺎ ‪:‬‬
‫‪in‬‬
‫‪ng‬‬

‫‪C ( s ) Bms m +Bm -1s m -1 +  +B1s + B0‬‬

‫= )‪: T (s‬‬ ‫=‬ ‫ﺗﻌﺮﻳﻒ ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞِ‬
‫‪le‬‬

‫)‪R (s‬‬ ‫‪s n + A n -1s n -1 +  +A1s + A 0‬‬

‫‪ o‬ﺳﺮﻩ )ﻣﻨﺎﺳﺐ( ﺍﺳﺖ ﺍﮔﺮ ﺩﺭﺟﻪ ﻣﺨﺮﺝ ﺑﺰﺭﮔﺘﺮ ﻳﺎ ﻣﺴﺎﻭﻱ ﺩﺭﺟﻪ ﺻﻮﺭﺕ ﺑﺎﺷﺪ‪.‬‬
‫‪ro‬‬

‫‪ o‬ﻧﺎﺳﺮﻩ )ﻧﺎﻣﻨﺎﺳﺐ( ﺍﺳﺖ ﺍﮔﺮ ﺩﺭﺟﻪ ﺻﻮﺭﺕ ﺑﻴﺸﺘﺮ ﺍﺯ ﻣﺨﺮﺝ ﺑﺎﺷﺪ‪.‬‬

‫‪nt‬‬

‫ﺍﻳﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪ ،‬ﻣﻲﺗﻮﺍﻧﺪ ﺍﺯ ﻳﮏ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﻳﺎ ﻳﮏ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺎﺷﻲ ﺷﺪﻩ ﺑﺎﺷﺪ‪ .‬ﺟﺪﻭﻝ ﺯﻳﺮ‪ ،‬ﺑﻪ ﺍﺧﺘﺼﺎﺭ ﻣﺰﺍﻳﺎ ﻭ ﻣﻌﺎﻳﺐ‬

‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﮐﻨﺘﺮﻝ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺍ ﺧﻼﺻﻪ ﻣﻲﮐﻨﺪ‪.‬‬

‫‪co‬‬
 ‫‪ ٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‬ ‫ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺣﻠﻘﻪ ﺑﺎﺯ‬

‫‪١‬ـ ﻃﺮﺍﺣﻲ ﭘﻴﭽﻴﺪﻩﺗﺮ‬ ‫‪١‬ـ ﻃﺮﺍﺣﻲ ﺳﺎﺩﻩﺗﺮ‬

‫‪٢‬ـ ﺩﻗﺖ ﺑﺎﻻ‬ ‫‪٢‬ـ ﺩﻗﺖ ﭘﺎﺋﻴﻦ‬

‫‪٣‬ـ ﺣﺴﺎﺳﻴﺖ ﭘﺎﺋﻴﻦ ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ )ﻭﺭﻭﺩﻱ ﻳﺎ ﻧﻮﻳﺰ(‬ ‫‪٣‬ـ ﺣﺴﺎﺳﻴﺖ ﺑﺎﻻ ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ )ﻭﺭﻭﺩﻱ ﻳﺎ ﻧﻮﻳﺰ(‬

‫‪٤‬ـ ﭘﺎﺳﺦ ﺳﺮﻳﻊ‬ ‫‪٤‬ـ ﭘﺎﺳﺦ ﺁﻫﺴﺘﻪ‬

‫‪.ir‬‬
‫‪٥‬ـ ﻗﺎﺑﻠﻴﺖ ﺣﺬﻑ ﻧﻮﻳﺰ‬ ‫‪٥‬ـ ﻋﺪﻡ ﻗﺎﺑﻠﻴﺖ ﺣﺬﻑ ﻧﻮﻳﺰ‬

‫‪rs‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺣﺎﻟﺖ ﺧﺎﺻﻲ ﮐﻪ ﺑﻠﻮﮎﻫﺎ ﺳﺎﺯﻧﺔ ﻣﺴﻴﺮﻫﺎﻱ ﭘﻴﺸﺮﻭ ﻭ ﻓﻴﺪﺑﮏ ﺑﻪ ﺻﻮﺭﺕ ﮐﺴﺮﻱ ﻗﺎﺑﻞ ﺑﻴﺎﻥ ﺷﺪﻥ ﺑﺎﺷﻨﺪ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫)‪C (s‬‬

‫‪ee‬‬
‫‪AD‬‬ ‫ﺣﺎﺻﻠﻀﺮﺏ ﺩﻭﺭﻫﺎ‬
‫= )‪Þ T (s‬‬ ‫=‬ ‫=‬
‫‪in‬‬ ‫ﻣﺠﻤﻮﻉِ ﺣﺎﺻﻠﻀﺮﺏ ﻧﺰﺩﻳﮏﻫﺎ ‪R ( s ) AC + BD‬‬

‫ﺻﻔﺮﻫﺎﻱ ‪G‬‬
‫‪ü‬‬
‫‪ng‬‬
‫ﻫﺴﺘﻨﺪ‬ ‫ﻭ‬ ‫‪ï‬‬ ‫ﻧﺘﻴﺠﻪ ‪ :‬ﺻﻔﺮﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪،‬‬
‫‪ý‬‬
‫‪ï‬‬
‫ﻗﻄﺐﻫﺎﻱ ‪H‬‬ ‫‪þ‬‬
‫‪le‬‬

‫ﻧﻤﺎﻳﺶ ﺻﻔﺮ ﻭ ﻗﻄﺒﻲِ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬

‫‪ro‬‬

‫‪K ( s + z1 )( s + z 2 )‬‬
‫= )‪G (s‬‬
‫‪( s + p1 )( s + p2 )‬‬
‫‪nt‬‬

‫ﻣﻔﻬﻮﻡ ﺻﻔﺮ‪ :‬ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﺗﻮﺳﻂ ﻳﮏ ﻭﺭﻭﺩﻱ ﺑﺎ ﻓﺮﮐﺎﻧﺲ ﻣﺨﺘﻠﻂِ ‪ zi‬ﺗﺤﺮﻳﮏ ﮐﺮﺩﻳﻢ ﻭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺻﻔﺮ ﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ‪ s = zi‬ﺭﺍ ﻳﮏ‬

‫ﺻﻔﺮ ﺳﻴﺴﺘﻢ ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫‪co‬‬

‫ﻣﻔﻬﻮﻡ ﻗﻄﺐ ‪ :‬ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﺗﻮﺳﻂ ﻳﮏ ﻭﺭﻭﺩﻱ ﺑﺎ ﻓﺮﮐﺎﻧﺲ ﻣﺨﺘﻠﻂِ ‪ Pi‬ﺗﺤﺮﻳﮏ ﮐﺮﺩﻳﻢ ﻭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﻭﺍﮔﺮﺍ ﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ‪ s = Pi‬ﺭﺍ ﻳﮏ‬

‫ﻗﻄﺐ ﺳﻴﺴﺘﻢ ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪۱‬ـ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎ ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ ﺍﻋﺪﺍﺩﻱ ﻣﺨﺘﻠﻂ ﻫﺴﺘﻨﺪ‪) .‬ﻣﺨﻠﺘﻂِ ﻣﺰﺩﻭﺝ(‬

‫‪۲‬ـ ﻣﺤﻞ ﺻﻔﺮ ﻭ ﻗﻄﺐ‪ ،‬ﺗﻌﻴﻴﻦ ﮐﻨﻨﺪﺓ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﺳﻴﮕﻨﺎﻝ ﻓﻠﻮﮔﺮﺍﻑ ﻭ ﺭﻭﺵ ﺳﺎﺩﻩﺳﺎﺯﻱ ﻣﻴﺴﻮﻥ ‪٩‬‬

‫‪۳‬ـ ﻣﺮﺗﺒﺔ ﻗﻄﺐ ‪ p0 :‬ﻳﮏ ﻗﻄﺐ ﻣﺮﺗﺒﺔ ‪ n‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ) ‪ G ( s‬ﺍﺳﺖ‪ ،‬ﺍﮔﺮ‬

‫‪n‬‬
‫ﻣﺤﺪﻭﺩ ﻭ ﻣﺨﺎﻟﻒ ﺻﻔﺮ = ) ‪lim ( s - p0 ) G ( s‬‬
‫‪s ® p0‬‬

‫) ‪sin ( s‬‬
‫‪ ،‬ﻣﺮﺗﺒﺔ ﻗﻄﺐ ‪ s = 0‬ﭼﻴﺴﺖ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺗﺎﺑﻊ‬
‫‪s2‬‬
‫) ‪sin ( s‬‬
‫‪lim s1 .‬‬ ‫‪=1 Þ‬‬ ‫‪ s = 0‬ﻳﮏ ﻗﻄﺐ ﻣﺮﺗﺒﺔ ‪ 1‬ﺍﺳﺖ‪.‬‬
‫‪s ®0‬‬ ‫‪s2‬‬

‫‪.ir‬‬
‫ﻧﮑﺘﻪ ‪:‬‬ ‫‪E‬‬

‫‪rs‬‬
‫(‬
‫‪s1,2 = a ± bj Þ s 2 - 2as + a 2 + b 2‬‬ ‫)‬

‫‪ee‬‬
‫ﻣﺜﺎﻝ‪ :‬ﺑﻪ ﺍﺯﺍﻱ ﭼﻪ ﻣﻘﺎﺩﻳﺮﻱ ﺍﺯ ‪ K1‬ﻭ ‪ ، K 2‬ﺻﻔﺮ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ـ ﺑﺴﺘﺔ ﺯﻳﺮ ﺩﺭ ‪ -1‬ﻗﺮﺍﺭ ﺧﻮﺍﻫﺪ ﮔﺮﻓﺖ؟ )ﻣﻬﻨﺪﺳﻲ ﻫﺴﺘﻪﺍﻱ ‪(۷۶‬‬
‫‪in‬‬
‫‪K 2 = -1 , K1 = 1 (۱‬‬

‫‪K 2 = 0 , K1 = -1 (۲‬‬
‫‪ng‬‬

‫‪K 2 = 0 , K1 = 1 (۳‬‬

‫‪K 2 = 1 , K1 = -1 (۴‬‬
‫‪le‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪﻫﺎﻱ )‪ (١‬ﻭ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫ﮔﺮﺍﻑ ‪ SF‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺩﻳﺎﮔﺮﺍﻡ ﻓﻮﻕ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫‪nt‬‬
‫‪co‬‬

‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻣﻴﺴﻮﻥ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪é K ( s - 1) ù s - 1‬‬
‫‪K1 ê1 + 2‬‬ ‫‪ú+‬‬
‫‪Y‬‬ ‫‪ë‬‬ ‫)‪s + 1 û s + 1 s ( K1 + K1K 2 + 1) + ( K1 - K1 K 2 - 1‬‬
‫=‬ ‫=‬
‫‪R‬‬ ‫)‪K 2 ( s - 1‬‬ ‫) ‪s ( K 2 + 1) +(1 - K 2‬‬
‫‪1+‬‬
‫‪s +1‬‬
‫ﺑﺮﺍﻱ ﺍﻳﻦ ﮐﻪ ‪ s = -1‬ﺻﻔﺮِ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﺑﺎﻳﺪ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻴﻢ‪:‬‬

‫‪K1 + K1K 2 + 1 = K1 - K1K 2 - 1 Þ K1K 2 = -1‬‬

 ‫‪ ١٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻫﺮ ﻳﮏ ﺍﺯ ﺩﻭ ﮔﺰﻳﻨﻪ )‪ (١‬ﻭ )‪ (٤‬ﻣﻲﺗﻮﺍﻧﻨﺪ ﺻﺤﻴﺢ ﺑﺎﺷﻨﺪ‪:‬‬

‫‪ì K = -1‬‬ ‫‪Y s +1‬‬

‫‪ : í 2‬ﺣﺎﻟﺖ ﺍﻭﻝ‬ ‫®‬ ‫=‬
‫‪îK1 = 1‬‬ ‫‪R 2‬‬

‫‪ìK = 1‬‬ ‫)‪Y - ( s + 1‬‬

‫‪ : í 2‬ﺣﺎﻟﺖ ﺩﻭﻡ‬ ‫®‬ ‫=‬
‫‪îK1 = -1‬‬ ‫‪R‬‬ ‫‪2‬‬

‫ﻧﮑﺎﺕ ﺗﻜﻤﻴﻠﻲ ‪:‬‬

‫‪.ir‬‬
‫‪١‬ـ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪،‬ﺗﻨﻬﺎ ﺑﺮﺍﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ‪ LTI‬ﻣﻲﺗﻮﺍﻧﺪ ﺗﻮﺻﻴﻒ ﺷﻮﺩ‪.‬‬

‫‪rs‬‬
‫‪۲‬ـ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‪ ،‬ﻣﺴﺘﻘﻞ ﺍﺯ ﻭﺭﻭﺩﻱ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ )ﺑﻪ ﻭﺭﻭﺩﻱ ﺑﺴﺘﮕﻲ ﻧﺪﺍﺭﺩ(‪.‬‬

‫‪۳‬ـ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻳﮏ ﺳﻴﺴﺘﻢ‪ ،‬ﺍﻟﺰﺍﻣﺎﹰ ﺑﺎﻳﺪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﺔ ﺳﻴﺴﺘﻢ ﺻﻔﺮ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﻮﻧﺪ‪) ١‬ﺳﻴﺴﺘﻢ ﺩﺭ ﺣﺎﻟﺖ ﺳﮑﻮﻥ ﺑﺎﺷﺪ(‪.‬‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪ 1‬ـ ﺩﺭ ﺣﻘﻴﻘﺖ ﻭﺟﻮﺩ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ‪ ،‬ﻣﻮﺟﺐ ﻏﻴﺮ ﺧﻄﻲ ﺷﺪﻥ )ﻧﻤﻮﺍﹰ ﺧﻄﻲ ﺷﺪﻥِ( ﺳﻴﺴﺘﻢ ﻣﻲﮔﺮﺩﺩ‪.‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﺣﺴﺎﺳﻴﺖ‬
‫‪in‬‬
‫ﻳﮏ ﺳﻴﺴﺘﻢ ﺧﻮﺏ! ﺳﻴﺴﺘﻤﻲ ﺍﺳﺖ ﮐﻪ ﻧﺴﺒﺖ ﺑﻪ ﺗﻐﻴﻴﺮ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﻭﺍﮐﻨﺶ ﻧﺸﺎﻥ ﻧﺪﻫﺪ‪ ،‬ﺍﻣﺎ ﻧﺴﺒﺖ ﺑﻪ ﮐﻮﭼﮑﺘﺮﻳﻦ ﺗﻐﻴﻴﺮ ﺩﺭ ﻭﺭﻭﺩﻱ‪،‬‬

‫ﻭﺍﮐﻨﺶ ﻧﺸﺎﻥ ﺩﻫﺪ‪.‬‬

‫‪ng‬‬
‫‪le‬‬

‫ﺍﮔﺮ ‪ P‬ﭘﺎﺭﺍﻣﺘﺮﻱ ﺍﺯ ﺳﻴﺴﺘﻢ ﺑﺎﺷﺪ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺴﺒﺖ ﺑﻪ ﭘﺎﺭﺍﻣﺘﺮ ‪ P‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪ro‬‬

‫‪¶T‬‬
‫‪¶ ( ln T ) * ¶ T P‬‬
‫= ‪STP = T‬‬ ‫=‬ ‫´‬
‫‪¶ P ¶ ( ln P ) ¶ P T‬‬
‫‪nt‬‬

‫‪P‬‬

‫‪¶T‬‬
‫‪ :‬ﺗﻐﻴﻴﺮﺍﺕ ﻧﺴﺒﻲ ‪ T‬ﺩﺭ ﺍﺛﺮ ‪P‬‬
‫‪co‬‬

‫‪T‬‬
‫‪¶P‬‬
‫‪ :‬ﺗﻐﻴﻴﺮﺍﺕ ﻧﺴﺒﻲ ‪P‬‬
‫‪P‬‬

‫ﻗﺎﻋﺪﺓ ﺯﻧﺠﻴﺮﻱ‬
‫‪G‬‬ ‫‪G‬‬
‫‪STP = ST‬‬ ‫‪S 1  SP n‬‬
‫‪G1 G 2‬‬
 ‫‪ ١٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﺎ ﺑﮑﺎﺭﮔﻴﺮﻱ ﻗﺎﻋﺪﺓ ﺯﻧﺠﻴﺮﻱ ﺩﺭ ﺑﻠﻮﮎ ﻳﺎﮔﺮﺍﻡِ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪STP = ST‬‬ ‫‪G T‬‬ ‫‪H‬‬

‫‪G ´ SP SH ´ SP‬‬

‫ﻧﮑﺎﺕ ‪:‬‬ ‫‪E‬‬

‫‪1‬‬
‫ﻗﺮﺍﺭ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﻭ ﺩﺭ ﻣﺴﻴﺮ ﻓﻴﺪﺑﮏ ﻭﺟﻮﺩ ﻧﺪﺍﺷﺖ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺮﺍﺑﺮ‬ ‫‪١‬ـ ﺍﮔﺮ ﭘﺎﺭﺍﻣﺘﺮ ‪ P‬ﻓﻘﻂ ﺩﺭ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ‬
‫‪1 + GH‬‬
‫ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪.ir‬‬
‫‪1‬‬ ‫‪¶G P‬‬
‫= ‪STP‬‬ ‫´‬ ‫´‬
‫‪1 + GH ¶ P G‬‬

‫‪rs‬‬
‫‪۲‬ـ ﺍﮔﺮ ﭘﺎﺭﺍﻣﺘﺮ ‪ P‬ﺩﺭ ﻣﺴﻴﺮ ﭘﻴﺸﺮﻭ ﻭﺟﻮﺩ ﻧﺪﺍﺷﺖ‪ ،‬ﻭ ﻓﻘﻂ ﺩﺭ ﻣﺴﻴﺮ ﻓﻴﺪﺑﮏ ) ) ‪ ( H ( s‬ﻣﻮﺟﻮﺩ ﺑﺎﺷﺪ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺮﺍﺑﺮ‬

‫‪ee‬‬
‫ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪1‬‬ ‫‪¶H‬‬
‫= ‪STP‬‬ ‫´‬ ‫) ‪´ ( - PG‬‬
‫‪in‬‬
‫‪1 + GH ¶ P‬‬

‫‪1‬‬
‫‪ ،‬ﮐﻤﺘﺮ ﺍﺯ ﺣﺴﺎﺳﻴﺖ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻣﻲﺑﺎﺷﺪ‪.‬‬ ‫‪٣‬ـ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﻭﺍﺑﻂ ﻓﻮﻕ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ ﺑﺎ ﺿﺮﻳﺐ‬
‫‪ng‬‬
‫‪1 + GH‬‬

‫ﺍﻧﻮﺍﻉ ﺣﺴﺎﺳﻴﺖ‬
‫‪le‬‬

‫ﺩﺭ ﻳﮏ ﺗﻘﺴﻴﻢﺑﻨﺪﻱ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺳﺴﺘﻢ ﺭﺍ ﺑﺮ ﺣﺴﺐ ﻓﺮﮐﺎﻧﺲ ﮐﺎﺭ ﺳﻴﺴﺘﻢ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺑﺮ ﺍﻳﻦ ﺍﺳﺎﺱ‪ ،‬ﺩﻭ ﻧﻮﻉ ﺣﺴﺎﺳﻴﺖ ﺍﺳﺘﺎﺗﻴﮏ ﻭ‬
‫‪ro‬‬

‫ﺩﻳﻨﺎﻣﻴﮏ ﻗﺎﺑﻞ ﺗﻌﺮﻳﻒ ﺍﺳﺖ‪.‬‬

‫)‪(s ® 0‬‬ ‫ﺍﺳﺘﺎﺗﻴﮏ ‪ :‬ﻣﻘﺪﺍﺭ ﺣﺴﺎﺳﻴﺖ ﺩﺭ ﻓﺮﮐﺎﻧﺲ ﺻﻔﺮ‬

‫‪nt‬‬

‫ﺩﻳﻨﺎﻣﻴﮏ ‪ :‬ﻣﻘﺪﺍﺭ ﺣﺴﺎﺳﻴﺖ ﺩﺭ ﮐﻠﻴﺔ ﻓﺮﮐﺎﻧﺲﻫﺎ ﺑﺠﺰ ﻓﺮﮐﺎﻧﺲ ﺻﻔﺮ )‪( s ® j w‬‬
‫‪co‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺑﺎ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ ﻭﺍﺣﺪ‪ ،‬ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺑﺮﺍﺑﺮﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪1‬‬
‫= ) ‪ G ( s‬ﭼﻨﺎﻧﭽﻪ ‪ t‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ %10‬ﺍﻓﺰﺍﻳﺶ ﻳﺎﺑﺪ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﻳﮏ ﺳﻴﺴﺘﻤﻲ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﻣﻨﻔﻲ ﺑﺎ‬
‫) ‪s (1 + t s‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۷‬‬
‫‪ x (۲‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ 5‬ﺩﺭﺻﺪ ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬ ‫‪ x (۱‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ 5‬ﺩﺭﺻﺪ ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬

‫‪ x (۴‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ 10‬ﺩﺭﺻﺪ ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬ ‫‪ x (۳‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ 10‬ﺩﺭﺻﺪ ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬
‫ﺣﺴﺎﺳﻴﺖ ‪١٣‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪1 1‬‬
‫‪D ( s ) = t s2 + s + 1 = 0 Þ D ( s ) = s2 + s +‬‬
‫‪t t‬‬
‫‪1‬‬
‫‪1‬‬ ‫= ‪2x wn‬‬ ‫‪1 1‬‬ ‫‪1‬‬
‫‪w2n‬‬ ‫=‬ ‫®¾¾¾¾‬ ‫‪t‬‬ ‫´‪2 ´x‬‬ ‫=‪= Þ x‬‬
‫‪t‬‬ ‫‪t t‬‬ ‫‪2 t‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﮔﺮ ‪ t¢ = 1.1 t‬ﺷﻮﺩ‪ ،‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫‪.ir‬‬
‫‪x¢‬‬ ‫‪t‬‬ ‫‪t‬‬
‫=‬ ‫=‬ ‫‪= 95.35%‬‬
‫‪x‬‬ ‫‪t¢‬‬ ‫‪1.1 t‬‬

‫‪rs‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ x‬ﺑﻪ ﺍﻧﺪﺍﺯﺓ ‪ %4.65‬ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺷﮑﻞ ﺯﻳﺮ ﺣﺴﺎﺳﻴﺖ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﺩﺍﻳﻤﻲ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﻧﺴﺒﺖ ﺑﻪ ‪ k‬ﻭ ‪ a‬ﺑﻪ ﺗﺮﺗﻴﺐ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬

‫‪ee‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(٨٣‬‬
‫‪ 1 (۱‬ﻭ ‪-1‬‬
‫‪in‬‬
‫‪ 1 (۲‬ﻭ ‪1‬‬

‫‪ -1 (۳‬ﻭ ‪1‬‬
‫‪ng‬‬

‫‪ -1 (۴‬ﻭ ‪-1‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪le‬‬

‫‪1‬‬
‫‪s´ 2‬‬
‫)‪s R (s‬‬ ‫‪s‬‬ ‫‪(s + a ) = a‬‬
‫‪ess = lim‬‬ ‫‪= lim‬‬ ‫‪= lim‬‬
‫‪s ®0 1 + GH ( s ) s ®0‬‬ ‫‪s ®0 s ( s + a ) + K K‬‬
‫‪ro‬‬

‫‪K‬‬
‫‪1+‬‬
‫) ‪s (s + a‬‬

‫‪¶ ess K -a K‬‬

‫‪nt‬‬

‫‪e‬‬
‫= ‪SKss‬‬ ‫´‬ ‫=‬ ‫‪´ = -1‬‬
‫‪¶ K ess K 2 a‬‬
‫‪K‬‬
‫‪co‬‬

‫‪¶ ess a‬‬ ‫‪1 a‬‬

‫= ‪Seass‬‬ ‫´‬ ‫‪= ´ =1‬‬
‫‪¶ a ess K a‬‬
‫‪K‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﭘﺎﺳﺦﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎ‬
‫‪in‬‬
‫‪١‬ـ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‪ :‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺣﺎﮐﻢ ﺑﺮ ﺁﻥ‪ ،‬ﺍﺯ ﻣﺮﺗﺒﺔ ﺍﻭﻝ ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ )ﺳﻴﺴﺘﻤﻲ ﮐﻪ‬

‫ﻳﮏ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮ ﺩﺍﺭﺩ(‪.‬‬

‫‪ng‬‬
‫‪le‬‬

‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺩﺍﺭﺍﻱ ﻳﮏ ﭘﺎﺭﺍﻣﺘﺮ ﻣﺸﺨﺼﻪ ﻣﻲﺑﺎﺷﻨﺪ‪:‬‬

‫‪ro‬‬

‫‪ : T‬ﺛﺎﺑﺖ ﺯﻣﺎﻧﻲ ﺳﻴﺴﺘﻢ‬

‫‪nt‬‬

‫‪۱‬ـ‪ (۱‬ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ‪:‬‬

‫‪co‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪١‬ـ ﻣﻤﺎﺱ ﺑﺮ ﻣﻨﺤﻨﻲ ﭘﺎﺳﺦ ﭘﻠﻪ ﺩﺭ ‪ ، t = 0‬ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲِ ﭘﺎﺳﺦ ﭘﻠﻪ ﺭﺍ ﺩﺭ ﺯﻣﺎﻥ ‪ t = T‬ﻗﻄﻊ ﻣﻲﮐﻨﺪ‪.‬‬

‫‪٢‬ـ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪ ،T‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪:‬‬

‫ﭘﺎﺳﺦﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ‪١٥‬‬

‫‪.ir‬‬
‫‪۳‬ـ ﻣﻴﺰﺍﻥ ﻧﺰﺩﻳﮑﻲِ ﺧﺮﻭﺟﻲ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺑﻪ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲِ ﺁﻥ ﺧﺮﻭﺟﻲ‪ ،‬ﺩﺭ ﺟﺪﻭﻝ ﺯﻳﺮ ﺧﻼﺻﻪ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪t‬‬ ‫‪1T‬‬ ‫‪2T‬‬ ‫‪3T‬‬ ‫‪4T‬‬ ‫‪5T‬‬

‫‪rs‬‬
‫)‪c(t‬‬
‫‪%63‬‬ ‫‪%86‬‬ ‫‪%95‬‬ ‫‪%98‬‬ ‫‪%99‬‬
‫)‪c (¥‬‬

‫‪ee‬‬
‫‪۴‬ـ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‪ ،‬ﭘﺎﺭﺍﻣﺘﺮﻱ ﺑﺎ ﻧﺎﻡ ﺯﻣﺎﻥ ﻧﺸﺴﺖ‪ ١‬ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﺩ‪ .‬ﻫﺮ ﻗﺪﺭ ﻣﻘﺪﺍﺭ ﺍﻳﻦ ﭘﺎﺭﺍﻣﺘﺮ ﺑﺰﺭﮔﺘﺮ ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺩﻳﺮﺗﺮ ﺑﻪ ﻣﻘﺪﺍﺭ‬

‫ﻧﻬﺎﻳﻲﺍﺵ ﻣﻲﺭﺳﺪ‪ .‬ﻫﺮ ﺩﻭ ﻣﻌﻴﺎﺭ ﺯﻳﺮ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪ t s‬ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻭﻧﺪ‪:‬‬
‫‪in‬‬
‫‪t s = 4T , t s = 5T‬‬
‫‪ng‬‬
‫‪۵‬ـ ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺩﺭ ﺻﻔﺤﺔ ﻧﻴﻢ ﻟﮕﺎﺭﻳﺘﻤﻲ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺳﺎﺩﻩ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪۶‬ـ ﺑﺎ ﻧﺰﺩﻳﮏ ﺷﺪﻥ ﻗﻄﺐ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺑﻪ ﻣﺒﺪﺃ‪ ،‬ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺑﺰﺭﮔﺘﺮ ﻣﻲﺷﻮﺩ‪ .‬ﺷﮑﻞ ﺯﻳﺮ ﺍﻳﻦ ﻣﻔﻬﻮﻡ ﺭﺍ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ‪:‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪١‬ـ‪ (٢‬ﭘﺎﺳﺦ ﺷﻴﺐ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‪:‬‬

‫‪1‬‬
‫‪- Settling‬‬
 ‫‪ ١٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ E‬ﻧﮑﺎﺕ‪:‬‬

‫‪١‬ـ ﭼﻮﻥ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﻳﮏ ﺳﻴﺘﺴﻢ ﺗﻴﭗ ﻳﮏ ﻣﺤﺴﻮﺏ ﻣﻲﺷﻮﺩ‪ ،‬ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺭﺍ ﺑﺎ ﺧﻄﺎﻱ ﻣﺎﻧﺪﮔﺎﺭِ ‪ T‬ﺩﻧﺒﺎﻝ ﻣﻲﮐﻨﺪ‪.‬‬

‫‪۲‬ـ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ـ ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻔﺮﺍﻧﺴﻴﻞ ﺣﺎﮐﻢ ﺑﺮ ﺁﻥ‪ ،‬ﺍﺯ ﻣﺮﺗﺒﺔ ﺩﻭﻡ ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪.ir‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺻﻮﺭﺕ ﮐﺴﺮِ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭ‪ ،‬ﻓﻘﻂ ﺩﺭ ﺣﺎﻟﺖ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ‪ w2n ،‬ﺍﺳﺖ )ﺩﺭﺣﺎﻟﺖ ﮐﻠﻲ ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﺷﮑﻞ ‪ as + b‬ﺑﺎﺷﺪ(‪.‬‬

‫‪rs‬‬
‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ ،‬ﺩﺍﺭﺍﻱ ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﻣﺸﺨﺼﻪ ﻣﻲﺑﺎﺷﻨﺪ‪:‬‬

‫‪ee‬‬
‫‪æ rad ö ١‬‬
‫‪ç‬‬ ‫‪ wn‬ﻳﺎ ﻓﺮﮐﺎﻧﺲ ﻃﺒﻴﻌﻲ ﻧﺎﻣﻴﺮﺍ ÷‬
‫‪è s ø‬‬

‫‪æ Neper ö ٢‬‬

‫‪in‬‬
‫‪ç‬‬ ‫‪ a‬ﻳﺎ ﻓﺮﮐﺎﻧﺲ ﻣﻴﺮﺍﻳﻲ ÷‬
‫‪è s ø‬‬
‫ﺑﺮﺣﺴﺐ ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﻓﻮﻕ )ﻭ ﺑﺴﺘﻪ ﺑﻪ ﮐﺎﺭﺑﺮﺩ(‪ ،‬ﻣﻌﻤﻮﻻﹰ ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﺩﻳﮕﺮ ﻧﻴﺰ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭ ﻣﺤﺎﺳﺒﻪ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪ng‬‬

‫‪æ rad ö ٣‬‬

‫‪ ç‬ﮐﻪ ﻃﺒﻖ ﺗﻌﺮﻳﻒ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬ ‫‪ wd‬ﻳﺎ ﻓﺮﮐﺎﻧﺲ ﻃﺒﻴﻌﻲ ﻣﻴﺮﺍ ÷‬
‫‪è s ø‬‬
‫‪le‬‬

‫‪wd = w2n - a 2 = wn 1 - x2‬‬

‫‪ro‬‬

‫‪ x‬ﻳﺎ ﻧﺴﺒﺖ ﻣﻴﺮﺍﻳﻲ )ﺑﺪﻭﻥ ﺑ‪‬ﻌﺪ( ﮐﻪ ﻃﺒﻖ ﺗﻌﺮﻳﻒ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪a‬‬
‫‪nt‬‬

‫=‪x‬‬
‫‪wn‬‬

‫‪ E‬ﻧﮑﺘﻪ‪ :‬ﻓﺮﮐﺎﻧﺲ ﻃﺒﻴﻌﻲ ﻧﺎﻣﻴﺮﺍ‪ ،‬ﻫﻤﻮﺍﺭﻩ ﺑﺰﺭﮔﺘﺮ ﻳﺎ ﻣﺴﺎﻭﻱِ ﻓﺮﮐﺎﻧﺲ ﻃﺒﻴﻌﻲ ﻣﻴﺮﺍﻳﻲ ﻣﻲﺑﺎﺷﺪ‪:‬‬
‫‪co‬‬

‫‪wn ³ wd‬‬

‫ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﺔ ﺣﺎﮐﻢ ﺑﺮ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭ‪ :‬ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﺔ ﮐﻠﻴﻪ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ ،‬ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺯﻳﺮ ﻧﻮﺷﺘﻪ ﺷﻮﺩ‪:‬‬

‫‪D ( s ) = s 2 + 2x wn s + w2n = s 2 + 2a s + w2n‬‬

‫‪ 1‬ـ »ﻓﺮﮐﺎﻧﺲ ﻧﻮﺳﺎﻧﺎﺕ ﻧﺎﻣﻴﺮﺍ« ﻧﻴﺰ ﻣﻲﮔﻮﻳﻨﺪ‪.‬‬

‫‪ 2‬ـ »ﺿﺮﻳﺐ ﻣﻴﺮﺍﻳﻲ« ﻧﻴﺰ ﻣﻲﮔﻮﻳﻨﺪ‪.‬‬
‫‪ 3‬ـ »ﻓﺮﮐﺎﻧﺲ ﻧﻮﺳﺎﻧﺎﺕ ﻣﻴﺮﺍ ﺷﻮﻧﺪﻩ« ﻧﻴﺰ ﻣﻲﮔﻮﻳﻨﺪ‪.‬‬
‫ﭘﺎﺳﺦﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ‪١٧‬‬

‫ﺭﻳﺸﻪﻫﺎﻱ ﺍﻳﻦ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺑﺮﺍﺑﺮﻧﺪ ﺑﺎ ‪:‬‬

‫‪s1,2 = - a ± j wd‬‬

‫ﺑﺮﺣﺴﺐ ﻣﺤﻞ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ‪ ،‬ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭ‪ ،‬ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ ﺩﺍﺭﺍﻱ ‪ 4‬ﻧﻮﻉ ﭘﺎﺳﺦ ﻣﻲﺑﺎﺷﻨﺪ‪ .‬ﻳﮑﻲ ﺍﺯ ﺍﺑﺰﺍﺭﻫﺎﻳﻲ‬

‫ﮐﻪ ﻣﻌﻤﻮﻻﹰ ﺩﺭ ﻋﻤﻞ ﺑﺮﺍﻱ ﮐﺸﻒ ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻭﺩ‪ ،‬ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ :‬ﭼﻨﺎﻧﭽﻪ ﻭﺭﻭﺩﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ ،‬ﺗﺎﺑﻊ ﭘﻠﻪ ) ‪ u ( t‬ﺑﺎﺷﺪ‪ ،‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﻳﻦ ﻭﺭﻭﺩﻱ‪ ،‬ﻫﻤﻮﺍﺭﻩ‬

‫‪.ir‬‬
‫ﺑﻪ ﻓﺮﻡ ﮐﻠﻲ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ) ‪ a1‬ﻭ ‪ a 2‬ﺍﻋﺪﺍﺩ ﻣﺨﺘﻠﻂ( ‪:‬‬

‫(‬
‫‪c ( t ) = 1 + k1e-s1 t + k 2e-s 2 t‬‬ ‫)‬

‫‪rs‬‬
‫ﺑﺮ ﺣﺴﺐ ﻣﺤﻞ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻦ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﺔ ﺳﻴﺴﺘﻢ‪ ،‬ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﻳﮑﻲ ﺍﺯ ‪ 4‬ﺣﺎﻟﺖ ﺯﻳﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫‪ee‬‬
‫ﺣﺎﻟﺖ ﺍﻭﻝ( ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺩﻳﺪ‪ ،‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺭﻳﺸﺔ ﻣﺘﻤﺎﻳﺰ‪ ،‬ﺣﻘﻴﻘﻲ ﻭ ﻣﻨﻔﻲ ﺑﻮﺩﻩ ﻭ ﺧﺎﺻﻴﺖ ﻣﻴﺮﺍﻳﻲِ ﺳﻴﺴﺘﻢ ﺷﺪﻳﺪﺗﺮ ﺍﺯ‬

‫ﺧﺎﺻﻴﺖ ﻧﻮﺳﺎﻥﮐﻨﻨﺪﮔﻲ ﺁﻥ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪in‬‬
‫) ‪ a > w0‬ﻳﺎ ‪: ( x > 1‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺸﺎﺑﻪ ﭘﺎﺳﺦ ﭘﻠﻪ ﺩﺭ ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺷﺪﻳﺪ ﺑﺎ ﭘﺎﺳﺦ ﭘﻠﺔ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‪ ،‬ﺩﺭ ﺑﺴﻴﺎﺭﻱ ﺍﺯ ﮐﺎﺭﺑﺮﺩﻫﺎ‪ ،‬ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ‬
‫‪nt‬‬

‫ﺩﻭﻡ ﺭﺍ ﺑﺎ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﺗﻘﺮﻳﺐ ﻣﻲﺯﻧﻴﻢ‪.‬‬

‫ﺣﺎﻟﺖ ﺩﻭﻡ( ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺑﺤﺮﺍﻧﻲ‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺭﻳﺸﺔ ﻳﮑﺴﺎﻥ‪ ،‬ﺣﻘﻴﻘﻲ ﻭ ﻣﻨﻔﻲ ﺑﻮﺩﻩ ﻭ ﺧﺎﺻﻴﺖ ﻣﻴﺮﺍﻳﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﺮﺍﺑﺮ‬
‫‪co‬‬

‫ﺑﺎ ﺧﺎﺻﻴﺖ ﻧﻮﺳﺎﻥ ﮐﻨﻨﺪﮔﻲ ﺁﻥ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫) ‪ a = w0‬ﻳﺎ ‪: ( x =1‬‬
 ‫‪ ١٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻧﮑﺘﻪ ‪ :‬ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﺩﺭ ﺷﮑﻞ ﻓﻮﻕ ﺩﻳﺪﻩ ﻣﻲﺷﻮﺩ‪ ،‬ﺩﺭ ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺑﺤﺮﺍﻧﻲ‪ ،‬ﭘﺎﺳﺦ ﭘﻠﻪ ﺑﺪﻭﻥ ﻫﻴﭻ ﮔﻮﻧﻪ ﻓﺮﺍﺟﻬﺸﻲ ﺑﻪ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ‬ ‫‪E‬‬
‫‪١‬‬
‫) ) ‪ ( u ( t‬ﻣﻴﻞ ﻣﻲﮐﻨﺪ‪.‬‬

‫ﺣﺎﻟﺖ ﺳﻮﻡ( ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺿﻌﻴﻒ‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺭﻳﺸﺔ ﻣﺰﺩﻭﺝ ﻣﺨﺘﻠﻂ ﺑﻮﺩﻩ ﻭ ﺧﺎﺻﻴﺖ ﻣﻴﺮﺍﻳﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﺿﻌﻴﻒﺗﺮ ﺍﺯ‬

‫ﺧﺎﺻﻴﺖ ﻧﻮﺳﺎﻥ ﮐﻨﻨﺪﮔﻲ ﺁﻥ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫) ‪ a < w0‬ﻳﺎ ‪. ( 0 < x < 1‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﺣﺎﻟﺖ ﭼﻬﺎﺭﻡ( ﺣﺎﻟﺖ ﻧﺎﻣﻴﺮﺍ )ﻧﻮﺳﺎﻧﻲ( ‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺭﻳﺸﺔ ﻣﻮﻫﻮﻣﻲ ﻣﺤﺾ ﺑﻮﺩﻩ ﻭ ﺧﺎﺻﻴﺖ ﻣﻴﺮﺍﻳﻲ ﺩﺭ ﺳﻴﺴﺘﻢ ﻭﺟﻮﺩ‬
‫‪in‬‬
‫ﻧﺪﺍﺭﺩ‪.‬‬

‫) ‪ a = 0‬ﻳﺎ ‪. ( x = 0‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬

‫ﺷﮑﻞ ﺯﻳﺮ‪ ،‬ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺮﺗﺒﻪ ﺩﻭ ﺭﺍ ﺑﻪ ﺍﺯﺍﻱ ﻣﻘﺎﺩﻳﺮ ﻣﺨﺘﻠﻒ ‪، x‬ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ )ﺣﺮﻭﻑ ‪ A‬ﺗﺎ ‪ E‬ﺑﺮ ﺭﻭﻱ ﻧﻤﻮﺩﺍﺭ‪،‬‬
‫‪nt‬‬

‫ﭼﮕﻮﻧﮕﻲ ﺣﺮﮐﺖ ﺩﻭ ﺭﻳﺸﺔ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺭﺍ ﺑﺮ ﺭﻭﻱ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ‪(.‬‬
‫‪co‬‬

‫‪ c¢ ( t ) = wn‬ﺯ ﻫﻤﻮﺍﺭﻩ ﺑﻪ ﺍﺯﺍﻱ ‪ t > 0‬ﻣﺨﺎﻟﻒِ ﺻﻔﺮ ﺍﺳﺖ‪،‬ﻟﺬﺍ ﻫﻴﭽﮕﻮﻧﻪ‬

‫‪2‬‬
‫‪ 1‬ـ ﺍﺛﺒﺎﺕ ﺍﻳﻦ ﻣﻮﺿﻮﻉ ﺑﺎ ﻣﺸﺘﻖﮔﻴﺮﻱ ﺍﺯ ) ‪ c ( t‬ﺍﻣﮑﺎﻧﭙﺬﻳﺮ ﺍﺳﺖ‪ .‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ‪t .e -wn t‬‬
‫ﺩﻳﺪﻩ ﻧﻤﻲﺷﻮﺩ‪.‬‬ ‫ﺍﮐﺴﺘﺮﻣﻢ ﻣﺤﻠﻲ ﺩﺭ ‪t > 0‬‬
‫ﭘﺎﺳﺦﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ‪١٩‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪۱‬ـ ﺑﻪ ﺍﺯﺍﻱ ‪ x‬ﻫﺎﻱ ﻣﻨﻔﻲ‪ ،‬ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻣﻲﮔﺮﺩﺩ‪.‬‬

‫‪۲‬ـ ﻓﻘﻂ ﺩﺭ ﺣﺎﻟﺖ »ﻣﻴﺮﺍﻳﻲ ﺿﻌﻴﻒ«‪ ،‬ﻓﺮﮐﺎﻧﺲ ﻧﻮﺳﺎﻥ ﺳﻴﺴﺘﻢ ‪ wd‬ﺍﺳﺖ )ﺩﺭ ﺳﺎﻳﺮ ﺣﺎﻻﺗﻲ ﮐﻪ ﻧﻮﺳﺎﻥ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ ،‬ﻓﺮﮐﺎﻧﺲ ﻧﻮﺳﺎﻥ‪ wn ،‬ﺍﺳﺖ(‪.‬‬

‫‪۳‬ـ ﺩﺭ ﺑﻴﻦ ﺍﻳﻦ ﭼﻬﺎﺭ ﺣﺎﻟﺖ‪ ،‬ﺣﺎﻟﺖ ﻧﻮﺳﺎﻧﻲ ﺗﻨﻬﺎ ﺣﺎﻟﺘﻲ ﺍﺳﺖ ﮐﻪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭﺵ )ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ( ﺻﻔﺮ ﻧﻤﻲﺷﻮﺩ‪.‬‬

‫‪۴‬ـ ﺩﺭ ﺣﺎﻟﺖ ﻣﻴﺮﺍﻳﻲ ﺷﺪﻳﺪ ﻭ ﺯﻣﺎﻧﻲ ﮐﻪ ‪ x 1‬ﺑﺎﺷﺪ‪ ،‬ﻳﮑﻲ ﺍﺯ ﺩﻭ ﺟﻤﻠﺔ ﻧﻬﺎﻳﻲ )ﮐﻪ ‪ a‬ﻱ ﻧﺰﺩﻳﮏﺗﺮﻱ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ ﺩﺍﺭﺩ(‪ ،‬ﺟﻤﻠﺔ ﻏﺎﻟﺐ ﺍﺳﺖ ﻭ‬

‫ﻟﺬﺍ ﻣﻲﺗﻮﺍﻧﻴﻢ ) ‪ c ( t‬ﺭﺍ ﻓﻘﻂ ﺑﺎ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻦ ﻫﻤﺎﻥ ﻳﮏ ﻗﻄﺐ ﺗﻘﺮﻳﺐ ﺑﺰﻧﻴﻢ‪:‬‬

‫‪.ir‬‬
‫‪a  a 2 Þ c ( t ) » 1 - e-a1t‬‬

‫‪rs‬‬
‫‪۵‬ـ ﻫﻨﮕﺎﻡ ﺗﻘﺮﻳﺐ ﺯﺩﻥ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻗﻄﺐ ﻏﺎﻟﺐ‪ ،‬ﺗﺎﺑﻊ ﺍﺻﻠﻲ ﻭ ﺗﺎﺑﻊ ﺗﻘﺮﻳﺒﻲ ﻫﺮ ﺩﻭ ﺑﺎﻳﺪ ﺩﺍﺭﺍﻱ ﻳﮏ ﻣﻘﺪﺍﺭ ‪ DC‬ﺑﺎﺷﻨﺪ‪.‬‬

‫‪ee‬‬ ‫ﻣﺸﺨﺼﻪﻫﺎﻱ ﭘﺎﺳﺦ ﮔﺬﺭﺍ‬

‫‪١‬ـ ﺯﻣﺎﻥ ﺗﺄﺧﻴﺮ‪ : ( t d ) ١‬ﻣﺪﺕ ﺯﻣﺎﻥِ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺧﺮﻭﺟﻲ ﺑﻪ ﻧﺼﻒ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲﺍﺵ‪ ،‬ﺯﻣﺎﻥ ﺗﺄﺧﻴﺮ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻳﻦ ﺯﻣﺎﻥ ﺗﻘﺮﻳﺒﺎﹰ ﺑﺮﺍﺑﺮ‬
‫‪in‬‬
‫ﺍﺳﺖ ﺑﺎ ‪:‬‬
‫‪ng‬‬
‫‪1 + 0.7 x‬‬
‫» ‪td‬‬
‫‪wn‬‬

‫‪٢‬ـ ﺯﻣﺎﻥ ﺻﻌﻮﺩ‪ : ( t r ) ٢‬ﺍﻳﻦ ﮐﻤﻴﺖ ﮐﻪ ﻣﻌﻴﺎﺭﻱ ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﺳﺮﻋﺖ ﭘﺎﺳﺦ ﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺩﺍﺭﺍﻱ ﺩﻭ ﺗﻌﺮﻳ ِ‬
‫ﻒ ﺭﺍﻳﺞ ﺩﺭ ﮐﺘﺐ ﻣﺮﺟﻊ‬
‫‪le‬‬

‫ﻣﻲﺑﺎﺷﺪ‪:‬‬
‫‪ro‬‬

‫ﺍﻟﻒ ـ ﺯﻣﺎﻥ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺧﺮﻭﺟﻲ ﺍﺯ ‪ %10‬ﺑﻪ ‪ %90‬ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ‬

‫ﺏ ـ ﺯﻣﺎﻥ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺧﺮﻭﺟﻲ ﺍﺯ ‪ %0‬ﺑﻪ ‪ %100‬ﻣﻘﺎﺭ ﻧﻬﺎﻳﻲ‬

‫‪nt‬‬

‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔﺍﻳﻦ ﺯﻣﺎﻥ‪ ،‬ﺍﺯ ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪p -b‬‬
‫‪co‬‬

‫= ‪tr‬‬
‫‪wd‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ‪ b‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪-1‬‬ ‫‪-1‬‬ ‫‪1 - x2‬‬

‫‪b = cos‬‬ ‫‪x = tan‬‬
‫‪x‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﺔ ﻓﻮﻕ ‪ b ،‬ﻣﻌﺮﻑ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﻧﻘﺎﻃﻲ ﺍﺳﺖ ﮐﻪ ﮐﻠﻴﺔ ﺁﻥ ﻧﻘﺎﻁ‪ ،‬ﺩﺍﺭﺍﻱ ‪ x‬ﻳﮑﺴﺎﻧﻲ ﻣﻲﺑﺎﺷﻨﺪ‪:‬‬

‫‪1‬‬
‫‪- Delay‬‬
‫‪2‬‬
‫‪- Rise‬‬
 ‫‪ ٢٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ :‬ﻣﺪﺕ ﺯﻣﺎﻥ ﻻﺯﻡ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﻭﻟﻴﻦ ﻣﻘﺪﺍﺭ ﻣﺎﮐﺰﻳﻤﻢ‪ ،‬ﺯﻣﻦ ﭘﻴﮏ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‬ ‫) ‪( tp‬‬ ‫‪٣‬ـ ﺯﻣﺎﻥ ﭘﻴﮏ‬

‫‪.ir‬‬
‫) ‪æ dc ( t‬‬ ‫‪ö‬‬
‫‪ . ç‬ﺍﻳﻦ ﺯﻣﺎﻥ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ‪:١‬‬ ‫÷‪=0‬‬
‫‪ç dt t = t p‬‬ ‫÷‬
‫‪è‬‬ ‫‪ø‬‬

‫‪rs‬‬
‫‪p‬‬
‫= ‪tp‬‬
‫‪wd‬‬

‫‪ee‬‬
‫‪٤‬ـ ﺯﻣﺎﻥ ﻧﺸﺴﺖ‪ : ( t s ) ٢‬ﺍﻳﻦ ﮐﻤﻴﺖ ﮐﻪ ﻣﻌﻴﺎﺭﻱ ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﺳﺮﻋﺖ ﭘﺎﺳﺦ ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢﻫﺎ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻧﺸﺎﻥ ﺩﻫﻨﺪﺓ ﻣﺪﺕ ﺯﻣﺎﻧﻲ ﺍﺳﺖ ﮐﻪ‬

‫ﭘﺲ ﺍﺯ ﺁﻥ ﺯﻣﺎﻥ‪ ،‬ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺩﺭ ﺑﺎﻧﺪ ﻣﻌﻴﻨﻲ ﺍﺯ ﺧﺮﻭﺟﻲ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪:‬‬

‫‪in‬‬
‫‪3‬‬
‫= ‪ts‬‬ ‫ﺗﻠﻮﺭﺍﻧﺲ ‪: %5‬‬
‫‪x wn‬‬
‫‪ng‬‬

‫‪4‬‬
‫= ‪ts‬‬ ‫ﺗﻠﻮﺭﺍﻧﺲ ‪: %2‬‬
‫‪x wn‬‬
‫‪le‬‬

‫‪æ 100‬‬ ‫‪ö‬‬

‫‪ln ç‬‬ ‫÷‬
‫‪ç a 1 - x2‬‬ ‫÷‬
‫‪ts = è‬‬ ‫‪ø‬‬ ‫ﺗﻠﻮﺭﺍﻧﺲ ‪: %a‬‬
‫‪ro‬‬

‫‪x wn‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﻣﻌﻤﻮﻻﹰ ﺩﺭ ﺗﺴﺖﻫﺎﻱ ﮐﻨﮑﻮﺭ‪ ،‬ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺑﺎ ﺗﻠﻮﺭﺍﻧﺲ ‪ %2‬ﻣﻮﺭﺩ ﺳﺌﻮﺍﻝ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪.‬‬
‫‪nt‬‬

‫‪۵‬ـ ﻣﺎﮐﺰﻳﻤﻢ ﺟﻬﺶ ) ‪ : ( M o‬ﻣﻘﺪﺍﺭ ﻣﺎﮐﺰﻳﻤﻢ ﺧﺮﻭﺟﻲ ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬
‫‪co‬‬

‫‪-p x‬‬ ‫‪p‬‬

‫‪-‬‬
‫) (‬
‫‪M o = c t p =1 + e‬‬ ‫‪1-x 2‬‬
‫‪=1 + e‬‬ ‫‪tan b‬‬

‫ﻑ ﺧﺮﺟﻲ‪ ،‬ﻧﺴﺒﺖ ﺑﻪ ﻣﻘﺪﺍﺭِ ﻳﮏ‬

‫‪ : M p‬ﺍﻳﻦ ﮐﻤﻴﺖ ﮐﻪ ﻣﻌﻤﻮﻻﹰ ﺑﺮ ﺣﺴﺐ ﺩﺭﺻﺪ ﺑﻴﺎﻥ ﻣﻲﺷﻮﺩ‪ ،‬ﻣﻌﺮﻑ ﺑﻴﺸﺘﺮﻳﻦ ﺍﻧﺤﺮﺍ ِ‬ ‫) (‬ ‫‪۶‬ـ ﺟﻬﺶ ﻧﺴﺒﻲ‬

‫)ﻭﺭﻭﺩﻱ ﭘﻠﺔﻭﺍﺣﺪ( ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪ 1‬ـ ﺩﺭ ﺣﻘﻴﻘﺖ ﺍﻳﻦ ﺯﻣﺎﻥ‪ ،‬ﻧﺼﻒ ﺩﻭﺭﻩ ﺗﻨﺎﻭﺏِ ﭘﺎﺳﺦ )‪ c(t‬ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪2‬‬
‫‪- Settling time‬‬
‫ﭘﺎﺳﺦﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ‪٢١‬‬

‫‪p‬‬
‫‪-‬‬
‫‪tan b‬‬
‫‪M p = Mo - 1 = e‬‬

‫ﺕ ﺑﻴﺸﺘﺮﻳﻦ ﺍﻧﺤﺮﺍﻑ ﺧﺮﻭﺟﻲ ﺍﺯ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲِ ﻭﺭﻭﺩﻱ ﭘﻠﺔ ﻏﻴﺮ ﻭﺍﺣﺪ ﺗﻌﺮﻳﻒ‬
‫ﺩﺭ ﺣﺎﻟﺘﻲ ﮐﻪ ﻭﺭﻭﺩﻱ ﭘﻠﺔ ﻏﻴﺮ ﻭﺍﺣﺪ ﺑﺎﺷﺪ‪ ،‬ﺍﻳﻦ ﮐﻤﻴﺖ ﺑﻪ ﺻﻮﺭ ِ‬

‫ﻣﻲﮔﺮﺩﺩ‪:‬‬

‫= ‪Mp‬‬
‫) (‬
‫)‪c tp - c (¥‬‬
‫)‪c (¥‬‬

‫‪.ir‬‬
‫ﺷﮑﻞ ﺯﻳﺮ‪ ،‬ﻣﻔﺎﻫﻴﻢ ﻣﺮﺗﺒﻂ ﺑﺎ ﻣﺸﺨﺼﻪﻫﺎﻱ ﭘﺎﺳﺦ ﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎ ﺭﺍ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ‪:‬‬

‫‪rs‬‬
‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪ E‬ﻧﮑﺎﺕ ﺗﮑﻤﻴﻠﻲ‪:‬‬

‫‪١‬ـ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻳﮏ ﺳﻴﺴﺘﻢ ﺩﺭﺟﻪ ﺩﻭ ﻧﻮﻋﻲ‪ ،‬ﻣﻲﺗﻮﺍﻧﺪ ﺍﺯ ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﺗﻘﺮﻳﺐ ﺯﺩﻩ ﺷﻮﺩ‪:‬‬
‫‪ro‬‬

‫‪2.2‬‬
‫» ‪B.W .‬‬
‫‪tr‬‬
‫‪nt‬‬

‫‪ìï t = nt p‬‬
‫‪ ، í‬ﻣﻲﺗﻮﺍﻧﺪ ﺍﺯ ﺭﻭﺍﺑﻂ ﺯﻳﺮ ﻣﺤﺎﺳﺒﻪ ﺷﻮﺩ‪:‬‬ ‫‪٢‬ـ ﻓﺎﺻﻠﻪ ﻣﻨﺤﻨﻲ ) ‪ c ( t‬ﺍﺯ ﻣﻘﺪﺍﺭ ﻣﺎﻧﺪﮔﺎﺭﺵ ﺩﺭ ﻟﺤﻈﺎ ِ‬
‫ﺕ‬
‫‪ïî n Î Z‬‬
‫‪co‬‬
 ‫‪ ٢٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪٣‬ـ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﻤﻮﺩﺍﺭ ﻓﻮﻕ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪+2 p‬‬
‫‪D D‬‬ ‫‪D‬‬
‫‪x = 1 = 2 = 3 =  Þ x = e tan b‬‬
‫‪D 2 D3 D 4‬‬

‫‪٤‬ـ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪ x‬ﺍﺯ ﺭﻭﻱ ‪ ، M p‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ ﺭﺍﺑﻄﺔ ﺯﻳﺮ ﮐﻤﮏ ﺑﮕﻴﺮﻳﻢ‪:‬‬

‫‪- ln M p‬‬
‫=‪x‬‬
‫‪p2 + ln 2 M p‬‬

‫‪.ir‬‬
‫‪٥‬ـ ﮐﻤﻴﺖﻫﺎﻱ ‪ t r‬ﻭ ‪ ، M p‬ﺭﻓﺘﺎﺭ ﻋﮑﺲ ﻳﮑﺪﻳﮕﺮ ﺩﺍﺭﻧﺪ ‪ .‬ﺑﻪ ﺑﻴﺎﻥ ﺩﻳﮕﺮ‪:‬‬

‫‪rs‬‬
‫ـ ﺑﺎ ﺍﻓﺰﺍﻳﺶ ‪ t r , M p‬ﮐﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬

‫ـ ﺑﺎ ﮐﺎﻫﺶ ‪ t r , M p‬ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ‪.‬‬

‫‪ee‬‬
‫‪٦‬ـ ﺍﻓﺰﺍﻳﺶ ‪ ، x‬ﻣﻮﺟﺐ ﮐﺎﻫﺶ ‪ M p‬ﻣﻲﮔﺮﺩﺩ )ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ‪ M p‬ﻓﻘﻂ ﺗﺎﺑﻊ ‪ x‬ﺍﺳﺖ(‪:‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪٧‬ـ ﺑﻪ ﺍﺯﺍﻱ ‪ x‬ﻫﺎﻱ ﺑﻴﻦ ‪ 0.4‬ﺗﺎ ‪ ، 0.8‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﺯﻳﺮ ﻣﻴﺮﺍ ﺳﺮﻳﻊﺗﺮﻳﻦ ﺳﺮﻋﺖ ﺭﺍ ﺩﺭ ﺭﺳﻴﺪﻥ ﺑﻪ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺩﺍﺭﺍ ﻣﻲﺑﺎﺷﻨﺪ‪ ،‬ﻭ ﺑﻴﺎﻥ ﺩﻗﻴﻖﺗﺮ ﺩﺭ‬

‫ﻣﻮﺭﺩ ﺳﺮﻋﺖ ﺭﺳﻴﺪﻥ ﺑﻪ ﭘﺎﺳﺦ ﻧﻬﺎﻳﻲ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﮕﻮﻳﻴﻢ‪:‬‬

‫‪ro‬‬

‫ﻓﻮﻕ ﻣﻴﺮﺍ > ﻣﻴﺮﺍﻱ ﺑﺤﺮﺍﻧﻲ > ﺯﻳﺮ ﻣﻴﺮﺍ‬

‫‪nt‬‬

‫‪۸‬ـ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﻪ ﻳﮏ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻮﺟﺐ ﺍﻓﺰﺍﻳﺶ ‪ M p‬ﻣﻲﮔﺮﺩﺩ‪ .‬ﻫﺮ ﻣﻘﺪﺍﺭ ﺍﻳﻦ ﺻﻔﺮ ﺑـﻪ ﻣﺒـﺪﺃ ﻧﺰﺩﻳﮑﺘـﺮ ﺑﺎﺷـﺪ‪ M p ،‬ﻧﻴـﺰ ﻣﻘـﺪﺍﺭ‬

‫ﺑﻴﺸﺘﺮﻱ ﺑﻪ ﺧﻮﺩ ﻣﻲﮔﻴﺮﺩ‪:‬‬

‫‪co‬‬

‫‪ Mp - Þ x M Þ t r ¯ Þ ts -‬ﺀ‬

‫ﭘﺎﺳﺦ ﺿﺮﺑﺔ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‬

 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﺧﻄﺎ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬
‫‪in‬‬
‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ـﺒﺎﺯ ) ‪ G ( s‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫)‪K ( Ta s + 1) ( Tzs +1‬‬

‫= ) ‪ْG ( s‬‬
‫‪ng‬‬

‫(‬
‫‪s N ( T1s + 1) Tps + 1‬‬ ‫)‬
‫ﻧﻮﻉِ )ﺗﻴﭗ( ﺳﻴﺴﺘﻢ‪ :‬ﺗﻮﺍﻥِ ‪ N‬ﺩﺭ ﺟﻤﻠﻪ ‪ SN‬ﺩﺭ ﻣﺨﺮﺝ ﮐﺴﺮ‪ ،‬ﻧﺸﺎﻥ ﺩﻫﻨﺪﺓ ﺗﻌﺪﺍﺩ ﺍﻧﺘﮕﺮﺍﺗﻮﺭﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﻮﺩﻩ ﻭ ﺍﺯ ﺭﻭﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬
‫‪le‬‬

‫ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪ro‬‬

‫ﻣﺮﺗﺒﻪ )ﺩﺭﺟﻪ( ﺳﻴﺴﺘﻢ‪ :‬ﻣﺮﺗﺒﺔ ﭼﻨﺪ ﺟﻤﻠﻪﺍﻱِ ﻣﺨﺮﺝ ﺗﺎﺑﻊ ﺣﻠﻘﻪ ـ ﺑﺴﺘﺔ ﺳﻴﺴﺘﻢ )ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ( ﺑﻮﺩﻩ ﻭ ﺍﺯ ﺭﻭﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ـ ﺑﺴﺘﺔ‬

‫ﺳﻴﺴﺘﻢ ﻣﺸﺨﺺ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪nt‬‬

‫ﺗﻌﺮﻳﻒ ﻣﻮﻗﻌﻴﺖ‪ ،‬ﺳﺮﻋﺖ ﻭ ﺷﺘﺎﺏ )ﺻﺮﻓﻨﻈﺮ ﺍﺯ ﺩﻳﻤﺎﻧﺴﻴﻮﻥِ ﺧﺮﻭﺟﻲ(‬

‫‪co‬‬

‫ﻣﻮﻗﻌﻴﺖ‪ :‬ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺭﺍ »ﻣﻮﻗﻌﻴﺖ« ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫ﺳﺮﻋﺖ‪ :‬ﺗﻐﻴﻴﺮﺍ ِ‬
‫ﺕ ﻣﻮﻗﻌﻴﺖ ﺳﻴﺴﺘﻢ ﺭﺍ »ﺳﺮﻋﺖ« ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫ﺷﺘﺎﺏ‪ :‬ﺗﻐﻴﻴﺮﺍﺕ ﺳﺮﻋﺖ ﺭﺍ »ﺷﺘﺎﺏ« ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﺩﻗﺖ ﻳﮏ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻌﻴﺎﺭﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮﺩ‪ .‬ﺑﺮﺧﻲ ﺍﺯ ﺍﺑﺘﺪﺍﻳﻲﺗﺮﻳﻦ ﻭ ﺩﺭ ﻋﻴﻦ ﺣﺎﻝ ﻣﻬﻤﺘﺮﻳﻦ ﺍﻳﻦ‬

‫ﻣﻌﻴﺎﺭﻫﺎ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬

 ‫‪ ٢٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ (۱‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ )ﺗﻌﺎﺩﻝ‬

‫‪ü‬‬
‫‪ï‬‬
‫ﻣﻮﻗﻌﻴﺖ ) ‪( K p‬‬ ‫‪ü‬‬
‫‪ï‬‬
‫‪ý‬‬
‫ﻣﻌﻴﺎﺭﻫﺎﻱ ﺑﺮﺭﺳﻲ ﺩﻗﺖ ﺳﻴﺴﺘﻢ‬
‫‪ï‬‬ ‫‪ï‬‬
‫‪ï‬‬
‫) ‪(Kv‬‬ ‫ﺳﺮﻋﺖ‬ ‫‪ý‬‬ ‫‪(۲‬ﺿﺮﺍﻳﺐ ﺧﻄﺎﻱِ‬ ‫‪ïþ‬‬
‫‪ï‬‬
‫ﺷﺘﺎﺏ ) ‪( K a‬‬ ‫‪ïþ‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﭘﻴﺶ ﺍﺯ ﻭﺭﻭﺩ ﺑﻪ ﺍﻳﻦ ﺑﺤﺚ‪ ،‬ﻳﮏ ﻧﮑﺘﺔ ﻣﻬﻢ ﺭﺍ ﺑﻪ ﺧﺎﻃﺮ ﺑﺴﭙﺎﺭﻳﺪ‪ :‬ﺧﻄﺎ ﻭ ﺩﻗﺖ ﻳﮏ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ ﮐﻪ ﺁﻥ‬

‫‪.ir‬‬
‫ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺑﻮﺩ‪ ،‬ﺗﻌﺮﻳﻒ ﺧﻄﺎ ﺑﺮﺍﻱ ﺁﻥ ﺳﻴﺴﺘﻢ‪ ،‬ﻧﺎﺩﺭﺳﺖ ﺍﺳﺖ‪.‬‬

‫‪rs‬‬
‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‬

‫‪ ü‬ﺗﻌﺮﻳﻒ ﺍﻭﻝ ‪ :‬ﺩﺭ ﻳﮏ ﺗﻌﺮﻳﻒ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺧﺮﻭﺟﻲ ﻣﻘﺎﻳﺴﻪ ﮐﻨﻨﺪﻩ ) ‪ ( E = X - YH‬ﺭﺍﺑﻪ ﻋﻨﻮﺍﻥ ﺳﻴﮕﻨﺎﻝ ﺧﻄﺎ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪:‬‬

‫‪ee‬‬
‫‪in‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻌﺮﻳﻒ ﻓﻮﻕ‪،‬ﭘﺲ ﺍﺯ ﻳﮏ ﻣﺮﺣﻠﻪ ﺳﺎﺩﻩ ﺳﺎﺯﻱ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬
‫‪ng‬‬

‫)‪X (s‬‬ ‫) ‪sX ( s‬‬

‫= )‪E (s‬‬ ‫‪Þ ess = lim‬‬
‫) ‪1 + GH ( s‬‬ ‫) ‪s ® 0 1 + GH ( s‬‬
‫‪le‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﭘﺮﻭﺍﺿﺢ ﺍﺳﺖ ﮐﻪ ﭼﻨﺎﻧﭽﻪ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺧﺮﻭﺟﻲ‪ y ( t ) ١‬ﺭﺍ ﺑﺨﻮﺍﻫﻴﻢ‪ ،‬ﺻﻮﺭﺕ ﮐﺴﺮ ﻓﻮﻕ ﺩﺭ ‪ G‬ﻫﻢ ﺿﺮﺏ ﻣﻲﺷﻮﺩ‪:‬‬
‫‪ro‬‬

‫) ‪X (s ) G (s‬‬
‫‪yss = lim‬‬
‫) ‪s ® 0 1 + GH ( s‬‬
‫‪nt‬‬

‫‪ ü‬ﺗﻌﺮﻳﻒ ﺩﻭﻡ ‪ :‬ﺩﺭ ﺗﻌﺮﻳﻔﻲ ﺩﻳﮕﺮ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺧﺘﻼﻑ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﻋﻨﻮﺍﻥ ﺧﻄﺎﻱ ﺳﻴﺴﺘﻢ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﻢ‪:‬‬
‫‪co‬‬

‫) ) ‪E ( s ) = X ( s ) - Y ( s ) Þ ess = lim sX ( s ) (1 - T ( s‬‬

‫‪s ®0‬‬

‫ﺍﻳﻨﮑﻪ ﺍﺯ ﮐﺪﺍﻣﻴﮏ ﺍﺯ ﺍﻳﻦ ﺩﻭ ﺗﻌﺮﻳﻒ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪ ،‬ﺩﺭ ﺻﻮﺭﺕ ﺳﺌﻮﺍﻝ ﻣﺸﺨﺺ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺣﺎﻟﺖ ﺧﺎﺻﻲ ﮐﻪ ‪ H ( s ) = 1‬ﺑﺎﺷﺪ‪ ،‬ﺍﻳﻦ ﺩﻭ ﺗﻌﺮﻳﻒ‪ ،‬ﻣﻌﺎﺩﻝ ﺑﺎ ﻳﮑﺪﻳﮕﺮ ﺧﻮﺍﻫﻨﺪ ﺑﻮ‪.‬‬

‫‪1‬‬
‫‪- steady - state‬‬
‫ﺧﻄﺎ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ‪٢٥‬‬

‫‪۲‬ـ ﺿﺮﺍﻳﺐ ﺧﻄﺎ )ﺍﻋﺪﺍﺩ ﺷﺎﻳﺴﺘﮕﻲ ‪(Figure of Merit‬‬

‫‪ ü‬ﺿﺮﻳﺐ ﺧﻄﺎﻱ ﻣﻮﻗﻌﻴﺖ ‪: K p‬‬

‫) ‪K p = lim G ( s ) H ( s‬‬
‫‪s ®0‬‬

‫‪ ü‬ﺿﺮﻳﺐ ﺧﻄﺎﻱ ﺳﺮﻋﺖ ‪: K v‬‬

‫) ‪K v = lim sG ( s ) H ( s‬‬

‫‪.ir‬‬
‫‪s ®0‬‬

‫‪ ü‬ﺿﺮﻳﺐ ﺧﻄﺎﻱ ﺷﺘﺎﺏ ‪: K a‬‬

‫‪rs‬‬
‫) ‪K a = lim s 2G ( s ) H ( s‬‬
‫‪s ®0‬‬

‫‪ee‬‬
‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪(١‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ )ﺗﻌﺮﻳﻒ ﺍﻭﻝ(‪ ،‬ﺑﻪ ﺩﻭ ﻋﺎﻣﻞ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ‪ (١ :‬ﻧﻮﻉ ﺳﻴﺴﺘﻢ‪ (٢ ،‬ﻭﺭﻭﺩﻱ‬
‫‪in‬‬
‫‪ (٢‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻌﺮﻳﻒ ﺍﻭﻝ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‪ ،‬ﺿﺮﺍﻳﺐ ﺧﻄﺎ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪ ess‬ﺑﻪ ﮐﺎﺭ ﺑﺮﻭﻧﺪ‪:‬‬
‫‪ng‬‬
‫ﻭﺭﻭﺩﻱ‬ ‫ﭘﻠﻪ ) ‪u ( t‬‬ ‫ﺷﻴﺐ ) ‪tu ( t‬‬ ‫ﺳﻬﻤﻲ ) ‪t 2 u ( t‬‬
‫ﻧﻮﻉ ﺳﻴﺴﺘﻢ‬
‫‪N=0‬‬ ‫‪1‬‬ ‫‪¥‬‬ ‫‪¥‬‬
‫‪1+ Kp‬‬
‫‪le‬‬

‫‪N =1‬‬ ‫‪0‬‬ ‫‪1‬‬ ‫‪¥‬‬

‫‪Kv‬‬
‫‪ro‬‬

‫‪N=2‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪2‬‬

‫‪Ka‬‬
‫‪nt‬‬

‫‪N³3‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬

‫‪ E‬ﻧﮑﺘﻪ ﻣﻬﻢ‪ :‬ﺍﻳﻦ ﺟﺪﻭﻝ ﺑﺎ ﻓﺮﺽ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ ﺍﺳﺖ! ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ ﭼﻨﺎﻧﭽﻪ ﺳﻴﺴﺘﻤﻲ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﺪ‪ ،‬ﺑﺤﺚ ﺩﺭ ﻣﻮﺭﺩ‬
‫‪co‬‬

‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‪ ،‬ﺑﻲﻣﻌﻨﺎﺳﺖ‪.‬‬

‫‪ (٣‬ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ ﻭ ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﻭﺭﻭﺩﻱ ﺩﻟﺨﻮﺍﻩ ﻭ ﻫﺮ ﻧﻮﻉ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪ (٤‬ﻫﺮ ﻗﺪﺭ ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﺑﺎﻻﺗﺮ ﻣﻲﺭﻭﺩ‪ ،‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ )ﺑﻪ ﻗﻴﻤﺖ ﮐﺎﻫﺶ ﭘﺎﻳﺪﺍﺭﻱ(‪ ،‬ﮐﻤﺘﺮ ﻣﻲﺷﻮﺩ‪.‬‬
 ‫‪ ٢٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻣﺜﺎﻝ‪ :‬ﺑﺮﺍﻳﺴﻴﺴﺘﻢ ﺯﻳﺮ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﺩﺍﺋﻤﻲ ) ‪ c ( t ® ¥‬ﻭ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺋﻤﻲ ) ‪ e ( t ® ¥‬ﺑﻪ ﺗﺮﺗﻴﺐ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۰‬‬
‫‪ 10(۱‬ﻭ ‪0‬‬

‫‪ 10 (۲‬ﻭ ‪0.0975‬‬

‫‪ 10 (۳‬ﻭ ‪1000‬‬

‫‪ ¥ (۴‬ﻭ ‪¥‬‬

‫‪.ir‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻭﺍﺣﺪ ﺑﻮﺩﻥِ ﻓﻴﺪﺑﮏ‪ ،‬ﺗﻌﺎﺭﻳﻒ ﺍﻭﻝ ﻭ ﺩﻭﻡ ﺧﻄﺎ ﻣﻌﺎﺩﻟﻨﺪ‪ ،‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺍﮔﺮ ﺍﺯ ﺗﻌﺮﻳﻒ ﺍﻭﻝ ﺧﻄﺎ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪.‬‬

‫‪rs‬‬
‫‪10‬‬
‫´‪s‬‬
‫‪s‬‬ ‫‪10‬‬
‫‪ess = lim‬‬ ‫=‬ ‫‪=0‬‬

‫‪ee‬‬
‫‪s ®0‬‬ ‫‪200‬‬ ‫‪1+ ¥‬‬
‫‪1+‬‬
‫) ‪s ( s + 1)( s + 2‬‬

‫‪10‬‬ ‫‪200‬‬
‫´‪s‬‬ ‫´‬
‫‪s s ( s + 1)( s + 2 ) 2000‬‬
‫‪in‬‬
‫‪c ( ¥ ) = lim‬‬ ‫=‬ ‫‪= 10‬‬
‫‪s ®0‬‬ ‫‪200‬‬ ‫‪200‬‬
‫‪1+‬‬
‫) ‪s ( s + 1)( s + 2‬‬
‫‪ng‬‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ﺭﺍﺑﻄﺔ ) ‪ c ( ¥‬ﺩﺭ ﺣﻘﻴﻘﺖ ﻫﻤﺎﻥ ﺭﺍﺑﻄﺔ ‪ ess‬ﺍﺳﺖ ﮐﻪ ﻓﻘﻂ ﺻﻮﺭﺗﺶ ﺩﺭ ) ‪ G ( s‬ﺿﺮﺏ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬

‫ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺟﺪﻭﻝ ﺻﻔﺤﺔ ﻗﺒﻞ‪ ،‬ﭼﻮﻥ ﺳﻴﺴﺘﻢ ﺗﻴﭗ ‪ 1‬ﺍﺳﺖ ﻭ ﻭﺭﻭﺩﻱ ﻧﻴﺰ ﺍﺯ ﻧﻮﻉ ﭘﻠﻪ ﺍﺳﺖ‪ ،‬ﺑﺪﻭﻥ ﻫﻴﭽﮕﻮﻧﻪ ﻣﺤﺎﺳﺒﻪﺍﻱ ﻧﻴﺰ‬ ‫‪E‬‬
‫‪le‬‬

‫ﻣﻲﺗﻮﺍﻧﺴﺘﻴﻢ ﺑﮕﻮﻳﻴﻢ ‪ ess = 0‬ﺧﻮﺍﻫﺪ ﺷﺪ‪.‬‬

‫‪ro‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﺔ ﺳﻴﺴﺘﻤﻲ ﺑﺎ ﭘﺲ ﺧﻮﺭ ﻭﺍﺣﺪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬
‫)‪4 ( s + 1‬‬
‫‪nt‬‬

‫= )‪M (s‬‬
‫‪s + 2s 2 + 4s + 4‬‬
‫‪3‬‬
‫‪co‬‬

‫‪æ‬‬ ‫‪t2 ö‬‬

‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﺩﺍﺋﻤﻲ )ﻣﺎﻧﺪﮔﺎﺭﻱ( ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺭﻭﺩﻱ ) ‪ r ( t ) = ç 3 - t + ÷ u ( t‬ﺑﺮﺍﺑﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟ )ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ‪(۷۷‬‬
‫‪ç‬‬ ‫‪4 ÷ø‬‬
‫‪è‬‬
‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬
‫‪(۴‬‬ ‫‪(۳‬‬ ‫‪(۲‬‬ ‫‪ (۱‬ﺻﻔﺮ‬
‫‪8‬‬ ‫‪4‬‬ ‫‪2‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﺭﻭﺵ ﺍﻭﻝ ـ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻭﺍﺣﺪ ﺑﻮﺩﻥِ ﻓﻴﺪﺑﮏ‪ ،‬ﺗﻌﺎﺭﻳﻒ ﺍﻭﻝ ﻭ ﺩﻭﻡ ﺧﻄﺎ ﻣﻌﺎﺩﻟﻨﺪ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻳﻦ ﺗﻌﺮﻳﻒ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫) ) ‪ess = lim s X ( s ) (1 - M ( s‬‬

‫‪s ®0‬‬
‫ﺧﻄﺎ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ‪٢٧‬‬

‫‪é3 1‬‬ ‫‪2 ùé‬‬ ‫)‪4 ( s + 1‬‬ ‫‪ù 1‬‬

‫‪ess = lim s ê - +‬‬ ‫‪ú‬‬ ‫‪ê‬‬‫‪1-‬‬ ‫=‪ú‬‬
‫‪s ®0 ë s s 2 4s3 û ë‬‬ ‫‪s3 + 2s 2 + 4s + 4 û 4‬‬

‫‪ E‬ﻧﮑﺘﻪ ﻣﻬﻢ ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪِ ﻣﻨﻔﻲ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ـ ﺑﺎﺯ‪ ،‬ﺑﻪ ﺳﺎﺩﮔﻲ ﺍﺯ ﺭﻭﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ـ ﺑﺴﺘﻪ ﺑﻪ‬

‫ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﮐﺎﻓﻴﺴﺖ ﺍﺯ ﺗﻔﺎﺿﻞ ﺩﺭ ﻣﺨﺮﺝ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪.‬‬

‫)‪C (s‬‬ ‫)‪G (s‬‬ ‫) ‪G (s‬‬ ‫‪T‬‬ ‫ﺻﻮﺭﺕِ‬

‫= )‪T (s‬‬ ‫=‬ ‫‪Þ‬‬ ‫=‪G‬‬ ‫=‬

‫‪.ir‬‬
‫) ‪R (s ) 1 + G (s‬‬ ‫) ‪1 + G (s ) - G (s‬‬ ‫‪T‬‬ ‫ﺻﻮﺭﺕِ‪ – T‬ﻣﺨﺮﺝِ‬

‫ﺭﻭﺵ ﺩﻭﻡ ـ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﮑﺘﻪ ﮔﻔﺘﻪ ﺷﺪﻩ ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ـ ﺑﺎﺯِ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻋﺒﺎﺭﺗﺴﺖ ﺍﺯ‪:‬‬

‫‪rs‬‬
‫)‪4 ( s + 1‬‬ ‫)‪4 ( s + 1‬‬ ‫)‪4 ( s + 1‬‬
‫= )‪G (s‬‬ ‫=‬ ‫=‬
‫)‪(s3 + 2s2 + 4s + 4) - 4 (s + 1‬‬ ‫‪s3 + 2s 2‬‬ ‫) ‪s2 ( s + 2‬‬

‫‪ee‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺿﺎﺑﻄﺔ ) ‪ ، G ( s‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺗﻴﭗ ‪ 2‬ﺍﺳﺖ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺧﻄﺎﻱ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﻫﺎﻱ ) ‪ 2u ( t‬ﻭ ) ‪ - tu ( t‬ﺻﻔﺮ ﺍﺳﺖ‪ .‬ﺩﺭ ﻣﻮﺭﺩ‬
‫‪in‬‬
‫‪32‬‬
‫ﻧﻴﺰ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬ ‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐِ ) ‪u ( t‬‬
‫‪4‬‬
‫‪ng‬‬

‫‪2‬‬ ‫‪2‬‬ ‫‪2‬‬ ‫‪1‬‬

‫‪ess 2‬‬ ‫=‬ ‫=‬ ‫=‬ ‫‪= 1 Þ ess t 2‬‬ ‫=‬
‫‪t u ( t ) K a lim s G ( s ) 4.2‬‬
‫‪2‬‬
‫‪u (t) 4‬‬
‫‪s ®0‬‬ ‫‪4‬‬
‫‪le‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫)‪P (s‬‬
‫= ) ‪ T ( s‬ﻣﺸﺨﺺ ﺷﺪﻩ ﺑﻮﺩ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺎ‬ ‫ﻧﮑﺘﻪ ‪ :‬ﭼﻨﻨﭽﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔ ﺑﺴﺘﺔ ﺳﻴﺴﺘﻤﻲ ﺩﻟﺨﻮﺍﻩ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ‬ ‫‪E‬‬
‫)‪Q (s‬‬
‫‪nt‬‬

‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻳﮏ ﺳﻴﺴﺘﻢ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﺪﻟﺴﺎﺯﻱ ﮐﻨﻴﻢ‪:‬‬

‫‪co‬‬
 ‫‪ ٢٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻟﻲ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪ .‬ﮐﺪﺍﻡ ﮔﺰﻳﻨﻪ ﺻﺤﻴﺢ ﻣﻲﺑﺎﺷﺪ؟‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۷۵‬‬
‫‪C ( s ) b0 s m +b1s m -1 +  + b m -1 s +b m‬‬
‫=‬ ‫‪m<n‬‬
‫)‪R (s‬‬ ‫‪s n + a1s n -1 +  + a n -1s + a n‬‬

‫‪(۱‬ﺍﮔﺮ ‪ a n = b m‬ﻭ ‪ a n -1 = b m -1‬ﺑﺎﺷﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺻﻔﺮ ﺍﺳﺖ‪.‬‬

‫‪ (۲‬ﺍﮔﺮ ‪ a n ¹ b m‬ﻭ ‪ a n -1 ¹ b m -1‬ﺑﺎﺷﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺻﻔﺮ ﺍﺳﺖ‪.‬‬

‫‪.ir‬‬
‫‪ (۳‬ﺍﮔﺮ ‪ a n = b m‬ﻭ ‪ a n -1 ¹ b m -1‬ﺑﺎﺷﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺻﻔﺮ ﺍﺳﺖ‪.‬‬

‫‪ (۴‬ﺍﮔﺮ ‪ a n ¹ b m‬ﻭ ‪ a n -1 = b m -1‬ﺑﺎﺷﺪ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﺻﻔﺮ ﺍﺳﺖ‪.‬‬

‫‪rs‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﭼﻮﻥ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﺍﺳﺖ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﺳﺎﺩﮔﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﻔﺎﺿﻞ ﺩﺭ ﻣﺨﺮﺝ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪‬‬

‫= )‪G (s‬‬
‫‪b0s m + b1s m -1 +  + b m -1s + b m‬‬

‫‪ee‬‬
‫‪s n + a1s n -1 +  + a n -1s + a n - b0s m - b1s m -1 -  - b m -1s - b m‬‬
‫‪, m<n‬‬
‫‪in‬‬
‫ﺍﻣﺎ ﺗﺮﺟﻤﺔ ﮔﺰﻳﻨﻪﻫﺎ‪ :‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﭼﻪ ﺯﻣﺎﻧﻲ ﺻﻔﺮ ﻣﻲﺷﻮﺩ؟ ﭘﺎﺳﺦ ﺑﺴﻴﺎﺭ ﺳﺎﺩﻩ ﺍﺳﺖ‪ :‬ﺯﻣﺎﻧﻲ ﮐﻪ ﺳﻴﺴﺘﻢ ﺗﻴﭗ ‪٢‬‬

‫ﺑﺎﺷﺪ ﻭ ﺍﻳﻦ ﺍﺗﻔﺎﻕ ﺯﻣﺎﻧﻲ ﺭﺥ ﻣﻲﺩﻫﺪ ﮐﻪ ﺩﺭ ﻣﺨﺮﺝ ) ‪ ، G ( s‬ﺑﺘﻮﺍﻧﻴﻢ ﺍﺯﻳﮏ ‪ s 2‬ﻓﺎﮐﺘﻮﺭ ﺑﮕﻴﺮﻳﻢ‪ ،‬ﻭﺍﺿﺢ ﺍﺳﺖ ﮐﻪ ﺍﻳﻦ ﺍﺗﻔﺎﻕ ﺯﻣﺎﻧﻲ ﺭﺥ ﻣﻲﺩﻫﺪ‬
‫‪ng‬‬

‫ﮐﻪ‪:‬‬
‫‪le‬‬

‫‪a m = b m And‬‬ ‫‪a n -1 = b m -1‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﻗﻀﻴﺔ ﻣﻘﺪﺍﺭ ﻧﻬﺎﻳﻲ ﺩﺭ ﻣﻮﺭﺩ ﺗﻮﺍﺑﻌﻲ ﮐﻪ ﺣﺪ ﻳﮑﺘﺎ ﻧﺪﺍﺭﻧﺪ )ﻧﻈﻴﺮ ﺗﻮﺍﺑﻊ ﻣﺘﻨﺎﻭﺏ(‪ ،‬ﻧﺒﺎﻳﺪ ﺑﻪ ﮐﺎﺭ ﺑﺮﺩ‪.‬‬
‫‪nt‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢ ﻓﻴﺪﺑﮏ ﺯﻳﺮ ﺑﻪ ﺍﺯﺍﺀ ﭼﻪ ﻣﻘﺪﺍﺭ ‪، K‬ﺳﻴﺴﺘﻢ ﺑﺴﺘﻪ ﺩﺭ ﭘﺎﺳﺦ ﺑﻪ ﻭﺭﻭﺩﻱ ) ‪ sin ( t‬ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭﻱ ﺩﺍﺭﺍﻱ ﺩﺍﻣﻨﻪ‬
‫)ﻣﻬﻨﺪﺳﻲ ﻫﺴﺘﻪﺍﻱ ‪(۷۴‬‬ ‫‪ 0.5‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ؟‬
‫‪co‬‬

‫‪25‬‬ ‫‪5‬‬ ‫‪5‬‬

‫‪(۴‬‬ ‫‪5 (۳‬‬ ‫‪(۲‬‬ ‫‪(۱‬‬
‫‪9‬‬ ‫‪3‬‬ ‫‪3‬‬
‫ﺧﻄﺎ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ‪٢٩‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪1‬‬ ‫)‪C (s‬‬
‫´ ‪ Css = lim s‬ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﻣﻘﺪﺍﺭ ﻣﺎﻧﺪﮔﺎﺭ ‪ Css‬ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪ .‬ﺑﺎ ﺍﻳﻦ‬ ‫´‬ ‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﮑﺘﻪ ﻓﻮﻕ‪ ،‬ﺣﻖ ﻧﺪﺍﺭﻳﻢ ﺍﺯ ﺭﺍﺑﻄﻪ‬
‫‪s ®0‬‬ ‫) ‪s2 + 1 R ( s‬‬

‫ﻭﺟﻮﺩ ﺍﺯ ﺁﻥﺟﺎﻳﻲ ﮐﻪ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﻨﻮﺳﻲ ﺑﻪ ﺟﺎﻱ ‪ j w ,s‬ﻗﺮﺍﺭ ﺩﻫﻴﻢ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪C‬‬ ‫‪K‬‬
‫=‬ ‫‪Þ‬‬
‫‪R 2s + 1 + K‬‬

‫‪K‬‬ ‫‪K‬‬ ‫‪5‬‬

‫‪.ir‬‬
‫´‪Css = 1‬‬ ‫=‬ ‫= ‪= 0.5 Þ K‬‬
‫‪2 j +1+ K‬‬ ‫) ‪4 + (1 + K‬‬
‫‪2‬‬ ‫‪3‬‬

‫‪rs‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺍﮔﺮ ﺧﻄﺎﻱ ﻟﺤﻈﻪﺍﻱِ ﺳﻴﺴﺘﻤﻲ ﺑﻪ ﻭﺭﻭﺩﻱ ) ‪ x ( t‬ﺭﺍ ﺑﺎ ) ‪ e ( t‬ﻧﻤﺎﻳﺶ ﺩﻫﻴﻢ‪ ،‬ﺁﻧﮕﺎﻩ ﺳﻄﺢ ﺯﻳﺮ ﻣﻨﺤﻨﻲ ) ‪ e ( t‬ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﺑﺎ ‪:‬‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬

‫‪ì‬‬ ‫‪¥‬‬
‫‪ò‬‬
‫‪1‬‬
‫) ( ‪ï‬‬
‫‪x‬‬ ‫‪t‬‬ ‫=‬ ‫‪u‬‬ ‫)(‬‫‪t‬‬ ‫‪Þ‬‬ ‫= ‪e ( t ) dt‬‬ ‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ =‬
‫‪ï‬‬ ‫‪0‬‬ ‫‪Ku‬‬
‫‪í‬‬ ‫‪¥‬‬
‫‪le‬‬

‫‪ò‬‬
‫‪ï‬‬ ‫‪1‬‬
‫‪ï‬‬ ‫‪x‬‬ ‫(‬ ‫‪t‬‬ ‫)‬ ‫=‬ ‫‪r‬‬ ‫(‬ ‫‪t‬‬ ‫)‬ ‫‪Þ‬‬ ‫= ‪e ( t ) dt‬‬ ‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺳﻬﻤﻲ =‬
‫‪î‬‬ ‫‪0‬‬ ‫‪K‬‬ ‫‪a‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﭘﺎﻳﺪﺍﺭﻱ‬
‫‪in‬‬
‫ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ‪ :‬ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎ ﺑﻪ ﺭﻭﺵﻫﺎﻱ ﻣﺨﺘﻠﻔﻲ ﻣﻲﺗﻮﺍﻧﺪ ﺍﻧﺠﺎﻡ ﺑﮕﻴﺮﺩ‪ .‬ﺑﺮﺧﻲ ﺍﺯ ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﺑﺮ ﻣﺒﻨﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ‬

‫ﺑﺴﺘﻪ‪ ،‬ﻭ ﺑﺮﺧﻲ ﺩﻳﮕﺮ ﺑﺮ ﻣﺒﻨﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﻋﻤﻞ ﻣﻲﮐﻨﻨﺪ‪:‬‬
‫‪ng‬‬

‫‪١‬ـ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ‪ :‬ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ‬

‫‪٢‬ـ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ‪ :‬ﻣﻌﻴﺎﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‬

‫‪le‬‬

‫ﺍﻧﻮﺍﻉ ﭘﺎﻳﺪﺍﺭﻱ‪ :‬ﺍﺯ ﻳﮏ ﺩﻳﺪﮔﺎﻩ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﺩﻭ ﻧﻮ ِﻉ ﻧﺴﺒﻲ ﻭ ﻣﻄﻠﻖ ﺗﻘﺴﻴﻢ ﺷﻮﺩ‪:‬‬
‫‪ro‬‬

‫‪١‬ـ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﻲ‪ :‬ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﻧﺴﺒﺖ ﺑﻪ ﺳﻴﺴﺘﻢ ﺩﻳﮕﺮ‬

‫‪nt‬‬

‫‪٢‬ـ ﭘﺎﻳﺪﺍﺭﻱ ﻣﻄﻠﻖ‪ :‬ﺍﻳﻦ ﮐﻪ ﺳﻴﺴﺘﻢ ﺻﺮﻓﻨﻈﺮ ﺍﺯ ﻭﺭﻭﺩﻱِ ﺗﺤﻤﻴﻞ ﺷﺪﻩ‪ ،‬ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ ﻳﺎ ﻧﻪ‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﭘﺎﻳﺪﺍﺭﻱ )ﻣﻄﻠﻖ( ﺑﻪ ﺫﺍﺕ ﺳﻴﺴﺘﻢ ﺑﺴﺘﮕﻲ ﺩﺍﺷﺘﻪ ﻭ ﺗﺎﺑﻊ ﻭﺭﻭﺩﻱ ﻧﻴﺴﺖ‪.‬‬
‫‪co‬‬

‫ﺍﻧﻮﺍﻉ ﭘﺎﻳﺪﺍﺭﻱ‪ :‬ﺍﺯ ﺩﻳﺪﮔﺎﻫﻲ ﺩﻳﮕﺮ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﻣﻲﺗﻮﺍﻧﺪ ﻧﺴﺒﺖ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﻳﺎ ﻧﺴﺒﺖ ﺑﻪ ﻭﺭﻭﺩﻱ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺑﮕﻴﺮﺩ‪.‬‬

‫‪۱‬ـ ﺍﻧﻮﺍﻉ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﺖ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ )ﭘﺎﻳﺪﺍﺭﻱ ﻟﻴﺎﭘﺎﻧﻮﻑ(‬

‫ﺍﻟﻒ( ﭘﺎﻳﺪﺍﺭﻱ ﻣﺠﺎﻧﺒﻲ‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻤﺖ ﭼﭗ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ ﻭ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪lim h ( t ) = 0‬‬
‫‪t ®¥‬‬
‫ﭘﺎﻳﺪﺍﺭﻱ ‪٣١‬‬

‫ﺏ( ﭘﺎﻳﺪﺍﺭﻱ ﻣﺮﺯﻱ )ﻧﻮﺳﺎﻧﻲ(‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺍﺭﺍﻱ ﻗﻄﺐﻫﺎﻱ ﺳﺎﺩﻩ )ﻣﺮﺗﺒﻪ ﺍﻭﻝ( ﺭﻭﻱ ﻣﺤﻮﺭ ‪ jw‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺳﺎﻳﺮ‬

‫ﻗﻄﺐﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ،‬ﺳﻤﺖ ﭼﭗ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ ﻭ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪0 < lim h ( t ) < ¥‬‬

‫‪t ®¥‬‬

‫ﺝ( ﻧﺎﭘﺎﻳﺪﺍﺭ‪ :‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﺩﺭ ﻃﺮﻑ ﺭﺍﺳﺖ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ‪ ،‬ﻭ ﻳﺎ ﺩﺭ ﺣﺎﻟﺘﻲ ﺩﻳﮕﺮ‪ ،‬ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ‬

‫ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﻗﻄﺐﻫﺎﻱ ﻣﮑﺮﺭ ﺑﺮ ﺭﻭﻱ ﻣﺤﻮﺭ ‪ jw‬ﻇﺎﻫﺮ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﺩﺍﺭﻳﻢ‪:‬‬

‫‪.ir‬‬
‫‪lim h ( t ) ® ¥‬‬
‫‪t ®¥‬‬

‫‪rs‬‬
‫‪۲‬ـ ﺍﻧﻮﺍﻉ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﺖ ﺑﻪ ﻭﺭﻭﺩﻱ‬

‫‪ee‬‬
‫ﺍﻟﻒ( ﭘﺎﻳﺪﺍﺭﻱ ﻣﺠﺎﻧﺒﻲ‬

‫ﺏ( ﭘﺎﻳﺪﺍﺭﻱ ﻣﺮﺯﻱ‬

‫‪in‬‬
‫ﺝ( ﻧﺎﭘﺎﻳﺪﺍﺭﻱ‬
‫‪ng‬‬
‫ﺍﻧﻮﺍﻉ ﺳﻴﺴﺘﻢ‬
‫ﺳﻴﺴﺘﻢ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‪ :‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺗﻤﺎﻡ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎِ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔ ﺑﺴﺘﺔ ﺁﻥ‪ ،‬ﺳﻤﺖ ﭼﭗ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ‪.‬‬
‫‪le‬‬

‫ﺳﻴﺴﺘﻢ ﻏﻴﺮ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‪ :‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺣﺪﺍﻗﻞ ﻳﮏ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺁﻥ‪،‬ﺳﻤﺖ ﺭﺍﺳﺖ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ‪.‬‬
‫‪ro‬‬

‫ﻗﻀﻴﻪ‪ :‬ﺍﮔﺮ ﺗﻤﺎﻣﻲ ﻗﻄﺐﻫﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﺔ ﻳﮏ ﺳﻴﺴﺘﻢ ﺩﺭ ﻃﺮﻑ ﭼﭗ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﺍﻭﻻﹰ ﮐﻠﻴﺔ ﺿﺮﺍﻳﺐ ﻣﻌﺎﺩﻟﺔ‬

‫ﻣﺸﺨﺼﺔ ﺳﻴﺴﺘﻢ ﻣﻮﺟﻮﺩﻧﺪ )ﻣﺨﺎﻟﻒ ﺻﻔﺮﻧﺪ( ﻭ ﺛﺎﻧﻴﺎﹰ ﮐﻠﻴﺔ ﺍﻳﻦ ﺿﺮﺍﻳﺐ ﻫﻢ ﻋﻼﻣﺘﻨﺪ‪:‬‬
‫‪nt‬‬

‫ﮐﻠﻴﺔ ﺭﻳﺸﻪﻫﺎﻱ ) ‪ D ( s‬ﺳﻤﺖ ﭼﭗ‬ ‫‪ì‬‬ ‫‪(۱‬ﺗﻤﺎﻡ ﺿﺮﺍﻳﺐ ) ‪ D ( s‬ﻣﻮﺟﻮﺩﻧﺪ‪.‬‬

‫‪ï‬‬
‫‪Þ í‬‬
‫‪co‬‬

‫ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ‪.‬‬ ‫‪ï‬‬ ‫‪۲‬ـ ﺗﻤﺎﻡ ﺿﺮﺍﻳﺐ ) ‪ D ( s‬ﻫﻢ ﻋﻼﻣﺘﻨﺪ‪.‬‬
‫‪î‬‬

‫ﻧﺘﻴﺠﻪ‪ :‬ﺍﮔﺮ ﺣﺘﻲ ﻳﮑﻲ ﺍﺯ ﺩﻭ ﺷﺮﻁ ﻓﻮﻕ ﺑﺮﻗﺮﺍﺭ ﻧﺒﺎﺷﺪ‪ ،‬ﺍﻧﮕﺎﻩ ﺳﻴﺘﺴﻢ ﺍﻟﺰﺍﻣﺎﹰ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬

‫‪ v‬ﺗﺬﮐﺮ ﻣﻬﻢ‪ :‬ﻗﻀﻴﺔ ﻓﻮﻕ ﻳﮏ ﻗﻀﻴﻪ ﻳﮏ ﻃﺮﻓﻪ ﻣﻲﺑﺎﺷﺪ! ﺑﻪ ﺑﻴﺎﻥ ﺩﻳﮕﺮ‪ ،‬ﻣﻤﮑﻦ ﺍﺳﺖ ﺗﻤﺎﻡ ﺿﺮﺍﻳﺐ ) ‪ D ( s‬ﻣﻮﺟﻮﺩ ﺑﻮﺩﻩ ﻭ ﻫﻢ ﻋﻼﻣﺖ‬

‫ﻫﻢ ﺑﺎﺷﻨﺪ ﺍﻣﺎ ) ‪ D ( s‬ﺭﻳﺸﻪﺍﻱ ﺩﺭ ﻃﺮﻑ ﺭﺍﺳﺖ ﻣﺤﻮﺭ ‪ jw‬ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﻣﻌﻴﺎﺭ ﺭﺍﻭﺙ‪ ،‬ﻣﮑﻤﻞ ﺍﻳﻦ ﻗﻀﻴﻪ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﻣﺤﮏ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ‪ :‬ﻣﻌﻴﺎﺭ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ‪ ،‬ﺭﻭﺷﻲ ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﻣﻮﻗﻌﻴﺖ ﺭﻳﺸﻪﻫﺎﻱ ﻳﮏ ﭼﻨﺪ ﺟﻤﻠﻪﺍﻱ ﺑﺎ ﺿﺮﺍﻳﺐ ﺣﻘﻴﻘﻲ ﻭ ﺛﺎﺑﺖ ﺍﺳﺖ‪،‬‬

‫ﮐﻪ ﺩﺭ ﺁﻥ ﻧﻴﺎﺯﻱ ﺑﻪ ﺣﻞ ﻭ ﻣﺤﺎﺳﺒﺔ ﺩﻗﻴﻖ ﺭﻳﺸﻪﻫﺎﻱ ﭼﻨﺪ ﺟﻤﻠﻪﺍﻱ ﻧﻤﻲﺑﺎﺷﺪ‪.‬‬

 ‫‪ ٣٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪١‬‬
‫ﻣﺮﺍﺣﻞ ﺑﮑﺎﺭﮔﻴﺮﻱ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ ) ‪( RH‬‬
‫‪۱‬ـ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ) ‪D ( s‬‬

‫‪D ( s ) = a 0 s n + a1s n -1 + a 3s n - 2 +  + a n -1s + a n = 0‬‬ ‫)‪( a n ¹ 0‬‬

‫‪۲‬ـ ﺗﺸﮑﻴﻞ ﺟﺪﻭﻝ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ‬

‫‪sn‬‬ ‫‪a0‬‬ ‫‪a2‬‬ ‫‪a4 ‬‬

‫‪s n -1‬‬ ‫‪a1‬‬ ‫‪a3‬‬ ‫‪a5 ‬‬

‫‪.ir‬‬
‫‪a1a 2 - a 0a 3‬‬ ‫‪a 3a 4 - a 2a 5‬‬
‫‪sn - 2‬‬ ‫‪‬‬
‫‪a1‬‬ ‫‪a3‬‬

‫‪rs‬‬
‫‪‬‬ ‫‪‬‬ ‫‪‬‬
‫‪s2‬‬ ‫‪a1‬‬ ‫‪a2‬‬

‫‪ee‬‬
‫‪s1‬‬ ‫‪a3‬‬
‫‪s0‬‬ ‫‪a2‬‬
‫‪in‬‬
‫‪ E‬ﻗﻮﺍﻋﺪ ‪:‬‬

‫‪(۱‬ﺗﻌﺪﺍﺩ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖﻫﺎﻱ ﺳﺘﻮﻥ ﺍﻭﻝ‪،٢‬ﺑﺎ ﺗﻌﺪﺍﺩ ﺭﻳﺸﻪﻫﺎﻱ ﻭﺍﻗﻊ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﺭﺍﺳﺖ ﺻﻔﺤﺔ ‪ s‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ‪.‬‬
‫‪ng‬‬

‫‪ (۲‬ﺑﺮﺍﻱ ) ‪ D ( s‬ﻫﺎﻱ ﺑﺎ ﺿﺮﺍﻳﺐ ﻏﻴﺮ ﺣﻘﻴﻘﻲ )ﻣﺜﻞ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﮐﻪ ﺗﺄﺧﻴﺮ ﺯﻣﺎﻧﻲ ﺩﺍﺭﻧﺪ( ﻣﻌﻴﺎﺭ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺑﻪ ﮐﺎﺭ ﺑﺮﻭﺩ‪.‬‬

‫‪ (۳‬ﻣﻌﻴﺎﺭ ‪ RH‬ﺩﺭ ﻣﻮﺭﺩ ﻓﺎﺻﻠﺔ ﺭﻳﺸﻪﻫﺎ ﺗﺎ ﻣﺒﺪﺍﺀ )ﺩﺭﺟﺔ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ( ﺍﻃﻼﻋﻲ ﺑﻪ ﺩﺳﺖ ﻧﻤﻲﺩﻫﺪ‪.‬‬
‫‪le‬‬

‫ﺣﺎﻻﺕ ﺧﺎﺹ ﺟﺪﻭﻝ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ‬

‫‪ro‬‬

‫ﺣﺎﻟﺖ ﺧﺎﺹ ‪۱‬ـ ﻓﻘﻂ ﻳﮏ ﺻﻔﺮ ﺩﺭ ﺳﺘﻮﻥ ﺍﻭﻝ )ﻭ ﻧﻪ ﮐﻞ ﺳﻄﺮ( ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪:‬‬
‫‪nt‬‬

‫‪(۱‬ﺭﻭﺵ ‪ e‬ﮔﻴﺮﻱ‪ :‬ﺗﻌﻴﻴﻦ ﻋﻼﻣﺖ‪ ،‬ﻭﻗﺘﻲ ﮐﻪ ﭘﺎﺭﺍﻣﺘﺮ ‪ K‬ﻫﻢ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ ﺩﺷﻮﺍﺭ ﺍﺳﺖ‪.‬‬

‫‪1‬‬
‫ﺑﻪ ﺟﺎﻱ ‪ : s‬ﻓﻘﻂ ﺗﺮﺗﻴﺐ ﻧﻮﺷﺘﻦ ﺿﺮﺍﻳﺐ ﺑﺮﻋﮑﺲ ﻣﻲﺷﻮﺩ‪.‬‬ ‫‪ (۲‬ﺭﻭﺵ ﺟﺎﮔﺬﺍﺭﻱ‬
‫‪co‬‬

‫‪s‬‬

‫) ‪(s + a‬‬ ‫‪ (۳‬ﺭﻭﺵ ﺿﺮﺏ ﺩﺭ‬

‫ﺣﺎﻟﺖ ﺧﺎﺹ ‪۲‬ـ ﮐﻞ ﺿﺮﺍﻳﺐ ﻳﮏ ﺳﻄﺮ ﺻﻔﺮ ﺑﺎﺷﻨﺪ‪:‬‬

‫‪ (۱‬ﺭﻭﺵ ﺗﺸﮑﻴﻞ ﻣﻌﺎﺩﻟﺔ ﮐﻤﮑﻲ ﻭ ﻣﺸﺘﻖ ﮔﻴﺮﻱ ﺍﺯﺁﻥ‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪1‬‬
‫‪- Routh – Hurwitz‬‬
‫‪ 2‬ـ ﻫﻴﭻ ﺍﻟﺰﺍﻣﻲ ﺑﺮﺍﻱ ﻓﺮﺩ ﺑﻮﺩﻥِ ﺗﻌﺪﺍﺩ ﺍﻳﻦ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖﻫﺎ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ ﻭ ﺗﻌﺪﺍﺩ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖﻫﺎﻱ ﺳﺘﻮﻥ ﺍﻭﻝ‪،‬ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ ﻣﻲﺗﻮﺍﻧﺪ ﻋﺪﺩﻱ ﺯﻭﺝ ﻳﺎ ﻓﺮﺩ ﺑﺎﺷﺪ‪.‬‬
‫ﭘﺎﻳﺪﺍﺭﻱ ‪٣٣‬‬

‫ﻼ ﺻﻔﺮ ﻣﻲﺷﻮﺩ‪:‬‬
‫ﺩﺭ ﺣﺎﻟﺘﻲ ﮐﻪ ﮐﻞ ﻳﮏ ﺳﻄﺮ ﮐﺎﻣ ﹰ‬

‫‪(١‬ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﺔ ﮐﻤﮑﻲ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺭﻳﺸﻪﻫﺎﻱ ) ‪ D ( s‬ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ ﻣﺘﻘﺎﺭﻧﻨﺪ ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ﺭﻳﺸﻪﻫﺎﻱ ﻣﺘﻘﺎﺭﻥِ ) ‪ D ( s‬ﺭﺍ‬

‫ﺧﻮﺍﺳﺘﻴﺪ‪ ،‬ﮐﺎﻓﻴﺴﺖ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﮐﻤﮑﻲ ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪.‬‬

‫‪ (٢‬ﻫﻤﻮﺍﺭﻩ ﺳﻄﺮﻱ ﻣﻲﺗﻮﺍﻧﺪ ﺑﻪ ﻃﻮﺭ ﮐﺎﻣﻞ ﺻﻔﺮ ﺷﻮﺩ ﮐﻪ ﺩﺍﺭﺍﻱ ﺍﻧﺪﻳﺲ ﻓﺮﺩ ﺑﺎﺷﺪ )ﺳﻄﺮ ﺻﻔﺮ = ﺳﻄﺮ ﻓﺮﺩ(‬

‫‪ (٣‬ﺗﻌﺪﺍﺩ ﺭﻳﺸﻪﻫﺎﻱ ﻣﺘﻘﺎﺭﻥ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ‪ ،‬ﻳﮏ ﻭﺍﺣﺪ ﺑﻴﺸﺘﺮ ﺍﺯ ﺍﻧﺪﻳﺲ ﺳﻄﺮِ ﺻﻔﺮ ﺷﺪﻩ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫)‪ + 1‬ﺷﻤﺎﺭﻩ ﺳﻄﺮ ﺻﻔﺮ ﺷﺪﻩ = ﺗﻌﺪﺍﺩ ﺭﻳﺸﻪﻫﺎﻱ ﻣﺘﻘﺎﺭﻥ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ(‬

‫‪.ir‬‬
‫‪(۴‬ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻀﺮﺑﻲ ﺍﺯ ﻣﻌﺎﺩﻟﺔ ﮐﻤﮑﻲ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪rs‬‬
‫) ) ‪ ´ F ( s‬ﻣﻌﺎﺩﻟﺔ ﮐﻤﮑﻲ = ) ‪( D ( s‬‬

‫‪ (٥‬ﺗﻌﺪﺍﺩ ﺭﻳﺸﻪﻫﺎﻱ ﻏﻴﺮﻣﺘﻘﺎﺭﻥِ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ )ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ( ‪ ،‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ﺗﻌﺪﺍﺩ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖﻫﺎﻱ ﭘﻴﺶ ﺍﺯ ﺳﻄﺮﻱ ﮐﻪ ﺻﻔﺮ ﺷﺪﻩ ﺍﺳﺖ‬

‫‪ee‬‬
‫)ﺗﻌﺪﺍﺩ ﺭﻳﺸﻪﻫﺎﻱ ﻏﻴﺮﻣﺘﻘﺎﺭﻥ = ﺗﻌﺪﺍﺩ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖﻫﺎﻱ ﭘﻴﺶ ﺍﺯ ﺳﻄﺮِ ﺻﻔﺮ(‪.‬‬

‫‪ (٦‬ﺩﺭ ﺣﺎﻟﺘﻲ ﮐﻪ ﻓﻘﻂ ﻳﮏ ﺻﻔﺮ ﺩﺭ ﺳﺘﻮﻥ ﺍﻭﻝ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﻧﻤﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ »ﻣﻌﺎﺩﻟﺔ ﮐﻤﮑﻲ« ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪.‬‬
‫‪in‬‬
‫‪ (٧‬ﺍﮔﺮ ﻋﻨﺼﺮ ﺍﻭﻝ ﻳﮏ ﺳﻄﺮ ﺻﻔﺮ ﺑﺎﺷﺪ ﻭ ﻋﻨﺼﺮ ﺩﻳﮕﺮﻱ ﻫﻢ ﻭﺟﻮﺩ ﻧﺪﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ ،‬ﺣﺎﻟﺖ ﺧﺎﺹ ‪ 2‬ﺭﺥ ﺩﺍﺩﻩ ﺍﺳﺖ )ﻭ ﻧﻪ ﺣﺎﻟﺖ ﺧﺎﺹِ ‪. (! 1‬‬
‫‪ng‬‬
‫ﻣﺜﺎﻝ ‪s3 + 2s 2 + s + 2 :‬‬

‫ﺑﺮﺭﺳﻲ ﺣﺎﻻﺕ ﻣﺨﺘﻠﻒ ﻣﮑﺎﻥ ‪ ۴‬ﺭﻳﺸﻪ ﻣﺘﻘﺎﺭﻥ‬

‫‪le‬‬

‫‪(۱‬ﺳﻄﺮ ‪ s3‬ﮐﺎﻣ ﹰ‬
‫ﻼ ﺻﻔﺮ ﺷﺪﻩ ﻭ ﺩﻭ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ ﻧﻴﺰ ﺭﺥ ﺩﺍﺩﻩ ﺍﺳﺖ‪) .‬ﻧﺎﭘﺎﻳﺪﺍﺭ(‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪ (۲‬ﺳﻄﺮ ‪ s3‬ﺻﻔﺮ ﺷﺪﻩ ﻭ ﻳﮏ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ ﺑﻌﺪ ﺍﺯ ﺳﻄﺮ ‪ s3‬ﺭﺥ ﺩﺍﺩﻩ ﺍﺳﺖ‪) .‬ﻧﺎﭘﺎﻳﺪﺍﺭ(‬

‫‪ : s 4 + 1 = 0‬ﻣﺜﺎﻝ‬
 ‫‪ ٣٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ (٣‬ﺳﻄﺮﻫﺎﻱ ‪ s3‬ﺻﻔﺮ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺪﻭﻥ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ‪) .‬ﭘﺎﻳﺪﺍﺭﻱ ﻣﺮﺯﻱ(‬

‫‪ : s 4 + 5s 2 + 4‬ﻣﺜﺎﻝ‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ (٤‬ﺳﻄﺮﻫﺎﻱ ‪ s3‬ﻭ ‪ s1‬ﺻﻔﺮ ﺷﺪﻩﺍﻧﺪ‪ .‬ﺑﺪﻭﻥ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ )ﻧﺎﭘﺎﻳﺪﺍﺭ(‪.‬‬

‫(‬ ‫)‬
‫‪2‬‬
‫‪ : s 2 + 1‬ﻣﺜﺎﻝ‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬

‫‪ (٥‬ﺳﻄﺮﻫﺎﻱ ‪ s3‬ﻭ ‪ s1‬ﺻﻔﺮﺷﺪﻩﺍﻧﺪ‪ .‬ﺩﻭ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ )ﻧﺎﭘﺎﻳﺪﺍﺭ(‪.‬‬

‫‪le‬‬

‫‪ : s 4 - 2s 2 + 1‬ﻣﺜﺎﻝ‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫ﭘﺎﻳﺪﺍﺭﻱ ﻣﻄﻠﻖ ﻭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﻲ‬

‫ﺩﺭ ﺑﺤﺚ »ﭘﺎﻳﺪﺍﺭﻱ ﻣﻄﻠﻖ« ﭘﺎﻳﺪﺍﺭﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭ ‪ ( d = 0 ) j w‬ﻣﻲﺳﻨﺠﻴﻢ‪ ،‬ﺍﻣﺎ ﻣﻮﺍﺭﺩﻱ ﻧﻴﺰ ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ ﮐﻪ ﺑﺮﺍﻳﻤﺎﻥ ﻣﻄﻠﻮﺏ‬

‫ﺍﺳﺖ ﮐﻪ ﭘﺎﻳﺪﺍﺭﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭﻱ ﺩﻳﮕﺮ ﺑﻪ ﺟﺰ ﻣﺤﻮﺭ ‪) jw‬ﻣﺜﻼﹰ ﻣﺤﻮﺭ ‪ ( d = a‬ﺑﺴﻨﺠﻴﻢ‪ ،‬ﺍﻳﻦ ﭘﺎﻳﺪﺍﺭﻱ ﺍﺻﻄﻼﺣﺎﹰ »ﭘﺎﻳﺪﺍﺭﻱ‬

‫ﻧﺴﺒﻲ« ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪ .‬ﺑﻪ ﻣﻨﻈﻮﺭ ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﻳﮏ ﺳﻴﺴﺘﻢ ﻧﺴﺒﺖ ﺑﻪ ﺧﻂ ‪ ، d = a‬ﮐﺎﻓﻴﺴﺖ ﺩﺭ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ‪ ،‬ﺟﺎﻧﺸﺎﻧﻲِ ‪s ® s + a‬‬

‫ﺭﺍ ﺍﻧﺠﺎﻡ ﺩﺍﺩﻩ ﻭ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﺭﺍﻭﺙ ـ ﻫﻮﺭﻭﻳﺘﺰ ﺭﺍ ﺑﮑﺎﺭ ﺑﺒﺮﻳﻢ‪.‬‬

‫ﭘﺎﻳﺪﺍﺭﻱ ‪٣٥‬‬

‫) ‪24 ( s - 2‬‬
‫= ) ‪ H ( s‬ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﺍﻳﻦ ﺳﻴﺴﺘﻢ‬ ‫ﻣﺜﺎﻝ‪ :‬ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﺩﺍﺭﺍﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‪s + 4s + 11s + 32s3 + 40s 2 + 64s + 48‬‬
‫‪6‬‬ ‫‪5‬‬ ‫‪4‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۶‬‬ ‫ﻫﻤﻮﺍﺭﻩ ……… ﺍﺳﺖ‪.‬‬

‫‪ (۴‬ﻧﺎﭘﺎﻳﺪﺍﺭ‬ ‫‪ (۳‬ﭘﺎﻳﺪﺍﺭ ﻣﺮﺯﻱ‬ ‫‪ (۲‬ﭘﺎﻳﺪﺍﺭ ﻣﺠﺎﻧﺒﻲ‬ ‫‪ (۱‬ﭘﺎﻳﺪﺍﺭ‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪s‬‬ ‫‪1‬‬ ‫‪11‬‬ ‫‪40‬‬ ‫‪48‬‬
‫‪s5‬‬ ‫‪4‬‬ ‫‪32‬‬ ‫‪64‬‬

‫‪.ir‬‬
‫‪1‬‬ ‫‪8‬‬ ‫‪16‬‬ ‫‪d‬‬
‫‪4‬‬ ‫‪4‬‬ ‫‪2‬‬
‫‪s‬‬ ‫‪3‬‬ ‫‪24‬‬ ‫‪48‬‬ ‫®‬ ‫‪ : s + 8s + 16 = 0‬ﻣﻌﺎﺩﻟﻪ ﮐﻤﮑﻲ‬ ‫‪ds‬‬
‫®¾¾‬ ‫‪4s3 + 16s = 0‬‬
‫‪1‬‬ ‫‪8‬‬ ‫‪16‬‬

‫‪rs‬‬
‫‪s3‬‬ ‫‪4‬‬ ‫‪16‬‬
‫‪1‬‬ ‫‪4‬‬ ‫‪d‬‬
‫‪2‬‬
‫‪s‬‬ ‫‪4‬‬ ‫‪16‬‬ ‫®‬ ‫‪2‬‬
‫‪ : s + 4 = 0‬ﻣﻌﺎﺩﻟﻪ ﮐﻤﮑﻲ‬ ‫‪ds‬‬
‫®¾¾‬ ‫‪2s = 0‬‬

‫‪ee‬‬
‫‪1‬‬ ‫‪4‬‬
‫‪s1‬‬ ‫‪2‬‬
‫‪s0‬‬ ‫‪4‬‬
‫‪in‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺻﻔﺮ ﺷﺪﻥِ ﺳﻄﺮ ‪ ، s3‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ‪ 4‬ﻗﻄﺐ ﻣﺘﻘﺎﺭﻥ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﮐﻪ ﺑﻪ ﺩﻟﻴﻞ ﺩﻭ ﺑﺎﺭ ﺻﻔﺮ ﺷﺪﻥِ ﺳﻄﺮﻫﺎﻱ ‪s3 ,s1‬‬
‫‪ng‬‬

‫‪ ،‬ﺍﻳﻦ ﻗﻄﺐﻫﺎ ﻣﮑﺮﺭ ﺍﺯ ﻣﺮﺗﺒﻪ ‪ 2‬ﻣﻲﺷﻮﻧﺪ )ﭘﺮ ﻭﺍﺿﺢ ﺍﺳﺖ ﮐﻪ ﻋﺪﻡ ﺗﻐﻴﻴﺮ ﻋﻼﻣﺖ ﺩﺭ ﺳﺘﻮﻥ ﺍﻭﻝ‪ ،‬ﻣﺎﻧﻊِ ﺭﻓﺘﻦ ﻗﻄﺐﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺑﻪ ﻃﺮﻑ ﺭﺍﺳﺖ‬

‫ﻣﺤﻮﺭ ‪ jw‬ﻣﻲﮔﺮﺩﺩ(‪.‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﺔ ‪) D = a 3s3 + a 2s 2 + a1s +a 0‬ﺑﺎ ﻓﺮﺽ ﻫﻢ ﻋﻼﻣﺖ ﺑﻮﺩﻥ ﮐﻠﻴﺔ ﺿﺮﺍﻳﺐ(‪ ،‬ﺑﻪ ﺷﺮﻃﻲ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ ﮐﻪ ‪:‬‬

‫‪a a 2 > a0 a3‬‬

‫‪1‬‬
‫‪‬‬ ‫‪ ‬‬ ‫‪‬‬ ‫‪‬‬
‫ﺣﺎﺻﻠﻀﺮﺏ‬ ‫ﺣﺎﺻﻠﻀﺮﺏ‬
‫ﻭﺳﻄﻲﻫﺎ‬ ‫ﮐﻨﺎﺭﻱﻫﺎ‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺣﺎﻟﺘﻲ ﮐﻪ ﺗﺴﺎﻭﻱ ‪ a1a 2 = a 0a 3‬ﺭﺥ ﺑﺪﻫﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺑﻪ ﺣﺎﻟﺖ ﻧﻮﺳﺎﻧﻲ )ﻣﺮﺯ ﭘﺎﻳﺪﺍﺭﻱ ﻭ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ( ﻭﺍﺭﺩ ﻣﻲﺷﻮﺩ‪.‬‬
 ‫‪ ٣٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ E‬ﻧﮑﺘﻪ ‪:‬ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﻲ ﻳﮏ ﺳﻴﺴﺘﻢ ﻧﺴﺒﺖ ﺑﻪ ﺧﻂ ‪ d = - d0‬ﻣﻄﻠﻮﺑﺴﺖ‪ ،‬ﺍﺑﺘﺪﺍ ﺩﺭ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ‪ s‬ﺭﺍ ﺑﻪ‬

‫) ‪ ( s - d0‬ﺗﺒﺪﻳﻞ ﻣﻲﮐﻨﻴﻢ ﻭ ﺳﭙﺲ ﻣﻌﻴﺎﺭ ﺭﺍﻭﺙ ﺭﺍ ﺑﻪ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﺔ ﺟﺪﻳﺪ ﺍﻋﻤﺎﻝ ﮐﻨﻴﺪ‪.‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺷﮑﻞ ﺯﻳﺮ ﺑﺮﺍﻱ ﺁﻥ ﮐﻪ ﺗﻤﺎﻡ ﻗﻄﺐﻫﺎﻱ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺩﺭ ﺳﻤﺖ ﭼﭗ ﺧﻂ ‪ s = -1‬ﻗﺮﺍﺭ ﮔﻴﺮﺩ‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۶۷‬‬ ‫ﺣﺪﺍﮐﺜﺮ ﻣﻘﺪﺍﺭ ‪ K‬ﭼﺴﺖ؟‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪288 (۴‬‬ ‫‪120 (۳‬‬ ‫‪15 (۲‬‬ ‫‪48 (۱‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ee‬‬
‫ﺩﺭ ﺣﻘﻴﻘﺖ ﺩﺭ ﺍﻳﻦ ﺳﺌﻮﺍﻝ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﻧﺴﺒﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﻧﺴﺒﺖ ﺑﻪ ﺧﻂ ‪ d = -1‬ﻣﻮﺭﺩ ﺳﺌﻮﺍﻝ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺺﹰ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺍﺳﺖ‬

‫ﺑﺎ ‪:‬‬
‫‪in‬‬
‫‪s ®s -1‬‬ ‫‪3‬‬ ‫‪2‬‬
‫¾¾¾¾ ‪D ( s ) - s3 + 6s 2 + 20s + K‬‬
‫‪® D¢ = ( s - 1) + 6 ( s - 1) + 20 ( s - 1) + K‬‬
‫‪ng‬‬
‫‪= s3 + 3s 2 + 11s + K - 15‬‬

‫ﺣﺎﻝ ﮐﺎﻓﻴﺴﺖ ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ ﺭﺍ ﺑﺮﺍﻱ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ﺟﺪﻳﺪ ) ‪ ( D¢‬ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬
‫‪le‬‬

‫‪s3‬‬ ‫‪1‬‬ ‫‪11‬‬

‫‪s2‬‬ ‫‪3‬‬ ‫‪K - 15‬‬
‫‪ro‬‬

‫‪33 - K + 15‬‬
‫‪s1‬‬ ‫‪Þ K < 48ü‬‬
‫‪3‬‬ ‫‪ý ® 15 < K < 48‬‬
‫‪s0‬‬ ‫‪Þ K > 15 þ‬‬
‫‪nt‬‬

‫‪K - 15‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺟﺪﻳﺪ‪ 15 < K < 48 ،‬ﺍﺳﺖ‪ ،‬ﮐﻪ ﻣﺎﮐﺰﻳﻤﻢ ﻣﻘﺪﺍﺭ ﺁﻥ ‪ K = 48‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪co‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۸‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﺣﺪﻭﺩ ‪ p‬ﻣﺘﻨﺎﻇﺮ ﻳﮏ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬
‫‪p > 0 (۱‬‬

‫‪p > -1 (۲‬‬

‫‪-3 < p < -1 ( ۳‬‬

‫‪-3 < p < 1 ( ۴‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﭘﺎﻳﺪﺍﺭﻱ ‪٣٧‬‬

‫ﺍﺑﺘﺪﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻣﻴﺴﻮﻥ‪،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲﻳﺎﺑﻴﻢ‪:‬‬

‫‪1‬‬
‫‪C‬‬
‫=‬
‫) ‪( s + 1)( s + p‬‬ ‫=‬
‫‪1‬‬
‫‪R‬‬ ‫‪é -1‬‬ ‫‪1‬‬ ‫) ‪1 ù s + ( s + p ) + ( 2p + 2‬‬
‫‪2‬‬
‫‪1- ê‬‬ ‫‪-‬‬ ‫‪-‬‬ ‫‪ú‬‬
‫‪ë s + 1 ( s + 1)( s + p ) s + p û‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﺔ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺍﺯ ﻣﺮﺗﺒﺔ ﺩﻭﻡ ﺍﺳﺖ‪ ،‬ﺣﺘﻲ ﺑﺪﻭﻥ ﻧﻴﺎﺯ ﺑﻪ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺁﺭﺍﻳﺔ ﺭﺍﻭﺙ ﻭ ﺑﻪ ﺻﻮﺭﺕ ﻣﺴﺘﻘﻴﻢ ﻧﻴﺰ‬

‫ﻣﻲﺗﻮﺍﻧﻴﻢ ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ ﺁﻥ ﺭﺍ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪.ir‬‬
‫‪ì 3 + p > 0 ® p > -3 ü‬‬
‫‪ : í‬ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ‬ ‫‪ý ® p > -1‬‬
‫‪î2P + 2 > 0 ® p > -1þ‬‬

‫‪rs‬‬
‫ﻣﺜﺎﻝ‪ :‬ﺁﺭﺍﻳﻪ ﺭﺍﻭﺙ )‪ (Routh‬ﺯﻳﺮ ﺭ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪:‬‬

‫‪ee‬‬
‫‪s7‬‬ ‫‪a‬‬ ‫‪b‬‬ ‫‪c‬‬ ‫‪d‬‬
‫‪s6‬‬ ‫‪e‬‬ ‫‪f‬‬ ‫‪g‬‬ ‫‪h‬‬
‫‪s5‬‬
‫‪in‬‬
‫‪i‬‬ ‫‪x‬‬ ‫‪x‬‬ ‫‪x‬‬
‫‪s4‬‬ ‫‪l‬‬ ‫‪x‬‬ ‫‪x‬‬
‫‪ng‬‬
‫‪0‬‬
‫‪3‬‬
‫‪s‬‬ ‫‪n‬‬ ‫‪0‬‬ ‫‪0‬‬
‫‪s2‬‬ ‫‪p‬‬ ‫‪x‬‬
‫‪0‬‬
‫‪le‬‬

‫‪s1‬‬ ‫‪q‬‬ ‫‪0‬‬

‫‪s0‬‬ ‫‪h‬‬
‫‪ro‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﻗﺖ ﮐﻨﻴﺪ ﮐﻪ ﺿﺮﺍﻳﺐ ﺳﻄﺮ ‪ s3‬ﻭ ‪ s1‬ﺩﺭ ﺍﺑﺘﺪﺍ ﻫﻤﮕﻲ ﺻﻔﺮ ﺑﻮﺩﻩﺍﻧﺪ‪ .‬ﺩﺭ ﻣﻮﺭﺩ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﮐﺪﺍﻡ ﻋﺒﺎﺭﺕ ﺻﺤﻴﺢ ﺍﺳﺖ؟ )ﻫﻤﻪ‬
‫‪nt‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۸‬‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺟﺪﻭﻝ ﻣﺜﺒﺖ ﻣﻲﺑﺎﺷﻨﺪ‪(.‬‬

‫‪(۱‬ﻧﺎﭘﺎﻳﺪﺍﺭ‬
‫‪co‬‬

‫‪ (۲‬ﭘﺎﻳﺪﺍﺭ‬

‫‪ (۳‬ﭘﺎﻳﺪﺍﺭ ﻣﺮﺯﻱ‬

‫‪ (۴‬ﺑﺪﻭﻥ ﺩﺍﻧﺴﺘﻦ ﻣﻘﺎﺩﻳﺮ ﻋﺪﺩﻱ ﻧﻤﻲﺗﻮﺍﻥ ﺍﻇﻬﺎﺭ ﮐﺮﺩ‪.‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺐ ﻣﮑﺮﺭِ ﻣﺘﻘﺎﺭﻥ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ ﺭﻭﻱ ﻣﺤﻮﺭ ‪ jw‬ﻫﺴﺖ ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺻﻔﺮ ﺷﺪﻥِ ﺩﻭ ﺳﻄﺮ ﺑﻪ ﻃﻮﺭ ﮐﺎﻣﻞ‪ ،‬ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺟﻔﺖ ﻗﻄ ِ‬

‫ﻧﺎﭘﺎﻳﺪﺍﺭ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ )ﺍﻳﻮﺍﻧﺲ(‬
‫‪in‬‬
‫ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﻣﻲﺩﺍﻧﻴﻢ‪ ،‬ﻣﺤﻞ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ،‬ﺗﻌﻴﻴﻦ ﮐﻨﻨﺪﺓ ﻣﺸﺨﺼﺎﺕ ﭘﺎﺳﺦ ﮔﺬﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻫﺴﺘﻨﺪ‪ .‬ﺩﺭ ﺭﻭﺵ ‪ RL‬ﻧﻴﺰ ﺑﻪ ﺩﻧﺒﺎﻝ ﺍﻳﻦ‬

‫ﻫﺴﺘﻴﻢ ﮐﻪ ﺍﺛﺮ ﺗﻐﻴﻴﺮ ﻳﮑﻲ ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱِ ﺳﻴﺴﺘﻢ )ﻣﺜﻼﹰ ﮔﻴﻦ ﺣﻠﻘﻪ ﺑﺎﺯ( ﺭﺍ ﺑﺮ ﻣﺤﻞ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺩﺭ ﺻﻔﺤﺔ ‪ s‬ﺑﺮﺭﺳﻲ ﮐﻨﻴﻢ‪.‬‬
‫‪ng‬‬

‫ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‪ (Rl) ١‬ﺭﻭﺷﻲ ﺍﺳﺖ ﮐﻪ ﺩﺭﺁﻥ‪،‬ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﺯﺍﻱ ﺗﻤﺎﻡ ﻣﻘﺎﺩﻳﺮ ﻳﮏ ﭘﺎﺭﺍﻣﺘﺮ ﺳﻴﺴﺘﻢ )ﻣﻌﻤﻮﻻﹰ‬

‫ﺑﻬﺮﻩ( ﺭﺳﻢ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪le‬‬

‫ﻓﻮﺍﻳﺪ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪RL‬‬

‫‪ro‬‬

‫‪۱‬ـ ﭘﻴﺶﺑﻴﻨﻲ ﺍﺛﺮ ﺗﻐﻴﻴﺮ ﮔﻴﻦ ﺑﺮﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ‬

‫‪۲‬ـ ﭘﻴﺶﺑﻴﻨﻲ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺮ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ‬

‫‪nt‬‬

‫‪۳‬ـ ﭘﻴﺶﺑﻴﻨﻲ ﺍﺛﺮ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ ﺑﺮ ﺭﻓﺘﺎﺭ ﺳﻴﺴﺘﻢ‬

‫‪co‬‬

‫ﻣﺴﻴﺮ ﺭﻳﺸﻪ‪ :‬ﺗﻘﺮﻳﺒﺎﹰ ﻫﻤﺎﻥ ﺭﻭﺵ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﺳﺖ‪ ،‬ﺑﺎ ﺍﻳﻦ ﺗﻔﺎﻭﺕ ﮐﻪ »ﻣﺴﻴﺮ ﺭﻳﺸﻪﻫﺎ« ﻣﻲﺗﻮﺍﻧﺪ ﺗﺄﺛﻴﺮ ﺑﺶ ﺍﺯ ﻳﮏ ﭘﺎﺭﺍﻣﺘﺮ ﺭﺍ ﺑﺮ ﻣﮑﺎﻥ‬

‫ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺗﻌﻴﻴﻦ ﮐﻨﺪ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ﺑﺴﻴﺎﺭ ﻣﻬﻢ ‪ :‬ﺑﺮﺍﻱ ﺭﺳﻢ ‪ ،RL‬ﭘﻴﺶ ﺍﺯ ﻫﺮ ﮐﺎﺭ‪ ،‬ﺍﺑﺘﺪﺍ ﭘﺎﺭﺍﻣﺘﺮِ ﺩﺭ ﺣﺎﻝ ﺗﻐﻴﻴﺮ )ﻣﺜ ﹰ‬
‫ﻼ ‪ (K‬ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ KG‬ﺑﺎﺯﻧﻮﻳﺴﻲ ﮐﻨﻴﺪ! )‪G‬‬

‫ﺕ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ‪ G‬ﺑﺎﺷﺪ‪.‬‬

‫ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ( ﺑﻪ ﺑﻴﺎﻥ ﺩﻳﮕﺮ‪ ،‬ﻫﻨﮕﺎﻡ ﺭﺳﻢِ ‪ K ،RL‬ﺑﺎﻳﺪ ﺣﺘﻤﺎﹰ ﺿﺮﻳﺐِ ﺻﻮﺭ ِ‬

‫‪1‬‬
‫‪- Root Locas‬‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٣٩‬‬

‫‪1 + Ks‬‬
‫= ) ‪ GH ( s‬ﻣﻲﺑﺎﺷﺪ‪.‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺯﻳﺮ‪،‬‬
‫) ‪s 2 ( s + 1)( s + 2‬‬

‫ﺑﺮﺍﻱ ﺑﺎﺯﻧﻮﻳﺴﻲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻪ ﺻﻮﺭﺕ ‪،KG‬ﮐﺎﻓﻴﺴﺖ‪:‬‬

‫‪.ir‬‬
‫‪۱‬ـ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﺔ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﺸﮑﻴﻞ ﺩﻫﻴﺪ‪.‬‬

‫‪۲‬ـ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ D ( s ) = 1 + KGH = 0‬ﺑﺎﺯﻧﻮﻳﺴﻲ ﮐﻨﻴﺪ‪.‬‬

‫‪rs‬‬
‫‪D ( s ) = s ( s + 1)( s + 2 ) + (1 + Ks ) = 0‬‬

‫‪ee‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﭘﺲ ﺍﺯ ﻳﮏ ﻣﺮﺣﻠﻪ ﺳﺎﺩﻩ ﺳﺎﺯﻱ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫‪Ks‬‬
‫‪D ( s ) = s3 + 3s 2 + 2s + Ks + 1 = 0 Þ D ( s ) = 1 +‬‬ ‫‪=0‬‬
‫‪s + 3s 2 + 2s + 1‬‬
‫‪3‬‬
‫‪in‬‬
‫‪ E‬ﻧﮑﺘﻪ ﺑﺴﻴﺎﺭ ﻣﻬﻢ ‪ :‬ﺑﺮ ﺣﺴﺐ )‪ (۱‬ﻋﻼﻣﺖ ﭘﺎﺭﺍﻣﺘﺮِ ‪ K‬ﻭ )‪ (۲‬ﻧﻮﻉ ﻓﻴﺪﺑﮏ‪ ،‬ﭼﻬﺎﺭ ﻧﻮﻉ ‪ RL‬ﻗﺎﺑﻞ ﺭﺳﻢ ﺍﺳﺖ ﮐﻪ ﺩﻭ ﺑﻪ ﺩﻭ ﻣﺸﺎﺑﻬﻨﺪ‪.‬‬
‫‪ng‬‬

‫‪۱‬ـ ﻋﻼﻣﺖ ﭘﺎﺭﺍﻣﺘﺮ ‪، K‬ﺟﻬﺖِ ‪ RL‬ﺭﺍ ﺗﻌﻴﻴﻦ ﻣﻲﮐﻨﺪ ‪:‬‬

‫‪ : K > 0‬ﺣﺮﮐﺖ ﺍﺯ ﻗﻄﺐﻫﺎ‪ ٢‬ﺑﻪ ﺳﻤﺖ ﺻﻔﺮﻫﺎ‪) ٣‬ﺑﺎ ﺗﻐﻴﻴﺮ ‪ K‬ﺍﺯ ﺻﻔﺮ ﺗﺎ ‪( ¥‬‬
‫‪le‬‬

‫‪ : K < 0‬ﺣﺮﮐﺖ ﺍﺯ ﺻﻔﺮﻫﺎ ﺑﻪ ﺳﻤﺖ ﻗﻄﺐﻫﺎ )ﺑﺎ ﺗﻐﻴﻴﺮ ‪ K‬ﺍﺯ ‪ -¥‬ﺗﺎ ﺻﻔﺮ( ‪.‬‬
‫‪ro‬‬

‫‪۲‬ـ )ﻋﻼﻣﺖ ﻣﻘﺎﻳﺴﻪ ﮐﻨﻨﺪﻩ( ´ )ﻋﻼﻣﺖِ ‪ ، (K‬ﺷﺮﻁ ﺯﺍﻭﻳﻪ )ﻳﺎ ﻧﻮﻉ ﻓﻴﺪﺑﮏ( ﺭﺍ ﺗﻌﻴﻴﻦ ﻣﻲﮐﻨﺪ‪:‬‬

‫ﻣﻀﺮﺏ ﻓﺮﺩِ ‪ GH = p‬‬ ‫ﻣﻨﻔﻲ )ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ( ‪:‬‬

‫‪nt‬‬

‫ﻣﻀﺮﺏ ﺯﻭﺝِ ‪ GH = p‬‬ ‫ﻣﺜﺒﺖ )ﻓﻴﺪﺑﮏ ﻣﺜﺒﺖ( ‪:‬‬

‫ﺷﮑﻞﻫﺎﻱ ﺯﻳﺮ ﻫﻤﻴﻦ ﻣﻔﺎﻫﻴﻢ ﺭﺍ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﻨﺪ‪:‬‬

‫‪co‬‬

‫‪2‬‬
‫‪- Poles‬‬
‫‪3‬‬
‫‪- Zeros‬‬
 ‫‪ ٤٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﻣﺠﺪﺩﺍﹰ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﺗﻮﺟﻪ ﻛﻨﻴﺪ ﻛﻪ ﺷﺮﻁ ﺯﺍﻭﻳﻪ‪ ،‬ﺑﻪ ﻫﺮ ﺩﻭ ﻋﺎﻣﻞ ِ‪ :‬ﻋﻼﻣﺖ ‪ K‬ﻭ ﻋﻼﻣﺖ ﻣﻘﺎﻳﺴﻪﻛﻨﻨﺪﻩ ﺑﺴﺘﮕﻲ ﺩﺍﺭﺩ )ﻭ ﻓﻘﻂ ﺗﺎﺑﻊ ﻋﻼﻣﺖ‬

‫ﻣﻘﺎﻳﺴﻪﻛﻨﻨﺪﻩ ﻧﻴﺴﺖ!(‪.‬‬
‫‪in‬‬
‫‪æ‬‬ ‫‪1 ö‬‬
‫= ‪ ، çç K‬ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ‪ K‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺭﻳﺸﻪﺍﻱ ﺧﺎﺹ ﻣﺎﻧﻨﺪ ‪ ، s1‬ﺩﻭ ﺭﻭﺵ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪:‬‬ ‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ ﺩﺭ ‪÷÷ RL‬‬
‫‪è‬‬ ‫‪GH‬‬ ‫‪ø‬‬
‫‪ng‬‬

‫ﻓﺎﺻﻠﻪ ﻗﻄﺐﻫﺎ ﺗﺎ ‪s‬‬

‫‪K= 1‬‬ ‫‪۱‬ـ ﺭﻭﺵ ﺗﺮﺳﻴﻤﻲ ‪:‬‬
‫ﻓﺎﺻﻠﺔ ﺻﻔﺮﻫﺎ ﺗﺎ‪s1‬‬
‫‪le‬‬

‫‪1‬‬
‫=‪K‬‬ ‫‪۲‬ـ ﺭﻭﺵ ﺗﺤﻠﻴﻠﻲ ‪:‬‬
‫‪GH‬‬
‫‪ro‬‬

‫ﻧﮑﺘﻪ ﻣﻬﻢ ‪ :‬ﻫﻨﮕﺎﻡ ﻳﺎﻓﺘﻦ ‪ K‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺭﻳﺸﻪﺍﻱ ﺧﺎﺹ ﻣﺎﻧﻨﺪ ‪ ، s1‬ﭼﻨﺎﻧﭽﻪ ﺳﻴﺴﺘﻢ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻧﺪﺍﺷﺖ‪ ،‬ﺩﺭ ﺭﺍﺑﻄﺔ‬ ‫‪E‬‬
‫‪nt‬‬

‫‪s‬‬
‫ﻓﺎﺻﻠﺔ ﻗﻄﺐﻫﺎ ﺗﺎ‪ K = 1‬ﺑﻪ ﺗﺮﺗﻴﺐ ﻣﺨﺮﺝ ﻳﺎ ﺻﻮﺭﺕ ﺭﺍ ﻳﮏ ﻓﺮﺽ ﮐﻨﻴﺪ‪.‬‬
‫ﻓﺎﺻﻠﺔ ﺻﻔﺮﻫﺎ ﺗﺎ ‪s1‬‬
‫‪co‬‬

‫ﻣﺮﺍﺣﻞ ﺭﺳﻢ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ﺣﺎﻟﺖ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ‬

‫‪RL‬‬ ‫ﭼﻨﺎﻧﭽﻪ ﺣﺎﺻﻠﻀﺮﺏِ ‪) :‬ﻋﻼﻣﺖ ﻣﻘﺎﻳﺴﻪﻛﻨﻨﺪﻩ( ´ )ﻋﻼﻣﺖ ‪ ،(K‬ﻣﻨﻔﻲ ﺑﺎﺷﺪ‪ ،‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ‪ ،‬ﺍﺯ ﻗﻮﺍﻋﺪ ﺯﻳﺮ ﺑﺮﺍﻱ ﺭﺳﻢ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﻛﻨﻴﻢ‪ .‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﺍﺯ ﺣﻞ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﭼﻨﻴﻦ ﺳﻴﺴﺘﻤﻲ‪ ،‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪ì‬‬ ‫‪1‬‬
‫= ‪ï GH‬‬
‫‪D ( s ) = 1 + KGH = 0 Þ í‬‬ ‫‪K‬‬
‫ﻣﻀﺮﺏ ﻓﺮﺩِ ‪ïî GH = p‬‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٤١‬‬

‫‪۱‬ـ ﺗﺸﮑﻴﻞ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺗﺎﺑﻊ ﺣﻠﻘﻪ ﺑﺎﺯ )ﺗﻌﻴﻴﻦ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﻭ ﺟﺪﺍﺳﺎﺯﻱ ﭘﺎﺭﺍﻣﺘﺮ ‪: ( K‬‬

‫= ) ‪GH ( s‬‬
‫) ‪Õ ( s + Zi‬‬
‫) ‪Õ ( s + Pi‬‬

‫‪۲‬ـ ﺭﺳﻢ ‪ Z‬ﻭ ‪P‬ﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﻭ ﺗﻌﻴﻴﻦ ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎﻱ ‪RL‬‬

‫) ‪= max ( m , n‬ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎﻱ ‪RL‬‬

‫‪.ir‬‬
‫ﻧﮑﺘﻪ ‪ :‬ﻓﺮﻣﻮﻝ ﻓﻮﻕ ﺑﺮﺍﻱ ﮐﻠﻴﺔ ﺳﻴﺴﺘﻢﻫﺎ )ﺣﺘﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ( ﻗﺎﺑﻞ ﺑﮑﺎﺭﮔﻴﺮﻱ ﺍﺳﺖ )‪ m‬ﻭ ‪ n‬ﺑﻪ ﺗﺮﺗﻴﺐ ﻣﻌﺮﻑِ ﺩﺭﺟﺔ ﺻﻮﺭﺕ ﻭ‬ ‫‪E‬‬

‫‪rs‬‬
‫ﻣﺨﺮﺝِ ‪ GH‬ﻫﺴﺘﻨﺪ(‪.‬‬

‫‪ee‬‬ ‫‪۳‬ـ ﺗﻌﻴﻴﻦ ‪ RL‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‬

‫‪in‬‬
‫ﻧﻘﻄﺔ ‪ A‬ﺭﻭﻱ ‪ RL‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ ،‬ﺍﮔﺮ ﻭ ﻓﻘﻂ ﺍﮔﺮ ﺗﻌﺪﺍﺩ ﮐﻞ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻘﻴﻘﻲ‪ ٤‬ﺳﻤﺖ ﺭﺍﺳﺖ ﻧﻘﻄﺔ ‪ ،A‬ﺗﻌﺪﺍﺩﻱ ﻓﺮﺩ ﺑﺎﺷﺪ‪.‬‬
‫‪ng‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ RL :‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪ ،‬ﻟﺰﻭﻣﺎﹰ ﺑﻪ ﺻﻮﺭﺕ ﺧﻄﻮﻁ ﻳﮏ ﺩﺭ ﻣﻴﺎﻥ ﻗﺮﺍﺭ ﻧﻤﻲﮔﻴﺮﺩ !‬

‫‪۴‬ـ ﺑﺮﺭﺳﻲ ﻣﺠﺎﻧﺐﻫﺎ‬

‫‪le‬‬

‫‪ = n - m‬ﺗﻌﺪﺍﺩ ﻣﺠﺎﻧﺐﻫﺎ‬
‫‪ro‬‬

‫‪p‬‬
‫= ﺯﺍﻭﻳﺔ ﻣﺠﺎﻧﺐﻫﺎ‬
‫‪n-m‬‬
‫‪nt‬‬

‫= ‪ = d0‬ﻣﺤﻞ ﺗﻘﺎﻃﻊ ﻣﺠﺎﻧﺐﻫﺎ‬

‫) ‪å Re al ( Pi ) - å Re al ( Zi‬‬
‫‪n-m‬‬
‫‪co‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪۱‬ـ ﺍﻣﮑﺎﻥ ﻗﻄﻊ ﺷﺪﻥِ ﻣﺠﺎﻧﺐ ﺗﻮﺳﻂ ‪ RL‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬

‫‪۲‬ـ ﻓﻘﻂ ﺩﺭ ﺣﺎﻟﺖ ﺧﺎﺻﻲ ﮐﻪ ) ‪ ( n - m‬ﻓﺮﺩ ﺑﺎﺷﺪ‪ ،‬ﻳﮑﻲ ﺍﺯ ﻣﺠﺎﻧﺐﻫﺎ‪ p ،‬ﺍﺳﺖ‪.‬‬

‫‪ 4‬ـ ﺩﺭ ﺣﻘﻴﻘﺖ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ‪ Z‬ﻭ ‪P‬ﻫﺎﻱ ﻣﺨﺘﻠﻂ ﻫﻤﺸﻪ ﺩﺭ ﺷﺮﻁ ﺯﺍﻭﻳﻪ ﺻﺎﺩﻗﻨﺪ‪ ،‬ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻣﺨﺘﻠﻂ ﺩﺭ ﺍﻳﻦ ﻣﺮﺣﻠﻪ ﻧﻘﺸﻲ ﺍﻳﻘﺎ ﻧﻤﻲﮐﻨﻨﺪ‪.‬‬
 ‫‪ ٤٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪۵‬ـ ﺑﺮﺭﺳﻲ ﻧﻘﺎﻁ ﺷﮑﺴﺖ‬

‫ﻧﻘﺎﻁ ﺷﮑﺴﺖ‪ ،‬ﻧﻘﺎﻃﻲ ﻫﺴﺘﻨﺪ ﮐﻪ ) ‪ D ( s‬ﺩﺭ ﺁﻥ ﻧﻘﺎﻁ ﺩﺍﺭﺍﻱ ﺭﻳﺸﺔ ﻣﻀﺎﻋﻒ ﻣﻲﺑﺎﺷﺪ )ﻣﺤﻞ ﺗﻘﺎﻃﻊ ﺣﺪﺍﻗﻞ ‪ 2‬ﺷﺎﺧﻪ(‪ .‬ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﻧﻘﺎﻁ‬

‫ﺷﮑﺴﺖ‪ ،‬ﺩﻭ ﺭﻭﺵ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪:‬‬

‫ﺭﻭﺵ ﺍﻭﻝ ـ ﺣﻞ ﻳﮑﻲ ﺍﺯ ﺩﻭ ﻣﻌﺎﺩﻟﻪ ﺯﻳﺮ‪:‬‬

‫‪dK d æ -1 ö‬‬ ‫) ‪dK d ( GH‬‬

‫‪= ç‬‬ ‫‪÷=0‬‬ ‫‪or‬‬ ‫=‬ ‫‪=0‬‬

‫‪.ir‬‬
‫‪ds ds è GH ø‬‬ ‫‪ds‬‬ ‫‪ds‬‬

‫ﺭﻭﺵ ﺩﻭﻡ ـ ﺣﻞ ﻣﻌﺎﺩﻟﺔ ﺯﻳﺮ ‪:‬‬

‫‪rs‬‬
‫‪m‬‬ ‫‪n‬‬
‫‪1‬‬ ‫‪1‬‬
‫‪åb+Z åb+P = 0‬‬
‫‪-‬‬

‫‪ee‬‬
‫‪i =1‬‬ ‫‪i‬‬ ‫‪j=1‬‬ ‫‪j‬‬
‫‪in‬‬
‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬
‫‪ng‬‬

‫‪۱‬ـ ﺍﮔﺮ ﺭﻳﺸﺔ ﺑﻪ ﺩﺳﺖ ﺁﻣﺪﻩ ﺍﺯ ﻣﺸﺘﻖﮔﻴﺮﻱ‪ ،‬ﺭﻳﺸﻪﺍﻱ ﺣﻘﻴﻘﻲ ﺑﺎﺷﺪ‪ ،‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ‪ RL‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﻣﺸﺨﺺ ﺍﺳﺖ )ﻣﺮﺣﻠﻪ ‪،(۳‬‬

‫‪-1‬‬
‫= ‪ K‬ﻧﻴﺴﺖ‪) .‬ﻣﮕﺮ ﺍﻳﻦ ﮐﻪ ﺑﺨﻮﺍﻫﻴﻢ ﻣﻘﺪﺍﺭ ‪ K‬ﺭﺍ ﺑﻴﺎﺑﻴﻢ‪(.‬‬ ‫ﻧﻴﺎﺯﻱ ﺑﻪ ﺟﺎﮔﺬﺍﺭﻱ ‪ s‬ﺩﺭ ﺭﺍﺑﻄﺔ‬
‫‪le‬‬

‫) ‪GH ( s‬‬

‫‪٢‬ـ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﺗﻨﻬﺎ ﺩﺭ ﺻﻮﺭﺗﻲ ﻣﺨﺘﻠﻂ ﺍﺳﺖ ﮐﻪ ‪:‬‬

‫‪ro‬‬

‫ﺍﻟﻒ( ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺣﺪﺍﻗﻞ ﺩﺭﺟﺔ ‪ 4‬ﺑﺎﺷﺪ )ﺯﻳﺮﺍ ﺣﺪﺍﻗﻞ ﺩﻭ ﺟﻔﺖ ﻗﻄﺐ ﻣﺨﺘﻠﻂ ﺑﺎﻳﺪ ﻭﺟﻮﺩ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ(‪.‬‬
‫‪nt‬‬

‫ﺏ( ‪ K‬ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺍﻳﻦ ﻧﻘﻄﺔ ﺷﮑﺴﺖ‪ ،‬ﺣﻘﻴﻘﻲ ﻭ ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪.‬‬

‫‪۳‬ـ ﺑﻴﻦ ﻫﺮ ﺩﻭ ﻗﻄﺐ ﺣﻘﻴﻘﻲ ﺭﻭﻱ ‪ ، RL‬ﺣﺪﺍﻗﻞ ﻳﮏ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﺍﺯ ﻧﻮﻉ ‪ break away‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬
‫‪co‬‬

‫‪٥‬‬
‫‪۴‬ـ ﺑﻴﻦ ﻫﺮ ﺩﻭ ﺻﻔﺮ ﺣﻘﻴﻘﻲ ﺭﻭﻱ ‪ ،RL‬ﺣﺪﺍﻗﻞ ﻳﮏ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﺍﺯ ﻧﻮﻉ ‪ break in‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬

‫ﻳﺎ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ‬ ‫‪ü‬‬

‫‪ï‬‬ ‫‪۵‬ـ ﺑﻴﻦ ﻫﺮ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﺣﻘﻴﻘﻲ ﺭﻭﻱ ‪RL‬‬
‫ﻳﺎ ﺩﻭ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬ ‫‪ý‬‬
‫‪ï‬‬
‫‪þ‬‬

‫‪) 5‬ﺷﺎﻳﺪ ﻳﻜﻲ ﺍﺯ ﺻﻔﺮﻫﺎ ﺩﺭ ‪ ¥‬ﺑﺎﺷﺪ(‬

‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٤٣‬‬

‫‪æ d 2K‬‬ ‫‪ö‬‬ ‫‪dK‬‬

‫‪ ، ç‬ﺁﻧﮕﺎﻩ ‪ s1‬ﺭﻳﺸﺔ ‪ 3‬ﮔﺎﻧﺔ ) ‪ D ( s‬ﻣﻲﺑﺎﺷﺪ )ﻭ ﺑﻪ ﻫﻤﻴﻦ ﺗﺮﺗﻴﺐ(‪.‬‬ ‫ﺩﺭ ‪ s1‬ﺭﻳﺸﺔ ﻣﮑﺮﺭ ﺍﺯ ﻣﺮﺗﺒﺔ ‪ 2‬ﺩﺍﺷﺖ ÷ ‪= 0‬‬ ‫‪۶‬ـ ﺍﮔﺮ‬
‫‪ç ds 2‬‬ ‫÷‬ ‫‪ds‬‬

‫‪.ir‬‬
‫‪è‬‬ ‫‪ø‬‬

‫‪۶‬ـ ﺗﻌﻴﻴﻦ ﺯﻭﺍﻳﺎﻱ ﻭﺭﻭﺩ ﻭ ﺧﺮﻭﺝ )‪( m Î ‬‬

‫‪rs‬‬
‫‪f = p - å fi + å qi + 2mp‬‬ ‫ﺍﻟﻒ( ﺯﺍﻭﻳﻪ ﺧﺮﻭﺝ ﺍﺯ ﻗﻄﺐ ) ‪: ( f‬‬

‫‪ee‬‬
‫‪q = p - å qi + å fi + 2mp‬‬ ‫ﺏ( ﺯﺍﻭﻳﻪ ﻭﺭﻭﺩ ﺑﻪ ﺻﻔﺮ ) ‪: ( q‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬
‫‪in‬‬
‫‪١‬ـ ﺍﮔﺮ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻣﮑﺮﺭ ﺩﺍﺷﺘﻴﻢ‪ ،‬ﻣﺮﺗﺒﺔ ﺁﻥ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ‪،‬ﺿﺮﻳﺐ ‪ f‬ﻳﺎ ‪) q‬ﺩﺭ ﻃﺮﻑ ﭼﭗ ﻣﻌﺎﺩﻟﻪ( ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫‪ng‬‬
‫‪٢‬ـ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻣﺨﺘﻠﻂ ﺗﺄﺛﻴﺮﻱ ﺩﺭ ﺯﺍﻭﻳﻪ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻘﻴﻘﻲ ﻧﺪﺍﺭﻧﺪ‪.‬‬

‫‪٣‬ـ ﺑﺮﺍﻱ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻣﺨﺘﻠﻂ‪ ،‬ﻳﺎﻓﺘﻦ ﺯﺍﻭﻳﺔ ‪ q‬ﻳﺎ ‪ ، f‬ﺗﻨﻬﺎ ﺑﺮﺍﻱ ﻳﮑﻲ ﺍﺯ ﺟﻔﺖ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻣﺨﺘﻠﻂ ﮐﺎﻓﻲ ﺍﺳﺖ )ﺑﻪ ﺩﻟﻴﻞ ﺗﻘﺎﺭﻥ ‪RL‬‬

‫ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ(‪.‬‬

‫‪le‬‬

‫‪۷‬ـ ﺗﻌﻴﻴﻦ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺑﺎ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‬

‫‪ro‬‬

‫ﺭﻭﺵ ﺍﻭﻝ ‪ :‬ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﺭﺍﻭﺙ‬

‫‪nt‬‬

‫ﺭﻭﺵ ﺩﻭﻡ ‪ :‬ﺣﻞ ﻣﻌﺎﺩﻟﺔ ﻣﺸﺨﺼﻪ ﺑﻪ ﺍﺯﺍﻱ ‪s = j w‬‬

‫‪co‬‬

‫ﻣﺮﺍﺣﻞ ﺭﺳﻢ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺩﺭ ﺣﺎﻟﺖ ﻓﻴﺪﺑﮏ ﻣﺜﺒﺖ‬

‫‪ì‬‬ ‫‪1‬‬
‫= ‪ï GH‬‬
‫‪D = 1 - KGH = 0 Þ í‬‬ ‫‪K‬‬
‫ﻣﻀﺮﺏ ﺯﻭﺝِ‪ïîGH = p‬‬

‫‪١‬ـ ﺗﺸﮑﻴﻞ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺗﺎﺑﻊ ‪) OL‬ﺗﻌﻴﻴﻦ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﻭ ﺟﺪﺍ ﺳﺎﺯﻱ ﭘﺎﺭﺍﻣﺘﺮِ ‪( K‬‬

‫= ) ‪GH ( s‬‬
‫) ‪Õ ( s + Zi‬‬
‫) ‪Õ ( s + Pi‬‬
 ‫‪ ٤٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪۲‬ـ ﺭﺳﻢ ‪ Z‬ﻭ ‪P‬ﻫﺎﻱ ‪ OL‬ﻭ ﺗﻌﻴﻴﻦ ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎﻱ ‪RL‬‬

‫ﺗﻌﺪﺍﺩ ﺷﺎﺧﻪﻫﺎﻱ‬
‫‪RL‬‬ ‫) ‪= max ( m , n‬‬

‫‪٣‬ـ ﺗﻌﻴﻴﻦ ‪ RL‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‬

‫ﻧﻘﻄﺔ ‪ A‬ﺭﻭﻱ ‪ RL‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ ،‬ﺍﮔﺮ ﻭ ﻓﻘﻂ ﺍﮔﺮ ﺗﻌﺪﺍﺩ ﮐﻞ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﺣﻘﻴﻘﻲ ﺳﻤﺖ ﺭﺍﺳﺖ ‪ ،A‬ﺯﻭﺝ ﺑﺎﺷﺪ‪.‬‬

‫‪۴‬ـ ﺑﺮﺭﺳﻲِ ﻣﺠﺎﻧﺐﻫﺎ‬

‫‪ = n - m‬ﺗﻌﺪﺍﺩ ﻣﺠﺎﻧﺐﻫﺎ‬

‫‪.ir‬‬
‫‪2p‬‬
‫= ﺯﺍﻭﻳﺔ ﻣﺠﺎﻧﺐﻫﺎ‬
‫‪n-m‬‬

‫‪rs‬‬
‫= ﻣﺤﻞ ﺗﻘﺎﻃﻊ ﻣﺠﺎﻧﺐﻫﺎ‬
‫) ‪å Re al ( Pi ) - å Re al ( Zi‬‬
‫‪n-m‬‬

‫‪ee‬‬ ‫‪۵‬ـ ﺑﺮﺭﺳﻲِ ﻧﻘﻄﻪ ﺷﮑﺴﺖ‬

‫‪۶‬ـ ﺗﻌﻴﻴﻦ ﺯﻭﺍﻳﺎﻱ ﻭﺭﻭﺩ ﻭ ﺧﺮﻭﺝ )‪( m Î ‬‬

‫‪in‬‬
‫‪f = - å fi + å qi + 2mp‬‬ ‫ﺍﻟﻒ( ﺯﺍﻭﻳﻪ ﺧﺮﻭﺝ ﺍﺯ ﻗﻄﺐ ) ‪: ( f‬‬
‫‪ng‬‬

‫‪q = - å qi + å fi + 2mp‬‬ ‫ﺏ( ﺯﺍﻭﻳﻪ ﻭﺭﻭﺩ ﺑﻪ ﺻﻔﺮ ) ‪: ( q‬‬

‫‪۷‬ـ ﺗﻌﻴﻴﻦ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺑﺎ ﻣﺤﻮﺭ ‪jw‬‬

‫‪le‬‬

‫ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻣﺸﺮﻭﻁ ‪ :‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺗﻨﻬﺎ ﺑﻪ ﺍﺯﺍﻱ ﺑﺮﺧﻲ ﺍﺯ ﻣﻘﺎﺩﻳﺮ ‪ K‬ﭘﺎﻳﺪﺍﺭ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﻣﺸﺮﻭﻁ ﻧﺎﻣﻴﺪﻩ ﻣﻲﺷﻮﺩ‪.‬‬
‫‪ro‬‬

‫‪ E‬ﻧﮑﺎﺕ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻣﺸﺮﻭﻁ ‪:‬‬

‫‪١‬ـ ﺍﺣﺘﻤﺎﻝ ﺧﺮﺍﺑﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺑﺎ ﭘﺎﻳﺪﺍﺭﻱ ﻣﺸﺮﻭﻁ ﺑﻴﺸﺘﺮ ﺍﺳﺖ‪.‬‬

‫‪nt‬‬

‫‪٢‬ـ ﺍﻣﮑﺎﻥ ﺍﺷﺒﺎﻉ ﺷﺪﻥ ﻭ ﻋﻤﻠﮑﺮﺩ ﻏﻴﺮ ﺧﻄﻲ ﺳﻴﺴﺘﻢﻫﺎﻱ ﭘﺎﻳﺪﺍﺭ ﻣﺸﺮﻭﻁ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬
‫‪co‬‬

‫‪٣‬ـ ﺑﺎ ﺍﻓﺰﻭﺩﻥ ﺟﺒﺮﺍﻧﺴﺎﺯ ﻣﻨﺎﺳﺐ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﻣﺸﺮﻭﻁ ﻗﺎﺑﻞ ﭘﻴﺸﮕﻴﺮﻱ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺎﺕ ﺗﮑﻤﻴﻠﻲ‪ :‬ﻣﺮﺑﻮﻁ ﺑﻪ ‪ RL‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺩﺍﺭﺍﻱ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ‪:‬‬

‫‪۱‬ـ ﺍﻓﺰﻭﺩﻥ ﻗﻄﺐ )ﻳﺎ ﺩﺍﻓﻊ( ﺑﻪ ﻧﻴﻤﺔ ﭼﭗ ﺻﻔﺤﻪ ‪ RL , s‬ﺭﺍ ﺑﻪ ﺳﻮﻱ ﻧﻴﻢ ـ ﺻﻔﺤﺔ ﺭﺍﺳﺖ ﻣﻲﺭﺍﻧﺪ‪) .‬ﮐﺎﺭﺑﺮﺩ ﺩﺭﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ(‬

‫‪۲‬ـ ﺍﻓﺰﻭﺩﻥ ﺻﻔﺮ )ﻳﺎ ﺟﺎﺫﺏ( ﺑﻪ ﻧﻴﻤﺔ ﭼﭗ ﺻﻔﺤﺔ ‪ RL , s‬ﺭﺍ ﺑﻪ ﺳﻮﻱ ﻧﻴﻢ ـ ﺻﻔﺤﺔ ﭼﭗ ﻣﻲﺭﺍﻧﺪ‪) .‬ﮐﺎﺭﺑﺮﺩ ﻃﺮﺍﺣﻲ ﺟﺒﺮﺍﻧﺴﺎﺯ(‬

‫‪۳‬ـ ﺩﺭ ﺣﻘﻴﻘﺖ ﻫﻤﻮﺍﺭﻩ ﮐﻞ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﺟﺰﻭ ‪ RL‬ﺍﺳﺖ‪ ،‬ﺑﺎ ﺍﻳﻦ ﺗﻔﺎﻭﺕ ﮐﻪ ﻗﺴﻤﺘﻲ ﺍﺯ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﻣﺨﺘﺺ ‪ K > 0‬ﻭ ﻗﺴﻤﺖ ﺩﻳﮕﺮ ﻣﺨﺘﺺ‬

‫‪ K < 0‬ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪۴‬ـ ﻣﺎﮐﺰﻳﻤﻢ ﻣﻘﺪﺍﺭ ‪ K‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪K ،‬ﻱ ﻣﺮﺑﻮﻁ ﺑﻪ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﺍﺳﺖ‪) .‬ﺑﻪ ﺍﺯﺍﻱ ﻣﻘﺎﺩﻳﺮ ﺑﺰﺭﮔﺘﺮ ﺍﺯ ﺍﻳﻦ ‪ ،K‬ﺭﻳﺸﻪﻫﺎ ﻣﺨﺘﻠﻂ ﻣﻲﺷﻮﻧﺪ(‪.‬‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٤٥‬‬

‫‪۵‬ـ ﺍﮔﺮ ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺳﺖ ﮐﻢ ‪ 3‬ﺗﺎ ﺑﻴﺸﺘﺮ ﺍﺯ ﺻﻔﺮﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﻮﺩ‪ ،‬ﺍﻣﮑﺎﻥ ﻭﺭﻭﺩ ‪ RL‬ﺑﻪ ﻧﻴﻢ ﺻﻔﺤﺔ ﺭﺍﺳﺖ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪) .‬ﭘﺎﻳﺪﺍﺭﻱ‬

‫ﻣﺸﺮﻭﻁ(‬

‫‪۶‬ـ ﺍﮔﺮ ﺻﻔﺮ ﻭ ﻗﻄﺒﻲ ﻗﺎﺑﻞ ﺳﺎﺩﻩ ﺳﺎﺯﻱ ﺑﺎﺷﺪ‪ ،‬ﺗﺄﺛﻴﺮﻱ ﺩﺭ ﺭﺳﻢ ‪ RL‬ﻧﺪﺍﺭﺩ ﻭ ﻗﺎﺑﻞ ﭼﺸﻢ ﭘﻮﺷﻲ ﺍﺳﺖ )ﻭﻟﻲ ﺩﺭ ﺑﺤﺚ ﭘﺎﻳﺪﺍﺭﻱ ﻭ ﺟﺒﺮﺍﻧﺴﺎﺯﻱ ﺑﻪ‬

‫ﻫﻴﭻ ﻋﻨﻮﺍﻥ ﻗﺎﺑﻞ ﭼﺸﻤﭙﻮﺷﻲ ﻧﻴﺴﺖ !(‬

‫‪۷‬ـ ﺷﺮﻁ ﺯﺍﻭﻳﻪ ﺑﺮﺍﻱ ﺭﺳﻢ ‪ RL‬ﮐﺎﻓﻴﺴﺖ‪) .‬ﺷﺮﻁ ﺍﻧﺪﺍﺯﻩ ﻓﻘﻂ ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﻣﻘﺪﺍﺭ ‪ K‬ﺩﺭ ﻳﮏ ﻧﻘﻄﺔ ﺧﺎﺹ ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻭﺩ‪(.‬‬

‫‪۸‬ـ ﺍﺯ ﺁﻥ ﺟﺎﻳﻲ ﮐﻪ ﻫﻤﻮﺍﺭﻩ ‪ RL‬ﺑﻪ ﺍﺯﺍﻱ ‪ K = 0‬ﺭﻭﻱ ﻗﻄﺐ ﻭ ﺑﻪ ﺍﺯﺍﻱ ‪ K ® ± ¥‬ﺭﻭﻱ ﺻﻔﺮ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪ ٦،‬ﺁﻧﭽﻪ ﺟﻬﺖِ ﻣﻨﺤﻨﻲ ‪ RL‬ﺭﺍ‬

‫‪.ir‬‬
‫ﺗﻌﻴﻴﻦ ﻣﻲﮐﻨﺪ‪ ،‬ﺣﺪﻭﺩ ‪ K‬ﺍﺳﺖ )ﻭ ﻧﻪ ﻧﻮﻉ ﻓﻴﺪﺑﮏ(‪ .‬ﭘﺲ ﺑﻪ ﻃﻮﺭ ﺧﻼﺻﻪ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﮕﻮﻳﻴﻢ‪:‬‬

‫‪rs‬‬
‫‪K =0‬‬ ‫‪K ®¥‬‬
‫‪K > 0 : x __________ ‬‬
‫‪K =0‬‬ ‫‪K ®-¥‬‬

‫‪ee‬‬
‫‪K < 0 : x __________ ‬‬

‫ﻣﺜﺎﻝ‪ :‬ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻤﻲ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﻣﻨﻔﻲ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬
‫‪in‬‬
‫‪s-a‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۶‬‬ ‫= ) ‪ G ( s‬ﺑﻪ ﺍﺯﺍﻱ ﺗﻐﻴﻴﺮﺍﺕ ‪ ( a ³ 0 ) a‬ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫)‪s ( s + 1‬‬
‫‪ng‬‬
‫‪(۲‬‬ ‫‪(۱‬‬
‫‪le‬‬
‫‪ro‬‬

‫‪(۴‬‬ ‫‪(۳‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪1‬‬
‫ﻗﺎﺑﻞ ﺍﺛﺒﺎﺕ ﺍﺳﺖ‪.‬‬ ‫=‪K‬‬ ‫‪ 6‬ـ ﺍﺛﺒﺎﺕ ﺍﻳﻦ ﻣﻄﻠﺐ ﺑﻪ ﺭﺍﺣﺘﻲ ﺗﻮﺳﻂ ﺭﺍﺑﻄﺔ‬
‫‪GH‬‬
 ‫‪ ٤٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪s-a‬‬
‫= )‪G (s‬‬ ‫‪® D = s 2 + s + s - a = s 2 + 2s - a = 0‬‬
‫)‪s ( s + 1‬‬

‫‪a‬‬
‫‪® D (s) = 1 -‬‬
‫)‪s ( s + 1‬‬

‫‪K‬‬
‫‪® D (s) = 1 +‬‬ ‫‪, K<0‬‬
‫)‪s (s + 2‬‬

‫‪.ir‬‬
‫ﺁﺭﺍﻳﺶ ﺻﻔﺮ ﻭ ﻗﻄﺐ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﮐﻪ‪ ،‬ﻳﮑﻲ ﺍﺯ ﺩﻭ ﮔﺰﻳﻨﻪ ‪ ٢‬ﻳﺎ ‪ ٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪rs‬‬
‫‪ee‬‬
‫‪in‬‬
‫ﺍﺯ ﻃﺮﻓﻲ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﻋﻼﻣﺖ ﻣﻘﺎﻳﺴﻪ ﮐﻨﻨﺪﻩ ﻭ ﭘﺎﺭﺍﻣﺘﺮِ ‪ K‬ﻫﺮ ﺩﻭ ﻣﻨﻔﻲ ﻫﺴﺘﻨﺪ‪ ،‬ﭘﺲ ﻗﻮﺍﻧﻴﻦ ﻓﻴﺪﺑﮏ ﻣﺜﺒﺖ ﺑﺮ ﻧﻤﻮﺩﺍﺭ ‪ RL‬ﺣﺎﮐﻢ ﺍﺳﺖ ﻭ‬

‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۲‬ﺩﺭﺳﺖ ﺍﺳﺖ‪) .‬ﮐﺎﻓﻴﺴﺖ ﻣﺤﻞ ‪ RL‬ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ ﺭﺍ ﺗﺸﺨﻴﺺ ﺑﺪﻫﻴﻢ(‪.‬‬
‫‪ng‬‬

‫‪4‬‬
‫)‪K ( s + 1‬‬
‫= ‪ GH‬ﺭﺍ‬ ‫ﻣﺜﺎﻝ‪ :‬ﮐﺪﺍﻡ ﮔﺰﻳﻨﻪ ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺗﻘﺮﻳﺒﻲ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻤﻲ ﺑﺎ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬
‫‪2‬‬
‫) ‪s3 ( s + 2‬‬
‫‪le‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۶‬‬ ‫ﻭﻗﺘﻲ ‪ K‬ﺍﺯ ‪ 0‬ﺗﺎ ‪ +¥‬ﺗﻐﻴﻴﺮ ﻣﻲﮐﻨﺪ‪ ،‬ﻣﻌﺮﻓﻲ ﻣﻲﮐﻨﺪ؟‬
‫‪(۲‬‬ ‫‪(۱‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪(۴‬‬ ‫‪(۳‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﻭﻗﺘﻲ ﻧﻮﻉ ﻓﻴﺪﺑﮏ ﺭﺍ ﺩﺭ ﺳﺌﻮﺍﻝ ﻣﺸﺨﺺ ﻧﮑﺮﺩﻩ ﺑﻮﺩ‪ ،‬ﺁﻥﺭﺍ ﻣﻨﻔﻲ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪.‬‬
‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٤٧‬‬

‫ﺯﺍﻭﻳﻪ ﺧﺮﻭﺟﻲ ﺍﺯ ﻗﻄﺐ ‪ s = 0‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪2mp‬‬
‫‪3f0 =180 - ( 0 ´ 2 ) + ( 0 ´ 4 ) Þ f0 = 60 +‬‬ ‫‪= ±60 , 180‬‬
‫‪3‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎ ﺍﻳﻨﺠﺎ ﮔﺰﻳﻨﻪﻫﺎﻱ )‪ (١‬ﻭ )‪ (٣‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ ﺗﺎ ﺍﺯ ﻃﺮﻓﻲ ﺯﺍﻭﻳﺔ ﻭﺭﻭﺩ ﺑﻪ ﺻﻔﺮ ‪ s = -1‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫(‬ ‫)‬
‫‪4q-1 = 180 - ( 0 ) + 3 ´180 + 2 ´ 0 + 2mp Þ q-1 = 180 ±‬‬
‫‪2mp‬‬
‫‪4‬‬
‫‪= 0, ± 90 ,180‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪.ir‬‬
‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺳﻴﺴﺘﻤﻲ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬

‫‪rs‬‬
‫‪2‬‬
‫)‪K ( s + 1‬‬
‫= ) ‪KG ( s ) H ( s‬‬
‫‪s3‬‬

‫‪ee‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۷‬‬ ‫ﻣﮑﺎﻥ ﺭﻳﺸﻪﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ‪ K > 0‬ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫‪(۲‬‬ ‫‪(۱‬‬
‫‪in‬‬
‫‪ng‬‬

‫‪(۴‬‬ ‫‪(۳‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪:‬ﻣﻨﻈﻮﺭ ﺍﺯ ﻋﺒﺎﺭِﺕ »ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ« ﺩﺭ ﮐﻠﻴﺔ ﺳﺌﻮﺍﻻﺕ ﺳﺎﻝ ‪ ٨٧‬ﺑﻪ ﺑﻌﺪ! ﻫﻤﺎﻥ »ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ« ﻣﻲﺑﺎﺷﺪ!‬
‫‪co‬‬

‫ﺑﺎ ﻣﺤﺎﺳﺒﺔ ﺯﺍﻭﻳﺔ ﺧﺮﻭﺝ ﺍﺯ ﻗﻄﺐ ‪ ، s = 0‬ﺩﻭ ﮔﺰﻳﻨﻪ ﺣﺬﻑ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪3f0 =180 - ( 0 ) + ( 0 ) ® f0 = 60‬‬

‫ﺗﺎ ﺍﻳﻨﺠﺎ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ٢‬ﻭ ‪ ٤‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺩﺭ ﻣﺮﺣﻠﺔ ﺑﻌﺪ‪ ،‬ﮐﺎﻓﻴﺴﺖ ﻧﻘﻄﺔ ﺯﻳﻨﻲ ﺭﺍ ﺑﻴﺎﺑﻴﻢ‪:‬‬

‫‪2‬‬
‫‪dK‬‬ ‫)‪2 ( s + 1) s3 - 3s 2 ( s + 1‬‬
‫‪=0 Þ‬‬ ‫‪= 0 ® s = -3‬‬
‫‪ds‬‬ ‫‪ 2‬ﻣﺨﺮﺝ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﻣﻲﺑﺎﺷﺪ‪.‬‬

 ‫‪ ٤٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫= ) ‪ G ( s‬ﻣﮑﺎﻥ ﺭﻳﺸﻪﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ‪ K < 0‬ﮐﺪﺍﻡ‬

‫(‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺳﻴﺴﺘﻤﻲ ﺑﻪ ﺻﻮﺭﺕ ) ()‬
‫‪K s2 + 5 s2 - 3‬‬

‫)‪(s2 + 6)(s2 - 4‬‬

‫ﺍﺳﺖ؟ )ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۸‬‬
‫‪(۲‬‬ ‫‪(۱‬‬

‫‪.ir‬‬
‫‪(۴‬‬ ‫‪(۳‬‬

‫‪rs‬‬
‫‪ee‬‬
‫‪in‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﻟﻄﻔﺎﹰ ﺩﻗﺖ ﮐﻨﻴﺪ ‪ K < 0‬ﺍﺳﺖ! ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺩﺭ ﺻﻮﺭﺕ ﺳﺌﻮﺍﻝ ﺣﺮﻓﻲ ﺍﺯ ﻋﻼﻣﺖِ ﻣﻘﺎﻳﺴﻪ ﮐﻨﺪﻩ ﻧﺰﺩﻩ‪ ،‬ﭘﻴﺶ ﻓﺮﺽِ ﻣﺎ ﺳﻴﺴﺘﻢ ﺯﻳﺮ ﺍﺳﺖ‪:‬‬
‫‪ng‬‬

‫¾¾¾‬
‫®‬
‫‪K <0‬‬ ‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ RL‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻗﻮﺍﻧﻴﻦ ﻓﻴﺪﺑﮏ ﻣﺜﺒﺖ ﺭﺳﻢ ﻣﻲﺷﻮﺩ‬
‫‪le‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪ RL ،‬ﻧﻘﺎﻃﻲ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﮐﻪ ﺗﻌﺪﺍﺩﻱ ﺯﻭﺝ ﺻﻔﺮ ﻭﻗﻄﺐ ﺳﻤﺖ ﺭﺍﺳﺖ ﺁﻥ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺑﺎﺷﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪۱‬‬
‫‪ro‬‬

‫ﻭ ‪ ۲‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺍﺯ ﻃﺮﻓﻲ‪ ،‬ﺗﻔﺎﻭﺕﻫﺎﻱ ﮔﺰﻳﻨﻪﻫﻲ ‪ ۳‬ﻭ ‪ ۴‬ﺩﺭ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫‪dK‬‬
‫‪nt‬‬

‫‪s 4 + 2s 2 - 15‬‬ ‫‪=0‬‬

‫‪G (s) = K‬‬ ‫‪ds‬‬
‫¾¾¾¾‬ ‫®‬
‫‪s 4 + 2s 2 - 24‬‬

‫(‬ ‫) ‪4s3 + 4s )( s 4 + 2s 2 - 24 ) - ( 4s3 + 4s )( s 4 + 2s 2 - 15‬‬

‫‪co‬‬

‫=‬ ‫‪=0‬‬
‫)‪(s + 2s - 24‬‬
‫‪2‬‬
‫‪4‬‬ ‫‪2‬‬

‫ﺍﺯ ﺣﻞ ﻣﻌﺎﺩﻟﺔ ﻓﻮﻕ‪ ،‬ﻧﻘﺎﻁ ﺷﮑﺴﺖ ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﻨﺪ ﺑﻮﺩ ﺑﺎ ‪:‬‬

‫‪4sh3 + 4s = 0 Þ s = 0 , s = + j , s = - j‬‬

‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﻣﻜﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ‪٤٩‬‬

‫ﻣﺜﺎﻝ‪ :‬ﻣﮑﺎﻥ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺷﮑﻞ ﺯﻳﺮ ﺑﺮﺍﻱ ﺗﻐﻴﻴﺮﺍﺕ ﺑﻬﺮﻩ ‪ K‬ﺍﺯ ﺻﻔﺮ ﺗﺎ ﺑﻲﻧﻬﺎﻳﺖ ﮐﺪﺍﻡ‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۷۶‬‬ ‫ﮔﺰﻳﻨﻪ ﺍﺳﺖ؟‬

‫‪(۲‬‬ ‫‪(۱‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪(۴‬‬ ‫‪(۳‬‬

‫‪ee‬‬
‫‪in‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﭘﺲ ﺍﺯ ﻫﺮ ﮐﺎﺭ‪ ،‬ﺑﺎﻳﺪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺭﺍ ﺑﻪ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺩﺭﺁﻭﺭﻳﻢ‪ .‬ﺍﻟﺒﺘﻪ ﺩﻗﺖ ﮐﻨﻴﺪ ﺩﺭ ﺍﻳﻦ ﻓﺮﺍﻳﻨﺪ ﺑﻬﺘﺮ ﺍﺳﺖ ﻋﻼﻣﺖ ) ‪ ( K‬ﺭﺍ ﺗﻐﻴﻴﺮ‬
‫‪ng‬‬

‫ﺑﺪﻫﻴﺪ‪) ،‬ﺯﻳﺮﺍ ﻃﺒﻖ ﺻﻮﺭﺕ ﺳﺌﻮﺍﻝ‪ ،‬ﻋﻼﻣﺖ ‪ K‬ﻫﻤﻮﺍﺭﻩ ﻣﺜﺒﺖ ﺍﺳﺖ(‪:‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺜﺒﺖ ﺑﻮﺩﻥِ ﻓﻴﺪﺑﮏ‪ ،‬ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻭﺿﻌﻴﺖ‬

‫‪le‬‬

‫ﻣﮑﺎﻧﻲ ﻫﻨﺪﺳﻲ ﺭﻳﺸﻪﻫﺎ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪ ،‬ﮔﺰﻳﻨﻪﻫﺎﻱ ‪۱‬‬

‫ﻭ ‪ ۳‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪.‬‬
‫‪ro‬‬

‫ﺍﺯ ﻃﺮﻓﻲ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ﺗﻌﺪﺍﺩ ﮐﻞ‪ ٧‬ﺻﻔﺮﻫﺎ ﻫﻤﻮﺍﺭﻩ ﺑﺎ ﺗﻌﺪﺍﺩ ﮐﻞ ﻗﻄﺐﻫﺎ ﺑﺮﺍﺑﺮ ﺍﺳﺖ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﺻﻔﺮ ﺩﺭ ‪ s ® +¥‬ﻭ‬
‫‪nt‬‬

‫‪ s ® - ¥‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ‪:‬‬

‫‪٨‬‬
‫ﻫﻤﻮﺍﺭﻩ ﺑﻴﻦ ﻫﺮ ﺩﻭ ﺻﻔﺮ ‪ ،‬ﻳﮏ ﻧﻘﻄﻪ ‪ break‬ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬
‫‪co‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺣﺘﻤﺎﹰ ﺑﻴﻦ ﺻﻔﺮﻫﺎﻱ ﻭﺍﻗﻊ ﺩﺭ ‪ s = +1‬ﻭ ‪ s ® ¥‬ﻳﮏ ﻧﻘﻄﺔ ﺷﮑﺴﺖ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﻪ ‪ ۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺍﻟﺒﺘﻪ ﻣﻲﺗﻮﺍﻧﻴﻢ ﻣﺨﺘﺼﺎﺕ ﺍﻳﻦ ﻧﻘﻄﺔ ﺯﻳﻨﻲ ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﻫﻢ ﮐﻨﻴﻢ‪:‬‬

‫‪dK‬‬ ‫‪ì s = 1.69 « K1 = 15.27 ü‬‬

‫‪= 0 ® 2s 2 - s - 4 = 0 ® í 1‬‬
‫‪ds‬‬ ‫‪îs 2 = -0.52 « K 2 = -0.52Ï‬‬

‫ﻣﺘﺄﺳﻔﺎﻧﻪ ﺯﺍﻭﻳﺔ ﺧﺮﻭﺝ ﺍﺯ ﻗﻄﺐ ﺩﺭ ﺍﻳﻦ ﺗﺴﺖ ﺍﺷﺘﺒﺎﻩ ﺭﺳﻢ ﺷﺪﻩ ﺑﻮﺩ‪( f = ±90 ) .‬‬
‫‪ 7‬ـ ﻣﺘﻨﺎﻫﻲ ﻭ ﻧﺎﻣﺘﻨﺎﻫﻲ‬
‫‪ 8‬ـ ﺑﺎ ﺍﻳﻦ ﺗﻔﺎﻭﺕ ﮐﻪ ﺑﺮﺍﻱ ‪ K>0‬ﺍﻳﻦ ﻧﻘﻄﻪ‪ ،‬ﻧﻘﻄﻪ ‪ break in‬ﻭ ﺑﺮﺍﻱ ‪ K<0‬ﺍﻳﻦ ﻧﻘﻄﻪ‪ ،‬ﻧﻘﻄﺔ ‪ break away‬ﺍﺳﺖ‪.‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‬
‫‪in‬‬
‫‪ng‬‬

‫‪١‬ـ ﻣﻨﺤﻨﻲ ﺑﻮﺩ‪) ١‬ﻟﮕﺎﺭﻳﺘﻤﻲ( ‪ :‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲِ ‪، O.L.‬ﭘﺎﻳﺪﺍﺭﻱِ ﺳﻴﺴﺘﻢِ ‪ C.L.‬ﺭﺍ ﺑﺮﺭﺳﻲ ﻣﻲﮐﻨﺪ‪.‬‬

‫‪۲‬ـ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪) ٢‬ﻗﻄﺒﻲ( ‪ :‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲِ ‪ O.L.‬ﭘﺎﻳﺪﺍﺭﻱِ ﺳﻴﺴﺘﻢ ‪ C.L.‬ﺭﺍ ﺑﺮﺭﺳﻲ ﻣﻲﮐﻨﺪ‪.‬‬
‫‪le‬‬

‫‪۳‬ـ ﻣﻨﺤﻨﻲ ﻧﻴﮑﻮﻟﺰ‬

‫‪ro‬‬

‫ﺗﻌﺮﻳﻒ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‪ :‬ﺑﻪ ﺳﻴﺴﺘﻢ ﻭﺭﻭﺩﻱِ ﺳﻴﻨﻮﺳﻲ ﻣﻲﺩﻫﻴﻢ ﻭ ﺧﺮﻭﺟﻲِ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺁﻥ ﺭﺍ ﺑﺮﺭﺳﻲ ﻣﻲﮐﻨﻴﻢ‪.‬‬
‫‪nt‬‬

‫ﻣﺰﺍﻳﺎﻱ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‬

‫‪۱‬ـ ﺳﺎﺩﻩ ﺑﻮﺩﻥ‬
‫‪co‬‬

‫‪۲‬ـ ﻗﺎﺑﻞ ﺑﻪ ﮐﺎﺭﮔﻴﺮﻱ ﺩﺭ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﻋﻤﻠﻲ‬

‫‪۳‬ـ ﻣﻴﻨﻴﻤﻢ ﮐﺮﺩﻥ ﺍﺛﺮ ﻧﻮﻳﺰ ﺩﺭ ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎ‬

‫‪۴‬ـ ﻣﻴﻨﻴﻤﻢ ﮐﺮﺩﻥ ﺍﺛﺮ ﺍﻏﺘﺸﺎﺵ ﺩﺭ ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢﻫﺎ‬

‫‪1‬‬
‫‪- Bode Diagram‬‬
‫‪2‬‬
‫‪- Nyquist Diagram‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٥١‬‬

‫ﻣﻌﺎﻳﺐ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‬

‫‪١‬ـ ﺭﺍﺑﻄﺔ ﻏﻴﺮﻣﺴﺘﻘﻴﻢِ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ ﻭ ﭘﺎﺳﺦ ﮔﺬﺭﺍ )ﺑﻪ ﺟﺰ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﺮﺗﺒﻪ ﺩﻭﻡ(‬

‫‪١‬‬
‫ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩﻱ‬
‫ﺩﺭ ﺭﻭﺵ ﺁﻗﺎﻱ ‪،Bode‬ﺑﺮﺍﻱ ﺗﻠﺤﻴﻞ ﺗﺎﺑﻊ ﺣﻠﻘﻪ ﺑﺎﺯ )‪ ، G ( w‬ﺍﺯ ﺩﻭ ﻣﻨﺤﻨﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪۱‬ـ ﻣﻨﺤﻨﻲ )‪ : G ( jw‬ﺩﺭ ﺍﻳﻦ ﻣﻨﺤﻨﻲ )‪ 20 log G ( jw‬ﺭﺍ ﺑﺮ ﺣﺴﺐ ‪ w‬ﺭﺳﻢ ﮐﻨﻴﺪ‪.‬‬

‫‪.ir‬‬
‫‪۳‬ـ ﻣﻨﺤﻨﻲ )‪ : G ( jw‬ﺩﺭ ﺍﻳﻦ ﻣﻨﺤﻨﻲ )‪  G ( jw‬ﺭﺍ ﺑﺮ ﺣﺴﺐ ﺩﺭﺟﻪ ﻳﺎ ﺭﺍﺩﻳﺎﻥ ﺭﺳﻢ ﮐﻨﻴﺪ‪.‬‬

‫‪rs‬‬
‫ﺭﻭﺵ ﻋﻤﻮﻣﻲ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ‪Bode‬‬

‫‪۱‬ـ ﺑﺎﺯﻧﻮﻳﺴﻲ ﺗﺎﺑﻊ ﺑﻪ ﻓﺮﻡ ﺍﺳﺘﺎﻧﺪﺍﺭﺩ‪ :‬ﮐﻠﻴﺔ »ﻋﻮﺍﻣﻞ ﭘﺎﻳﻪ« ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ‪ 1+‬ﺑﻨﻮﻳﺴﻴﺪ )ﺍﻳﻦ ﮐﺎﺭ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﻣﺠﺎﻧﺐ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦِ »ﻋﻮﺍﻣﻞ‬

‫‪ee‬‬
‫ﭘﺎﻳﻪ«‪ ،‬ﺧﻂ ‪ 0 dB‬ﺑﺎﺷﺪ‪(.‬‬

‫‪۲‬ـ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﮔﻮﺷﻪﻫﺎﻱ‬

‫‪in‬‬
‫‪۳‬ـ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﺗﻘﺮﻳﺒﻲ ﺩﺍﻣﻨﻪ‬
‫‪ng‬‬
‫‪۴‬ـ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﺗﻘﺮﻳﺒﻲ ﻓﺎﺯ‬

‫ﻋﻮﺍﻣﻞ ﭘﺎﻳﻪ ﺩﺭ ﻧﻤﻮﺩﺍﺭ ‪Bode‬‬

‫‪le‬‬

‫‪K‬‬ ‫‪۱‬ـ ﻋﺎﻣﻞ ﮔﻴﻦ ‪:‬‬

‫‪s± n‬‬
‫‪ro‬‬

‫‪۲‬ـ ﻋﻮﺍﻣﻞ ﻣﺸﺘﻖﮔﻴﺮﻱ )ﺻﻔﺮ ﺩﺭ ﻣﺒﺪﺃ( ﻭ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮﻱ )ﻗﻄﺐ ﺩﺭ ﻣﺒﺪﺃ( ‪:‬‬

‫‪(1 + Ts )±1‬‬ ‫‪۳‬ـ ﻋﻮﺍﻣﻞ ﻣﺮﺗﺒﻪ ﺍﻭﻝ )ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﺳﺎﺩﻩ( ‪:‬‬
‫‪nt‬‬

‫‪±1‬‬
‫‪æ‬‬ ‫‪2x‬‬ ‫‪1 2ö‬‬
‫‪ç1 +‬‬ ‫‪s+‬‬ ‫÷ ‪s‬‬ ‫‪۴‬ـ ﻋﻮﺍﻣﻞ ﻣﺮﺗﺒﻪ ﺩﻭﻡ )ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻣﺨﺘﻠﻂ(‪:‬‬
‫‪ç wn‬‬ ‫‪w2n ÷ø‬‬
‫‪co‬‬

‫‪è‬‬

‫ﺑﺎﻻ ﻣﻲﺭﻭﺩ‪.‬‬ ‫ﺑﻪ ﺍﺯﺍﻱ ‪ ، K > 1‬ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ‪20 log K‬‬ ‫‪ü‬‬
‫‪ï‬‬
‫‪ý‬‬ ‫ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ‬
‫ﭘﺎﺋﻴﻦ ﻣﻲﺭﻭﺩ‪.‬‬ ‫ﺑﻪ ﺍﺯﺍﻱ ‪ ، K < 1‬ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺑﻪ ﺍﻧﺪﺍﺯﺓ ‪20 log K‬‬ ‫‪ï‬‬
‫‪þ‬‬

‫‪ 1‬ـ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﺑﻮﺩﻱ ﻣﻲﺗﻮﺍﻧﻨﺪ ﺗﻮﺳﻂ ﺩﺳﺘﮕﺎﻫﻲ ﺑﻪ ﻧﺎﻡ ‪ Digital Signal Analyser‬ﺗﺮﺳﻴﻢ ﺷﻮﻧﺪ‪.‬‬
 ‫‪ ٥٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ ، K > 0‬ﺗﺄﺛﻴﺮﻱ ﺑﺮ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﻧﺪﺍﺭﺩ‪.‬‬ ‫‪ü‬‬ ‫‪ü‬‬ ‫‪۱‬ـ ﻋﺎﻣﻞ ﮔﻴﻦ ‪K‬‬
‫‪ï‬‬ ‫‪ï‬‬
‫‪ ، K < 0‬ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺭﺍ ‪ 180‬ﺩﺭﺟﻪ ﺟﺎﺑﺠﺎ ﻣﻲﮐﻨﺪ‪) ،‬ﺑﺎﻻ ﻭ ﭘﺎﺋﻴﻦ ﻓﺮﻗﻲ ﻧﺪﺍﺭﺩ(‬ ‫‪ý‬‬ ‫ﻣﻨﺤﻨﻲ ﻓﺎﺯ‬ ‫‪ïï‬‬
‫‪ï‬‬
‫‪þ‬‬ ‫‪ý‬‬
‫‪ï‬‬
‫‪ï‬‬
‫‪ïþ‬‬

‫‪æ dB ö‬‬
‫‪ +20n ç‬ﺍﺳﺖ‪) .‬ﺩﺭ ﮐﻠﻴﺔ ﻓﺮﮐﺎﻧﺲﻫﺎ(‬ ‫ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ‪ :‬ﻳﮏ ﻣﻨﺤﻨﻲ ﺑﺎ ﺷﻴﺐ ÷‬ ‫‪ü‬‬
‫‪è dec ø‬‬ ‫‪ï‬‬
‫‪ý‬‬ ‫‪۲‬ـ ﺍﻟﻒ( ﻋﺎﻣﻞ ﻣﺸﺘﻖﮔﻴﺮﻱ ) ‪(sn‬‬

‫‪.ir‬‬
‫ﻣﻨﺤﻨﻲ ﻓﺎﺯ ‪ :‬ﺯﺍﻭﻳﺔ ﻓﺎﺯ ﻫﻤﻮﺍﺭﻩ ‪ +90n‬ﺍﺳﺖ‪) .‬ﺩﺭ ﮐﻠﻴﺔ ﻓﺮﮐﺎﻧﺲﻫﺎ(‬ ‫‪ï‬‬
‫‪þ‬‬

‫‪æ dB ö‬‬

‫‪rs‬‬
‫‪ -20n ç‬ﺍﺳﺖ‪) .‬ﺩﺭ ﮐﻠﻴﺔ ﻓﺮﮐﺎﻧﺲﻫﺎ(‬ ‫ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ‪ :‬ﻳﮏ ﻣﻨﺤﻨﻲ ﺑﺎ ﺷﻴﺐ ÷‬ ‫‪ü‬‬
‫‪è dec ø‬‬ ‫‪ï‬‬ ‫‪æ 1 ö‬‬
‫‪ý‬‬ ‫‪۲‬ـ ﺏ( ﻋﺎﻣﻞ ﺍﻧﺘﮕﺮﺍﻝﮔﻴﺮﻱ ÷ ‪ç n‬‬
‫ﻣﻨﺤﻨﻲ ﻓﺎﺯ ‪ :‬ﺯﺍﻭﻳﺔ ﻓﺎﺯ ﻫﻤﻮﺍﺭﻩ ‪ -90n‬ﺍﺳﺖ‪) .‬ﺩﺭ ﮐﻠﻴﺔ ﻓﺮﮐﺎﻧﺲﻫﺎ(‬ ‫‪ï‬‬ ‫‪ès ø‬‬

‫‪ee‬‬
‫‪þ‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٥٣‬‬

‫ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ )ﺷﮑﺴﺖ ‪ ، cutoff‬ﻧﻴﻢ ﻗﺪﺭﺕ(‬

‫ﻓﺮﮐﺎﻧﺲ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩِ ﺩﻭ ﻣﺠﺎﻧﺐ ﺭﺍ ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ ﻣﻲﻧﺎﻣﻨﺪ‪ .‬ﺍﻳﻦ ﻓﺮﮐﺎﻧﺲ‪ ،‬ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ ﺭﺍ ﺑﻪ ﺩﻭ ﻧﺎﺣﻴﺔ ﻓﺮﮐﺎﻧﺲ ﺑﺎﻻ ﻭ ﻓﺮﮐﺎﻧﺲ ﭘﺎﺋﻴﻦ‬
‫‪١‬‬
‫ﺗﻘﺴﻴﻢ ﻣﻲﮐﻨﺪ‪ .‬ﻣﺎﮐﺰﻳﻤﻢ ﺧﻄﺎ ﺑﻴﻦ ﻧﻤﻮﺩﺍﺭ ﻣﺠﺎﻧﺒﻲ ﻭ ﻧﻤﻮﺍﺭ ﺩﻗﻴﻖ‪ ،‬ﺩﺭ ﺍﻳﻦ ﻓﺮﮐﺎﻧﺲ ﺭﺥ ﻣﻲﺩﻫﺪ ﻭ ﺑﺮﺍﻱ ﻋﻮﺍﻣﻞ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ‪ ± 3dB‬ﺍﺳﺖ‪.‬‬

‫‪A‬‬
‫ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺧﻮﺍﺹ ‪ log A1A 2 = log A1 + log A 2‬ﻭ ‪ ، log 1 = log A1 - log A 2‬ﻣﻨﺤﻨﻲﻫﺎﻱ ‪ Bode‬ﻣﺮﺑﻮﻁ ﺑﻪ‬ ‫‪E‬‬
‫‪A2‬‬

‫‪±n‬‬
‫) ‪ (1 + Ts‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﻨﺪ‪:‬‬

‫‪.ir‬‬
‫ﺗﻮﺍﺑﻊ‬

‫‪rs‬‬
‫‪ee‬‬
‫‪in‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﻣﻨﺤﻨﻲﻫﺎﻱ ﻓﻮﻕ‪ ،‬ﺧﻄﺎ ﺩﺭ ﻫﺮ ﻓﺮﮐﺎﻧﺲ‪ n،‬ﺑﺮﺍﺑﺮ ﺩﺭ ﺣﺎﻟﺖ ‪ n = 1‬ﺍﺳﺖ‪.‬‬
‫‪ng‬‬

‫‪æ‬‬ ‫‪2x‬‬ ‫‪1 2ö‬‬

‫‪ç1 +‬‬ ‫‪s+‬‬ ‫‪۴‬ـ ﺍﻟﻒ( ﺻﻔﺮ ﻣﺨﺘﻠﻂ ÷ ‪s‬‬
‫‪ç wn‬‬ ‫‪w2n ÷ø‬‬
‫‪è‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪ 1‬ـ ﻓﻘﻂ ﺩﺭ ﺣﺎﻟﺖ ﺧﺎﺻﻲ ﮐﻪ ﺑﺎ ﻋﺎﻣﻞ ﻣﺮﺗﺒﻪ ﺍﻭﻝ ﮐﺎﺭ ﻣﻲﮐﻨﻴﻢ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ »ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ« ﺭﺍ »ﻓﺮﮐﺎﻧﺲ ‪ «3dB‬ﻫﻢ ﺑﻨﺎﻣﻴﻢ‪.‬‬
 ‫‪ ٥٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪æ‬‬ ‫‪ö‬‬
‫‪ç‬‬ ‫÷‬
‫‪ç‬‬ ‫‪1‬‬ ‫‪۴‬ـ ﺏ( ﻗﻄﺐ ﻣﺨﺘﻠﻂ ÷‬
‫‪ç‬‬ ‫‪2x‬‬ ‫÷‪1 2‬‬
‫÷ ‪ç 1+ w s + 2 s‬‬
‫‪è‬‬ ‫‪n‬‬ ‫‪wn ø‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪ : ١‬ﻣﻘﺪﺍﺭ ﺩﻗﻴﻖ ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺩﺭ ﻋﻮﺍﻣﻞ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ ،‬ﺩﺭ ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱِ ‪ w= wn‬ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬
‫‪in‬‬
‫) ‪A = ± ( 6 + 20 log x‬‬
‫‪ng‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ : ٢‬ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺩﺭ ﻋﻮﺍﻣﻞ ﻣﺮﺗﺒﻪ ﺩﻭﻡ‪ ،‬ﻣﻤﮑﻦ ﺍﺳﺖ ﺩﺍﺭﺍﻱ ﻗﻠﻪ ﺑﺎﺷﺪ‪ ،‬ﺍﻳﻦ ﻗﻠﻪ ﺩﺭ ﻓﺮﮐﺎﻧﺴﻲ ﺑﻪ ﻧﺎﻡ ‪ wr‬ﺭﺥ ﻣﻲﺩﻫﺪ ﻭ ﺍﻧﺪﺍﺯﺓ ﺍﻳﻦ‬
‫‪le‬‬

‫‪١‬‬ ‫‪2‬‬
‫< ‪ 0 < x‬ﺭﺥ ﻣﻲﺩﻫﺪ‪:‬‬ ‫ﻗﻠﻪ‪ M r ،‬ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﻗﻠﻪ ﻓﻘﻂ ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﺑﺎ‬
‫‪2‬‬
‫‪ro‬‬

‫‪ì‬‬ ‫‪2‬‬ ‫‪2‬‬

‫< ‪ïwr = wn 1 - 2x , 0 < x‬‬
‫‪ï‬‬ ‫‪2‬‬
‫‪í‬‬ ‫‪1‬‬
‫= ) ‪ï M r = G ( w= wr‬‬
‫‪nt‬‬

‫‪ï‬‬ ‫‪2x 1 - x2‬‬

‫‪î‬‬
‫‪co‬‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ! ﺭﺍﺑﻄﺔ ﻓﻮﻕ ‪ M r‬ﺭﺍ ﺑﺮ ﺣﺴﺐ ‪ dB‬ﺑﻴﺎﻥ ﮐﺮﺩﻩ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ wr : ٣‬ﻫﻤﻮﺍﺭﻩ ﺍﻧﺪﮐﻲ ﮐﻮﭼﮑﺘﺮ ﺍﺯ ‪ wn‬ﺍﺳﺖ ﻳﻌﻨﻲ ﻗﻠﻪ )ﺩﺭ ﺻﻮﺭﺕ ﻭﺟﻮﺩ(‪ ،‬ﮐﻤﻲ ﻗﺒﻞ ﺍﺯ ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ ﺭﺥ ﻣﻲﺩﻫﺪ‪ .‬ﻫﺮ ﻗﺪﺭ‬

‫‪ x‬ﺑﺰﺭﮔﺘﺮ ﺑﺎﺷﺪ‪ ،‬ﻓﺎﺻﻠﺔ ‪ wr‬ﻭ ‪ wn‬ﻫﻢ ﺑﻴﺸﺘﺮ ﻣﻲﺷﻮﺩ‪ .‬ﺩﺭ ﺣﺎﻟﺖ ﮐﻠﻲ‪:‬‬

‫‪wr < wd < wn‬‬

‫‪ 1‬ـ ﺩﺭ ﺣﻘﻴﻘﺖ ﺑﻪ ﺍﺯﺍﻱ ﺳﺎﻳﺮ ‪ x‬ﻫﺎ‪ ،‬ﺩﻳﮕﺮ ﻗﻠﻪﺍﻱ ﻭﺟﻮﺩ ﻧﺨﻮﺍﻫﺪ ﺩﺍﺷﺖ‪.‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٥٥‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬

‫‪A‬‬
‫‪le‬‬

‫ﻧﮑﺘﻪ ‪ :٤‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ‪ log A1 A 2 = log A1 + log A 2‬ﻭ ‪ log 1 = log A1 - log A 2‬ﻣﻨﺤﻨﻲﻫﺎﻱ ‪ Bode‬ﻣﺮﺑﻮﻁ ﺑﻪ ﺗﻮﺍﺑﻊ‬ ‫‪E‬‬
‫‪A2‬‬
‫‪ro‬‬

‫‪±n‬‬
‫‪æ‬‬ ‫‪2x‬‬ ‫‪1‬‬ ‫‪ö‬‬
‫‪١‬‬
‫‪ ç1 +‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻣﻲﺁﻳﻨﺪ‬ ‫÷ ‪s + s2‬‬
‫÷ ‪ç wn w2‬‬
‫‪è‬‬ ‫‪n‬‬ ‫‪ø‬‬
‫‪nt‬‬
‫‪co‬‬

‫)ﻭ ﻫﻴﭻ ﻣﻘﺪﺍﺭ ﻣﻴﺎﻧﻲﺍﻱ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ(‪.‬‬ ‫‪ 1‬ـ ﺩﺭ ﺣﺎﻟﺖ ﺧﺎﺻﻲ ﮐﻪ ‪ x = 0‬ﺑﺎﺷﺪ‪ ،‬ﻓﺎﺯ ﭼﻨﻴﻦ ﺳﻴﺴﺘﻤﻲ ﻳﺎ ‪ 0‬ﺍﺳﺖ ﻳﺎ ‪-180‬‬
 ‫‪ ٥٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪n‬‬ ‫‪1‬‬
‫‪æ‬‬ ‫‪2x‬‬ ‫‪1 2ö‬‬ ‫«‬ ‫»ﻣﻨﺤﻨﻲ ﺑﻮﺩِ ﻋﺎﻣﻞِ‬
‫‪« ç1 +‬‬ ‫‪s+‬‬ ‫»ﻣﻨﺤﻨﻲ ﺑﻮﺩِ ﻋﺎﻣﻞِ ÷ ‪s‬‬ ‫‪æ‬‬ ‫‪ö‬‬
‫‪n‬‬
‫‪ç wn‬‬ ‫‪w‬‬ ‫‪2‬‬ ‫÷‬ ‫‪2x‬‬ ‫‪1‬‬
‫‪è‬‬ ‫‪n‬‬ ‫‪ø‬‬ ‫‪ç1 +‬‬ ‫÷ ‪s + 2 s2‬‬
‫‪ç wn w‬‬ ‫÷‬
‫‪è‬‬ ‫‪n‬‬ ‫‪ø‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﻣﻨﺤﻨﻲﻫﺎﻱ ﻓﻮﻕ‪ ،‬ﺧﻄﺎ ﺩﺭ ﻫﺮ ﻓﺮﮐﺎﻧﺲ‪ n ،‬ﺑﺮﺍﺑﺮ ﺧﻄﺎ ﺩﺭ ﺣﺎﻟﺖِ ‪ n = 1‬ﺍﺳﺖ‪.‬‬

‫ﻋﻮﺍﻣﻞ ﭘﺎﻳﻪ ‪) Bode‬ﺭﻭﺍﺑﻂ ﺩﻗﻴﻖ(‬

‫ﻓﺎﺯ‬ ‫ﺩﺍﻣﻨﻪ‬

‫‪.ir‬‬
‫ﺻﻔﺮ ﻳﺎ ‪180‬‬ ‫‪20 log K‬‬ ‫‪K‬‬

‫‪rs‬‬
‫‪± 90 n‬‬ ‫‪± 20 n log‬‬
‫‪w‬‬
‫‪s± n‬‬

‫) ‪± n tan -1 ( w T‬‬ ‫‪± 20 n log 1 + T 2w2‬‬ ‫‪(1 + Ts )± n‬‬

‫‪æ‬‬
‫÷ ‪ç 2x w‬‬
‫‪ç wn‬‬
‫‪ö‬‬
‫÷‬
‫‪æ w2 ö æ 2x ö2‬‬
‫‪±20 n log ç1 -‬‬ ‫‪÷ +‬‬ ‫‪w‬‬
‫‪ç w2 ÷ çè wn ÷ø‬‬
‫‪2‬‬

‫‪ee‬‬ ‫‪æ‬‬
‫‪ç1 +‬‬
‫‪ç wn‬‬
‫‪2x‬‬
‫‪s+‬‬
‫‪w‬‬
‫‪1 2ö‬‬
‫‪2‬‬
‫÷ ‪s‬‬
‫÷‬
‫‪±n‬‬
‫‪in‬‬
‫‪± n tan -1 ç‬‬ ‫‪è‬‬ ‫‪nø‬‬ ‫‪è‬‬ ‫‪n‬‬ ‫‪ø‬‬
‫÷‪2‬‬
‫÷ ‪ç æ w ö‬‬
‫÷ ÷ ‪ç 1- ç w‬‬
‫‪è è nø ø‬‬
‫‪ng‬‬

‫ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﻭ ﻏﻴﺮﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‬

‫‪le‬‬

‫ﺳﻴﺴﺘﻢ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‪ :‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﺭﺍﺳﺖ‪ ،‬ﺩﺍﺭﺍﻱ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻧﻤﻲﺑﺎﺷﺪ ‪.‬‬

‫ﻣﻔﻬﻮﻡ ﺳﻴﺴﺘﻢ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‪ :‬ﺗﻌﺪﺍﺩﻱ ﺳﻴﺴﺘﻢ ﺑﺎ ﻣﺸﺨﺼﺔ ﺩﺍﻣﻨﻆ ﻳﮑﺴﺎﻥ ﺩﺍﺭﻳﻢ‪ .‬ﺑﻴﻦ ﺍﻳﻦ ﺳﻴﺴﺘﻢﻫﺎ‪ ،‬ﺳﻴﺴﺘﻤﻲ ﺭﺍ »ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ« ﮔﻮﻳﻨﺪ ﮐﻪ‬
‫‪ro‬‬

‫ﺗﻐﻴﻴﺮﺍﺕ ﻣﻨﺤﻨﻲ ﻓﺎﺯﺵ‪ ،‬ﺍﺯ ﺑﻘﻴﺔ ﺳﻴﺴﺘﻢﻫﺎ ﮐﻤﺘﺮ ﺑﺎﺷﺪ‪) .‬ﻣﻴﻨﻴﻤﻢِ ﺗﻐﻴﻴﺮﺍﺕ ﻓﺎﺯ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ(‪.‬‬
‫‪nt‬‬

‫ﺭﻭﺵ ﺗﺸﺨﻴﺺ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻏﻴﺮ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‬

‫‪co‬‬

‫‪(۱‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﺭﺍﺳﺖ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﺩﺍﺭﺩ‪.‬‬

‫‪ (۲‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺩﺳﺖ ﮐﻢ ﻳﮏ ﻋﻨﺼﺮ ﻏﻴﺮ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪) .‬ﻣﺎﻧﻨﺪ ﻋﻨﺼﺮ ﺗﺄﺧﻴﺮ‪. ( e-Ts :‬‬

‫‪ (۳‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺩﺍﺭﺍﻱ ﺣﻠﻘﺔ ﺩﺍﺧﻠﻲ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪ (۴‬ﺳﻴﺴﺘﻤﻲ ﮐﻪ ﺩﺭ ‪ ، w® ¥‬ﺷﻴﺐ ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪﺍﺵ ) ‪ -20 ( n - m‬ﺍﺳﺖ ﻭﻟﻲ ﺯﺍﻭﻳﺔ ﻓﺎﺯﺵ ) ‪ -90 ( n - m‬ﻧﻴﺴﺖ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺍﮔﺮ ﺳﻴﺴﺘﻤﻲ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺑﺎﺷﺪ‪ ،‬ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺑﺮﺍﻱ ﺗﻮﺻﻴﻒ ﮐﺎﻣﻞ ﺳﻴﺴﺘﻢ ﮐﺎﻓﻲ ﺍﺳﺖ ﻭ ﻧﻴﺎﺯﻱ ﺑﻪ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﻧﻴﺴﺖ‪.‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٥٧‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ﺑﺪﻱ ﺳﻴﺴﺘﻤﻲ ﺩﺭ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺍﻳﻦ ﺳﺴﺘﻢ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫‪1‬‬
‫‪(۱‬‬
‫) ‪( s + 1)( s + 100‬‬
‫‪1000‬‬
‫‪(۲‬‬
‫) ‪( s + 1)( s + 100‬‬
‫‪100‬‬
‫‪(۳‬‬
‫) ‪( s + 0.1)( s + 100‬‬

‫‪.ir‬‬
‫‪1000‬‬
‫‪(۴‬‬
‫) ‪( s + 1)( s + 1000‬‬

‫‪rs‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﻩ‪ ،‬ﺍﺯ ﻧﻘﻄﻪﺍﻱ ﺑﺎﻻﺗﺮ ﺍﺯ ‪ 0 dB‬ﺁﻏﺎﺯ ﺷﺪﻩ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ 1‬ﻭ ‪ 4‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ )ﺯﻳﺮﺍ ﺩﺭ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﭘﺎﺋﻴﻦ ) ‪ ، ( s ® 0‬ﮔﻴﻦِ‬

‫‪ee‬‬
‫‪ dc‬ﺍﻳﻦ ﺩﻭ ﮔﺰﻳﻨﻪ ﺑﻪ ﺗﺮﺗﻴﺐ ‪ 20 log 0.01 = - 40 dB‬ﻭ ‪ 20 log1 = 0‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮔﻴﻦ ‪ dc‬ﻫﺮ ﺩﻭ ﮔﺰﻳﻨﺔ ‪ ۲‬ﻭ ‪۳‬‬

‫‪ 20 log10 = 20 dB‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪in‬‬
‫ﺍﺯ ﻃﺮﻓﻲ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﻫﻤﻮﺍﺭﻩ ﺗﻐﻴﻴﺮﺍﺕ ﻣﻨﺤﻨﻲ ﻓﺎﺯ‪ ،‬ﺍﺯ ﻳﮏ ﺩﻫﻪ ﻗﺒﻞ ﺍﺯ ﻓﺮﮐﺎﻧﺲ ﮔﻮﺷﻪﺍﻱ ﺗﺎ ﻳﮏ ﺩﻫﻪ ﭘﺲ ﺍﺯ ﺁﻥ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ ،‬ﺑﺮﺍﻱ ﺩﺍﺷﺘﻦ‬
‫‪ng‬‬
‫ﻳﮏ ﻗﺴﻤﺖِ ﺑﺪﻭﻥ ﺗﻐﻴﻴﺮ ﺭﻭﻱ ﻣﻨﺤﻨﻲ ﻓﺎﺯ‪ ،‬ﻓﺎﺻﻠﺔ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﮔﻮﺷﻪﺍﻱ ﺑﺎﻳﺪ ﺑﻴﺶ ﺍﺯ ﺩﻭ ﺩﻫﻪ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ Ã‬ﺗﺬﮐﺮ ‪ :‬ﮔﺎﻫﺎﹰ ﺑﻪ ﺟﺎﻱ ﻧﻤﺎﻳﺶ ﻣﻨﺤﻨﻲﻫﺎﻱ ﺑﻮﺩﻱ ﺭﻭﻱ ﺑﺎﺯﻩﻫﺎﻱ ﻓﺮﮐﺎﻧﺴﻲ ‪) w2 = 10w1‬ﺩﻫﻪﻫﺎﻱ ﻓﺮﮐﺎﻧﺴﻲ(‪ ،‬ﺍﺯ ﺑﺎﺯﻩﻫﺎﻱ ﻓﺮﮐﺎﻧﺴﻲ‬
‫‪le‬‬

‫‪1‬‬
‫= ) ‪ ، G ( s‬ﺩﺭ ﻳﮏ ﺍﮐﺘﺎﻭ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪.‬‬ ‫‪) w2 = 2w1‬ﺍﮐﺘﺎﻭﻫﺎﻱ ﻓﺮﮐﺎﻧﺴﻲ( ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺜﺎﻝ ﺑﺮﺍﻱ ﺗﺎﺑﻊ‬
‫‪1 + Ts‬‬
‫‪ro‬‬

‫‪1 + w1T‬‬
‫‪w2 = 2w1 Þ 20 log G ( w2 ) - 20 log G ( w1 ) = 20 log‬‬
‫‪1 + w2T‬‬
‫‪nt‬‬

‫‪w1‬‬ ‫‪æ dB ö‬‬

‫‪» 20 log‬‬ ‫‪» - 6.021ç‬‬ ‫÷‬
‫‪2w1‬‬ ‫‪è oct ø‬‬
‫‪co‬‬

‫‪1 + w1T‬‬
‫‪w2 = 10w1 Þ 20 log G ( w2 ) - 20 log G ( w1 ) = 20 log‬‬
‫‪1 + w2T‬‬

‫‪w1‬‬ ‫‪æ dB ö‬‬

‫‪» 20 log‬‬ ‫‪» - 20 ç‬‬ ‫÷‬
‫‪10w1‬‬ ‫‪è dec ø‬‬

‫‪dB‬‬ ‫‪dB‬‬ ‫‪1‬‬

‫‪ -20‬ﺍﺳﺖ‪.‬‬ ‫‪ -6‬ﻳﺎ‬ ‫= ) ‪ ، G ( s‬ﺣﺪﻭﺩ‬ ‫ﻧﺘﻴﺠﻪ‪ :‬ﺷﻴﺐ ﺧﻂ ﻣﺠﺎﻧﺐ ﺩﺭ ﺗﺎﺑﻊ‬
‫‪dec‬‬ ‫‪oct‬‬ ‫‪1 + Ts‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺬﮐﺮ ﻓﻮﻕ‪ ،‬ﺷﻴﺐﻫﺎﻱ ﺯﻳﺮ‪،‬ﻣﻌﺎﺩﻝ ﻳﮑﺪﻳﮕﺮﻧﺪ‪:‬‬

 ‫‪ ٥٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪dB‬‬ ‫‪dB‬‬
‫‪±6.02‬‬ ‫‪º ± 20‬‬
‫‪oct‬‬ ‫‪dec‬‬
‫‪dB‬‬ ‫‪dB‬‬
‫‪±12.04‬‬ ‫‪º ± 40‬‬
‫‪oct‬‬ ‫‪dec‬‬
‫‪dB‬‬ ‫‪dB‬‬
‫‪±18.06‬‬ ‫‪º ± 60‬‬
‫‪oct‬‬ ‫‪dec‬‬
‫‪dB‬‬ ‫‪dB‬‬
‫‪±24.08‬‬ ‫‪º ± 80‬‬
‫‪oct‬‬ ‫‪dec‬‬

‫‪.ir‬‬
‫ﻣﺜﺎﻝ‪ :‬ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ ﺑﺪ ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ) ‪ G ( s‬ﺁﻥ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬

‫‪108‬‬
‫‪(۱‬‬

‫‪rs‬‬
‫‪2‬‬
‫) ‪s ( s + 100 )( s + 1000‬‬

‫‪108‬‬

‫‪ee‬‬
‫‪(۲‬‬
‫) ‪s ( s + 100 )( s + 1000‬‬

‫‪109‬‬
‫‪(۳‬‬
‫‪in‬‬
‫) ‪( s + 100 )( s + 1000‬‬
‫‪1011‬‬
‫‪ng‬‬
‫‪(۴‬‬
‫‪2‬‬
‫) ‪s ( s + 100 )( s + 1000‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪le‬‬

‫ﺍﻭﻻﹰ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ﻓﻘﻂ ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﻩ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺳﻴﺴﺘﻢ ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺑﻪ ﺍﻳﻦ »ﻓﺮﺽِ ﺿﻤﻨﻲ« ﭘﻲ ﻣﻲﺑﺮﻳﻢ ﮐﻪ ﺳﻴﺴﺘﻢ‬

‫»ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ« ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫‪æ rad ö‬‬ ‫‪dB‬‬

‫‪ ، 100 ç‬ﺷﻴﺐ‬ ‫‪ -6‬ﻭﺍﺭﺩ ﺷﺪﻩ‪ ،‬ﭘﺲ ﺩﺭ ‪ s = 0‬ﻳﮏ ﻗﻄﺐ ﺳﺎﺩﻩ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﻓﺮﮐﺎﻧﺲ ÷‬ ‫ﺳﻴﺴﺘﻢ ﺩﺭ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﭘﺎﺋﻴﻦ ﺑﺎ ﺷﻴﺐ‬
‫‪è s ø‬‬ ‫‪oct‬‬
‫‪nt‬‬

‫‪dB‬‬
‫‪ 6‬ﮐﺎﻫﺶ ﻳﺎﻓﺘﻪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺭ ‪، s = 100‬ﻳﮏ ﻗﻄﺐ ﺳﺎﺩﺓ ﺩﻳﮕﺮ ﻓﻌﺎﻝ ﻣﻲﮔﺮﺩﺩ‪ .‬ﺑﻪ ﻫﻤﻴﻦ ﺗﺮﺗﻴﺐ‪ ،‬ﺩﺭ ﻓﺮﮐﺎﻧﺲِ‬ ‫ﻣﻨﺤﻨﻲ ﻣﺠﺎﻧﺒﻲ‪ ١‬ﺑﻪ ﺍﻧﺪﺍﺯﻩ‬
‫‪dec‬‬
‫‪co‬‬

‫‪dB‬‬ ‫‪æ rad ö‬‬

‫‪ 12‬ﮐﺎﻫﺶ ﻳﺎﻓﺘﻪ‪ ،‬ﮐﻪ ﻧﺸﺎﻥ ﺩﻫﻨﺪﺓ ﻭﺟﻮﺩ ﻳﮏ ﻗﻄﺐ ﻣﻀﺎﻋﻒ ﺩﺭ ‪ s = 1000‬ﻣﻲﺑﺎﺷﺪ‪.‬‬ ‫‪ ، 1000 ç‬ﺷﻴﺐ ﻣﻨﺤﻨﻲ ﻣﺠﺎﻧﺒﻲ ﺑﻪ ﺍﻧﺪﺍﺯﻩ‬ ‫÷‬
‫‪dec‬‬ ‫‪è s ø‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻓﺮﻡ ﮐﻠﻲ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻋﺒﺎﺭﺗﺴﺖ ﺍﺯ‪:‬‬

‫‪K‬‬
‫= )‪G (s‬‬
‫‪2‬‬
‫‪æ‬‬ ‫‪s öæ‬‬ ‫‪s ö‬‬
‫‪s ç1 +‬‬ ‫‪÷ ç1 +‬‬ ‫÷‬
‫‪è 100 ø è 1000 ø‬‬

‫‪1‬‬
‫‪- Asymptotic‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٥٩‬‬

‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﻪ ﮔﻴﻦ ‪) dc‬ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺣﺬﻑ ﻳﮑﻲ ﺍﺯ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ 1‬ﻳﺎ ‪ ،(4‬ﮐﺎﻓﻴﺴﺖ ﺭﻓﺘﺎﺭ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺮﺭﺳﻲ ﮐﻨﻴﻢ‪ .‬ﺩﺭ‬

‫‪1‬‬ ‫‪1‬‬
‫ﺩﺭ ) ‪ 0 ( dB‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪،‬ﭘﺲ ﻳﮏ ﺩﻫﻪ ﺑﻌﺪﺵ‬ ‫ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﭘﺎﻳﻴﻦ ﻓﻘﻂ ﺟﻤﻠﺔ ﺗﻌﻴﻴﻦ ﮐﻨﻨﺪﺓ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ‪ Bode‬ﺍﺳﺖ‪ .‬ﺑﻪ ﺍﺯﺍﻱ ‪,s = 1‬‬
‫‪s‬‬ ‫‪s‬‬

‫) ‪ ( w = 10‬ﺑﺎﻳﺪ ﺑﻪ ) ‪ -20 ( dB‬ﺭﺳﻴﺪﻩ ﺑﺎﺷﺪ‪ .‬ﺍﻣﺎ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﮑﻞ ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﻩ ﺍﺯ ‪ + 40 dB‬ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ ) ‪ 60 dB‬ﺷﻴﻔﺖ‬

‫ﺑﻪ ﺑﺎﻻ ﺩﺍﺷﺘﻪﺍﻳﻢ(‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﮔﻴﻦِ ‪ dc‬ﺑﻪ ﻣﻴﺰﺍﻥ ‪ 60 dB = 20 log K‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻪ ﻋﺒﺎﺭﺕ ﺩﻳﮕﺮ‪ K = 1000 ،‬ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫‪103‬‬ ‫‪103 ´108‬‬

‫= )‪G (s‬‬ ‫=‬

‫‪.ir‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪æ‬‬ ‫‪s öæ‬‬ ‫‪s ö‬‬ ‫) ‪s ( s + 100 )( s + 1000‬‬
‫‪s ç1 +‬‬ ‫‪÷ç1 +‬‬ ‫÷‬
‫‪è 100 øè 1000 ø‬‬

‫‪rs‬‬
‫‪æ ±a ö‬‬
‫‪ç‬‬ ‫÷‬
‫‪ K‬ﻧﻈﻴﻢ ﮐﻨﻴﻢ‪) .‬ﻋﻼﻣﺖ‬ ‫‪= 10è 20 ø‬‬ ‫ﻧﮑﺘﻪ ‪ :‬ﺑﺮﺍﻱ ﺷﻴﻔﺖ ﺩﺍﺩﻥ ﻧﻤﻮﺩﺍﺭ ﺍﻧﺪﺍﺯﻩ ﺑﻪ ﺍﻧﺪﺍﺯﺓ ) ‪ ، a ( dB‬ﺑﺎﻳﺪ ﺿﺮﻳﺐ ﺑﻬﺮﺓ ﺳﻴﺴﺘﻢ ﺭﺍ ﺭﻭﻱ‬ ‫‪E‬‬

‫‪ee‬‬
‫ﻣﺜﺒﺖ ﺑﺮﺍﻱ ﺑﺎﻻ ﺑﺮﺩﻥ‪ ،‬ﻭ ﻋﻼﻣﺖ ﻣﻨﻔﻲ ﺑﺮﺍﻱ ﭘﺎﺋﻴﻦ ﺁﻭﺭﺩﻥ(‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﻋﺒﺎﺭﺍﺗﻲ ﻧﻈﻴﺮ ‪ G ( s ) = a 2 - s 2‬ﮐﻪ ﺩﺍﺭﺍﻱ ﻳﮏ ﺻﻔﺮ ﺳﻤﺖ ﺭﺍﺳﺖ )ﺑﺎ ﺗﻐﻴﻴﺮ ﻓﺎﺯ ﺧﺎﻟﺺِ ‪ ( -90‬ﻭ ﻳﮏ ﺻﻔﺮ ﺳﻤﺖ ﭼﭗ )ﺑﺎ‬
‫‪in‬‬
‫ﺗﻐﻴﻴﺮ ﻓﺎﺯ ﺧﺎﻟﺺ ‪ ( +90‬ﻫﺴﺘﻨﺪ‪ ،‬ﺍﻳﻦ ﺩﻭ ﺻﻔﺮ ﺍﺛﺮ ﻳﮑﺪﻳﮕﺮ ﺭﺍ ﺧﻨﺜﻲ ﻣﻲﮐﻨﻨﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﻫﻤﻮﺍﺭﻩ ‪  G ( s ) = 0‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫‪ng‬‬

‫ﻧﺘﻴﺠﺔ ﻣﻬﻢ‪ :‬ﺍﺯ ﻧﻈﺮ ﻣﻨﺤﻨﻲ ﻓﺎﺯ‪،‬ﻗﻄﺐِ ﺳﻤﺖ ﺭﺍﺳﺖ‪ ،‬ﻣﻌﺎﺩﻝِ ﺻﻔﺮِ ﺳﻤﺖ ﭼﭗ‪ ،‬ﻭ ﺻﻔﺮِ ﺳﻤﺖ ﺭﺍﺳﺖ‪ ،‬ﻣﻌﺎﺩﻝِ ﻗﻄﺐ ﺳﻤﺖ ﭼﭗ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ﺑﻮﺩﻱ )‪ (Bode‬ﻳﮏ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ ﺗﻘﺮﻳﺒﻲ ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﺭﺳﻢ ﮔﺮﺩﻳﺪﻩ ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﮐﺪﺍﻡ‬
‫‪le‬‬

‫ﺍﺳﺖ؟‬
‫‪s +1‬‬
‫‪G ( s ) = 10‬‬
‫‪ro‬‬

‫‪(۱‬‬
‫‪1- s‬‬
‫‪1- s‬‬
‫‪G ( s ) = 10‬‬ ‫‪(۲‬‬
‫‪nt‬‬

‫‪s +1‬‬
‫‪s - 1 -s‬‬
‫‪G ( s ) = 10‬‬ ‫‪e (۳‬‬
‫‪co‬‬

‫‪s +1‬‬
‫‪s + 1 -s‬‬
‫‪G ( s ) = 10‬‬ ‫‪e (۴‬‬
‫‪s -1‬‬
 ‫‪ ٦٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺍﺯ ﺁﻥ ﺟﺎﻳﻲ ﮐﻪ ﻓﺎﺯ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﺑﺎﻻ‪ ،‬ﺩﺍﺭﺍﻱ ﻣﺠﺎﻧﺐِ ‪ -180‬ﺍﺳﺖ‪ ،‬ﻟﺬﺍ ﺳﻴﺴﺘﻢ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺩﺍﺭﺍﻱ ﺟﻤﻠﺔ ‪ e-Ts‬ﺑﺎﺷﺪ‪ .‬ﭘﺲ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ٣‬ﻭ ‪٤‬‬

‫ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪) .‬ﺑﺮﺍﻱ ﺭﺩ ﮔﺰﻳﻨﺔ ‪ ٣‬ﻣﻲﺗﻮﺍﻧﺴﺘﻴﻢ ﺑﻪ ﺍﻳﻦ ﺻﻮﺭﺕ ﻫﻢ ﺍﺳﺘﺪﻻﻝ ﮐﻨﻴﻢ ﮐﻪ ﭼﻮﻥ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺍﺯ ‪ 0‬ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﻴﻦ‬

‫‪ dc‬ﺳﻴﺴﺘﻢ ﺑﺎﻳﺪ ﻋﺪﺩﻱ ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ .‬ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ﺩﺭ ﮔﺰﻳﻨﺔ ‪ ،۳‬ﮔﻴﻦ ‪ dc‬ﺳﻴﺴﺘﻢ ‪ -10‬ﺍﺳﺖ‪(.‬‬

‫ﻫﻤﭽﻨﻴﻦ ﺍﺯ ﺁﻥ ﺟﺎﻳﻲ ﮐﻪ ﺍﺯ ﻧﻈﺮ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺻﻔﺮ )ﻗﻄﺐ( ﺳﻤﺖ ﺭﺍﺳﺖ‪ ،‬ﻣﻌﺎﺩﻝ ﻗﻄﺐ )ﺻﻔﺮ( ﺳﻤﺖ ﭼﭗ ﻋﻤﻞ ﻣﻲﮐﻨﺪ‪ ،‬ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻓﺎﺯ‬

‫ﮔﺰﻳﻨﺔ ‪ ۱‬ﻣﺎﻧﻨﺪ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺗﺎﺑﻊ )‪ ( s + 1‬ﺍﺳﺖ )ﺍﺯ ﺻﻔﺮ ﺗﺎ ‪ ( 180‬ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﺔ ‪ ۱‬ﻫﻢ ﺣﺬﻑ ﻣﻲﺷﻮﺩ‪ .‬ﺑﻪ ﻫﻤﻴﻦ ﺗﺮﺗﻴﺐ‪ ،‬ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ‬
‫‪2‬‬

‫‪.ir‬‬
‫‪1‬‬
‫ﺍﺳﺖ )ﺍﺯ ‪ 0‬ﺗﺎ ‪ ( -180‬ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﺔ ‪ ۲‬ﭘﺎﺳﺦ ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬ ‫ﻓﺎﺯ ﮔﺰﻳﻨﺔ ‪ ۲‬ﻣﺎﻧﻨﺪ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺗﺎﺑﻊ‬

‫‪rs‬‬
‫‪2‬‬
‫)‪( s + 1‬‬
‫‪ Ã‬ﺗﺬﮐﺮ ‪ :‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺴﺎﻭﻱ ‪ ، s + 1 = 1 - s = s - 1‬ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ‪ e-Ts = 1‬ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﺓ ﻫﺮ ﭼﻬﺎﺭ ﮔﺰﻳﻨﻪ ﺩﺍﺭﺍﻱ‬

‫‪ee‬‬
‫ﻣﻘﺪﺍﺭ ﺛﺎﺑﺖِ ) ‪ 20 log K = 20 ( dB‬ﻣﻲﺑﺎﺷﻨﺪ‪ K) .‬ﮔﻴﻦ ‪ dc‬ﺳﻴﺴﺘﻢ(‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﻪ ﻧﻮﻋﻲ ﻫﻤﺎﻥ ﻓﻴﻠﺘﺮ ‪ all pass‬ﺁﻧﺎﻟﻮﮒ ﺍﺳﺖ!‬
‫‪in‬‬
‫ﻣﺜﺎﻝ‪ :‬ﻣﻨﺤﻨﻲﻫﺎﻱ ﺍﻧﺪﺍﺯﻩ ﻭ ﺯﺍﻭﻳﻪ ﻓﺎﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ) ‪) G ( s‬ﻣﻨﺤﻨﻲﻫﺎﻱ ﺑﻮﺩﻱ( ﺩﺭ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬
‫‪ng‬‬

‫) ‪ G ( s‬ﻣﺘﻨﺎﻇﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬

‫‪s + 10‬‬
‫‪(۱‬‬
‫‪le‬‬

‫)‪10s ( s + 1‬‬

‫‪s + 10‬‬
‫‪ro‬‬

‫‪(۲‬‬
‫)‪100s 2 ( s + 1‬‬

‫‪( s + 10 )2‬‬
‫‪nt‬‬

‫‪(۳‬‬
‫‪2‬‬
‫)‪100s ( s + 1‬‬
‫‪co‬‬

‫‪( s + 10 )2‬‬ ‫‪(۴‬‬

‫)‪100s 2 ( s + 1‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ‪٦١‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪æ dB ö‬‬
‫‪ -40 ç‬ﺁﻏﺎﺯ ﻣﻲﺷﻮﺩ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﺨﺮﺝ ﮐﺴﺮ ﺑﺎﻳﺪ ﺷﺎﻣﻞ ﺟﻤﻠﺔ ‪ s 2‬ﺑﺎﺷﺪ ﻭ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ۱‬ﻭ ‪ ۳‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪.‬‬ ‫ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﻩ ﺑﺎ ﺷﻴﺐ ÷‬
‫‪è dec ø‬‬

‫ﮔﺰﻳﻨﺔ ‪ ۲‬ﻫﻢ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﺯﻳﺮﺍ ﻓﺎﺯ ﻧﻬﺎﻳﻲِ ﮔﺰﻳﻨﻪ ‪ ( -90 )( 3 - 1) = - 180 : ۲‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﻣﺜﺎﻝ‪ :‬ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ ﻳﮏ ﺳﻴﺴﺘﻢ ﻏﻴﺮ ﻣﻲﻧﻴﻤﻢ ﻓﺎﺯ )‪ (non – minimum phase‬ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﺗﺮﺳﻴﻢ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ‬
‫ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬

‫‪.ir‬‬
‫‪rs‬‬
‫= )‪G (s‬‬
‫) ‪2 ( s - 0.5‬‬
‫‪ee‬‬ ‫= )‪G (s‬‬
‫)‪( s - 0.5‬‬
‫‪in‬‬
‫‪(۲‬‬ ‫‪(۱‬‬
‫) ‪s ( s + 0.5 )( s + 2‬‬ ‫) ‪s ( s + 0.5 )( s + 2‬‬
‫‪1‬‬ ‫‪2‬‬
‫= )‪G (s‬‬ ‫= )‪G (s‬‬
‫‪ng‬‬
‫‪(۴‬‬ ‫‪(۳‬‬
‫)‪s (s + 2‬‬ ‫)‪s (s + 2‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻓﺮﺽ ﻏﻴﺮ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺑﻮﺩﻥ ﺳﻴﺴﺘﻢ‪ ،‬ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ۳‬ﻭ ‪ ۴‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪.‬‬
‫‪le‬‬

‫‪s - 0.5‬‬
‫(‪ ،‬ﻓﻘﻂ ﮔﺰﻳﻨﻪ ‪ ۲‬ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﺯﻳﺮﺍ ﺩﺭ ﺍﻳﻦ ﻓﺮﮐﺎﻧﺲ‬ ‫ﺍﺯ ﻃﺮﻓﻲ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻭﺍﺣﺪ ﺑﻮﺩﻥِ ﺍﻧﺪﺍﺯﻩ ﻓﻴﻠﺘﺮ ‪)، All pass‬ﻳﻌﻨﻲ ‪=1‬‬
‫‪s + 0.5‬‬
‫‪ro‬‬

‫ﺍﻧﺪﺍﺯﻩ‪ ،‬ﺍﻧﺪﺍﺯﻩ ﮔﺰﻳﻨﻪ ‪ 0 dB = 1 ،۲‬ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫‪2‬‬ ‫‪2‬‬
‫=‬ ‫‪= 0.894 »1‬‬
‫‪nt‬‬

‫‪1´ 12 + 22‬‬ ‫‪5‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬
‫‪co‬‬

‫‪(۱‬ﺿﺮﺏ ﻫﺮ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺭ ﻓﻴﻠﺘﺮ ‪، All pass‬ﻓﻘﻂ ﻭ ﻓﻘﻂ ﻣﺸﺨﺼﺔﻓﺎﺯ ﺭﺍ ﺗﻐﻴﻴﺮ ﻣﻲﺩﻫﺪ‪.‬‬
‫‪2‬‬ ‫) ‪2 ( s - 0.5‬‬
‫ﻣﺸﺎﺑﻪ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺳﻴﺴﺘﻢ‬ ‫‪ (۲‬ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺳﻴﺴﺘﻢ ﻏﻴﺮﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‬
‫) ‪s ( s + 0.5‬‬
‫‪2‬‬
‫)‪(s + 2‬‬ ‫) ‪s ( s + 0.5 )( s + 2‬‬
‫ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪ (۳‬ﺍﮔﺮ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﮔﺰﻳﻨﺔ ‪ ۲‬ﺭﺍ ﺗﻮﺳﻂ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ MATLAB‬ﺭﺳﻢ ﮐﻨﻴﺪ‪ ،‬ﺑﻪ ﻫﻤﻴﻦ ﻣﻨﺤﻨﻲ ﻭﻟﻲ ﺩﺭ ﻣﺤﺪﻭﺩﻩ ‪ -90‬ﺗﺎ ‪ -180‬ﻣﻲﺭﺳﻴﺪ‪.‬‬
‫ﺭﺍﺑﻄﻪ ﺑﻴﻦ ﻧﻮﻉ ﺳﻴﺴﺘﻢ ﻭ ﻣﻨﺤﻨﻲ ﺍﻧﺪﺍﺯﻩ ‪Bode‬‬

‫ﺿﺮﺍﻳﺐ ﺍﺳﺘﺎﺗﻴﮏ ‪ K a , K v , K p‬ﺑﻪ ﺗﺮﺗﻴﺐ ﺭﻓﺘﺎﺭ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﻮﻉ ‪ 1 ،0‬ﻭ ‪ 2‬ﺭﺍ ﺗﻮﺻﻴﻒ ﻣﻲﮐﻨﻨﺪ‪ .‬ﻫﺮ ﻗﺪﺭ ﺧﻄﺎﻱ ﻣﺤﺪﻭﺩِ‬
‫ﺍﻳﺴﺘﺎ‪ ،‬ﺑﺰﺭﮔﺘﺮ ﺑﺎﺷﺪ‪ ،‬ﺑﻬﺮﺓ ﺣﻠﻘﻪ ﺩﺭ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﭘﺎﻳﻴﻦ ﺑﻴﺸﺘﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
 ‫‪ ٦٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪١‬‬
‫‪Lm‬‬ ‫ﺗﻌﻴﻴﻦ ﺛﺎﺑﺖﻫﺎﻱ ﺧﻄﺎﻱ ﺍﻳﺘﺴﺎ ﺍﺯ ﺭﻭﻱ ﻣﻨﺤﻨﻲ‬
‫‪۱‬ـ ﻣﻨﺤﻨﻲ ‪ Lm‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﻮﻉ ‪ 0‬ﺑﺎ ﺷﻴﺐ ‪ 0 dB‬ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﺠﺎﻧﺐ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺩﺭ ﻣﻨﺤﻨﻲ ‪ Lm‬ﻳﮏ ﺳﻴﺴﺘﻢ ﻧﻮﻉ‬
‫ﺻﻔﺮ‪ ،‬ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 20 log K p‬ﺍﺳﺖ‪.‬‬
‫‪dB‬‬
‫‪ -20‬ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‪:‬‬ ‫‪۲‬ـ ﻣﻨﺤﻨﻲ ‪ Lm‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﻮﻉ ‪ 1‬ﺑﺎ ﺷﻴﺐ‬
‫‪dec‬‬
‫ﺍﻟﻒ ـ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺧﻂ ‪ w = 1‬ﺑﺎ ﻣﻨﺤﻨﻲ ‪) Lm‬ﻳﺎ ﺍﻣﺘﺪﺍﺩﺵ( ‪ 20 log K v‬ﺍﺳﺖ‪.‬‬
‫ﺏ ـ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺧﻂ ‪ 0 dB‬ﺑﺎ ﻣﻨﺤﻨﻲ ‪) Lm‬ﻳﺎ ﺍﻣﺘﺪﺍﺩﺵ( ‪ wv = K v‬ﺍﺳﺖ‪.‬‬
‫‪dB‬‬
‫‪ -40‬ﺷﺮﻭﻉ ﻣﻲﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‪:‬‬ ‫‪۳‬ـ ﻣﻨﺤﻨﻲ ‪ Lm‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻧﻮﻉ ‪ 2‬ﺑﺎ ﺷﻴﺐ‬

‫‪.ir‬‬
‫‪dec‬‬
‫ﺍﻟﻒ ـ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺧﻂ ‪ w = 1‬ﺑﺎ ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ )ﻳﺎ ﺍﻣﺘﺪﺍﺩﺵ(‪ 20 log K a ،‬ﺍﺳﺖ‪.‬‬
‫ﺏ ـ ﻣﺤﻞ ﺑﺮﺧﻮﺭﺩ ﺧﻂ ﺍﻓﻘﻲ ‪ 0 dB‬ﺑﺎ ﻣﻨﺤﻨﻲ ﺩﺍﻣﻨﻪ )ﻳﺎ ﺍﻣﺘﺪﺍﺩﺵ( ‪ wa = K a‬ﺍﺳﺖ‪.‬‬

‫‪rs‬‬
‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ‪ Bode‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﺪﺍﺭ ﺑﺎﺯ ﻳﮏ ﺳﻴﺴﺘﻢ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﻣﻨﻔﻲ ﺩﺭ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺑﻪ ﻭﺭﻭﺩﻱ ‪ r ( t ) = t‬ﺩﺍﺭﺍﻱ ………‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪(۱‬ﺧﻄﺎﻱ ﻧﺎﻣﺤﺪﻭﺩ ﺍﺳﺖ‪.‬‬

‫‪ (۲‬ﺧﻄﺎﻱ ﻣﺎﻧﺪﮔﺎﺭ ﺻﻔﺮ ﺍﺳﺖ‪.‬‬
‫‪ (۳‬ﺧﻄﺎﻱ ﻣﺎﻧﺪﮔﺎﺭ ‪ ess = 1‬ﺍﺳﺖ‪.‬‬
‫‪ro‬‬

‫‪ (۴‬ﺧﻄﺎﻱ ﻣﺎﻧﺪﮔﺎﺭ ﻣﺤﺪﻭﺩ ﺍﺳﺖ‪ ،‬ﻭﻟﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻃﻼﻋﺎﺕ ﺩﺍﺩﻩ ﺷﺪﻩ ﻧﻤﻲﺗﻮﺍﻥ ﻣﻘﺪﺍﺭ ﺧﻄﺎ ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﮐﺮﺩ‪.‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫‪nt‬‬

‫ﺑﻪ ﺩﻟﻴﻞ ﺷﺮﻭﻉ ﻣﻨﺤﻨﻲ ﻓﺎﺯ ﺍﺯ ‪ ، -90‬ﺳﻴﺴﺘﻢ ﻧﻮﻉ ‪ 1‬ﺍﺳﺖ‪:‬‬

‫‪1 1‬‬
‫= ‪wv = K v = 1 Þ ess‬‬ ‫‪= =1‬‬
‫‪co‬‬

‫‪Kv 1‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪1‬‬
‫‪- Log - Magnitude‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ )ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﻳﻴﺴﺖ(‬
‫‪ee‬‬
‫‪in‬‬
‫ﺩﺭ ﺭﻭﺵ ﺁﻗﺎﻱ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ ،‬ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﺗﺎﺑﻊ ﺣﻠﻘﺔ ﺑﺎﺯ )‪ ، G ( w‬ﺍﺯ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲِ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﺷﻮﺩ ﮐﻪ ﺩﺭ ﺁﻥ‪ ،‬ﻗﺴﻤﺖ‬

‫ﻣﻮﻫﻮﻣﻲِ )‪ ، G ( jw‬ﺑﺮ ﺣﺴﺐ ﻗﺴﻤﺖ ﺣﻘﻴﻘﻲ )‪ G ( jw‬ﺗﺮﺳﻴﻢ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬

‫ﺑﺮﺍﻱ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪ ،‬ﺭﻭﺵﻫﺎﻱ ﻣﺘﻌﺪﺩﻱ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪:‬‬

‫‪nt‬‬

‫‪١‬ـ ﺑﻴﺎﻥ ﻧﻤﻮﺩﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔ ﺑﺎﺯ ﺩﺭ ﻓﺮﻡ ﺩﮐﺎﺭﺗﻲِ })‪ G ( jw) = Re {G ( jw)} + jIm {G ( jw‬ﻭ ﺳﭙﺲ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪.‬‬
‫‪co‬‬

‫‪٢‬ـ ﺑﻴﺎﻥ ﻧﻤﻮﺩﻥ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺭ ﻓﺮﻡ ﻗﻄﺒﻲِ )‪ G ( jw) = G ( jw)  G ( jw‬ﻭ ﺳﭙﺲ ﺭﺳﻢ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪.‬‬

‫‪٣‬ـ ﺭﻭﺵ ﺑﺮﺩﺍﺭﻱ‪.‬‬

‫ﮐﺎﺭﺑﺮﺩ ﺍﺻﻠﻲ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ‪،‬ﺗﺸﺨﻴﺺ ﭘﺎﻳﺪﺍﺭﻱ ﻣﻄﻠﻖ ﻭ ﻳﺎ ﻧﺴﺒﻲ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ،‬ﺍﺯ ﺭﻭﻱ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲِ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺎﺯ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫ﭘﺎﻳﺪﺍﺭﻱ ﺣﻠﻘﻪ ﺑﺎﺯ‪ :‬ﺍﮔﺮ ﮐﻠﻴﺔ ﻗﻄﺐﻫﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﭼﭗ ﺑﺎﺷﻨﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺭﺍ »ﭘﺎﻳﺪﺍﺭ ﺣﻠﻘﻪ ﺑﺎﺯ« ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬

‫ﭘﺎﻳﺪﺍﺭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ :‬ﺍﮔﺮ ﮐﻠﻴﺔ ﻗﻄﺐﻫﺎﻱ ﺗﺎﺑﻊ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﭼﭗ ﺑﺎﺷﻨﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺭﺍ »ﭘﺎﻳﺪﺍﺭ ﺣﻠﻘﻪ ﺑﺴﺘﻪ« ﻣﻲﻧﺎﻣﻴﻢ‪.‬‬
 ‫‪ ٦٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫»ﺗﺌﻮﺭﻱ ﮐﻮﺷﻲ« ﻳﺎ »ﻗﻀﻴﻪ ﺁﺭﮔﻮﻣﺎﻥ« ﻳﺎ »ﻗﻀﻴﺔ ﻧﮕﺎﺷﺖ«‬

‫ﻗﻀﻴﻪ‪ :‬ﻓﺮﺽ ﮐﻨﻴﺪ ﻣﻨﺤﻨﻲ ﺳﺎﻋﺘﮕﺮﺩ ﻭ ﺑﺴﺘﺔ ‪ Cs‬ﺩﺭ ﺻﻔﺤﻪ ‪ ،s‬ﺩﺭ ﺑﺮﮔﻴﺮﻧﺪﺓ ‪ Z‬ﺻﻔﺮ ﻭ ‪ P‬ﻗﻄﺐ ﺍﺯ ﺗﺎﺑﻊِ ) ‪ F ( s‬ﺑﺎﺷﺪ‪) ١‬ﻭ ﺍﺯﺭﻭﻱ ﻫﻴﭻ ﺻﻔﺮ ﻭ‬

‫ﻗﻄﺒﻲ ﻋﺒﻮﺭ ﻧﮑﻨﺪ(‪ .‬ﻣﻨﺤﻨﻲ ‪ Cs‬ﺗﺤﺖ ﻧﮕﺎﺷﺖ ) ‪، F ( s‬ﺑﻪ ﻳﮏ ﻣﻨﺤﻨﻲ ﺳﺎﻋﺘﮕﺮﺩ ﺩﺭ ﺻﻔﺤﺔ ‪ s‬ﻣﺎﻧﻨﺪ ‪ CF‬ﻧﮕﺎﺷﺖ ﻣﻲﺷﻮﺩ‪ ،‬ﺑﻪ ﻗﺴﻤﺘﻲ ﮐﻪ‬

‫‪ N = Z - P , CF‬ﻣﺮﺗﺒﻪ‪ ،‬ﻣﺒﺪﺃ ﺻﻔﺤﻪ ‪ F‬ﺭﺍ ﺩﻭﺭ ﻣﻲﺯﻧﺪ‪.‬‬

‫‪s+2‬‬
‫= ) ‪ F ( s‬ﺑﻪ ﺻﻔﺤﻪ ) ‪ F ( s‬ﻧﮕﺎﺷﺖ‬ ‫ﻣﺜﺎﻝ‪ :‬ﺍﮔﺮ ﻣﺴﻴﺮ ﺑﺴﺘﻪ ﻣﺴﺘﻄﻴﻠﻲ ‪ ، Gs‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺩﺭ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﺭﺍ ﺗﻮﺳﻂ ﺗﺎﺑﻊ‬
‫‪s2‬‬

‫‪.ir‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۰‬‬ ‫ﮐﻨﻴﻢ‪ .‬ﮐﺪﺍﻡ ﻳﮏ ﺍﺯ ﻣﺴﻴﺮﻫﺎﻱ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺣﺎﺻﻞ ﻣﻲﺷﻮﺩ؟‬

‫‪rs‬‬
‫‪(۲‬‬ ‫‪ee‬‬ ‫‪(۱‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪(۴‬‬ ‫‪(۳‬‬
‫‪ro‬‬
‫‪nt‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪co‬‬

‫ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ‪ Gs‬ﺩﻭ ﻋﺪﺩ ﺍﺯ ﻗﻄﺐﻫﺎﻱ ‪ F‬ﺭﺍ ﺩﺭ ﺑﺮ ﮔﺮﻓﺘﻪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻨﺤﻨﻲ ﻧﮕﺎﺷﺖ ‪ N = 0 - 2 = -2, G F‬ﻣﺮﺗﺒﻪ ﻣﺒﺪﺃ ﺻﻔﺤﺔ ‪ F‬ﺭﺍ ﺩﻭﺭ‬

‫ﻣﻲﺯﻧﺪ )ﻳﻌﻨﻲ ﺩﻭ ﻣﺮﺗﺒﻪ ﺩﺭ ﺟﻬﺖ ﭘﺎﺩ ﺳﺎﻋﺘﮕﺮﺩ( ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪(۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ 1‬ـ ﺩﺭ ﺷﻤﺎﺭﺵِ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎ‪ ،‬ﭼﻨﺪﮔﺎﻧﻪ ﺑﻮﺩﻥ ﻳﮏ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻧﻴﺰ ﻣﻨﻈﻮﺭ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٦٥‬‬

‫‪١‬‬
‫ﻣﻌﻴﺎﺭﻱ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‬
‫ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ،‬ﺍﺑﺘﺪﺍ ﮐﺎﻧﺘﻮﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ ٢‬ﺭﺍ ﺗﺤﺖ ﺗﺒﺪﻳﻞ ‪ G‬ﻧﮕﺎﺷﺖ ﻣﻲﮐﻨﻴﻢ‪.‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻭﺍﻗﻊ ﺩﺭ ﻧﻴﻢ ﺻﻔﺤﺔ ﺭﺍﺳﺖ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪Z = N + P = Pu,Cl = N + Pu,Ol‬‬

‫‪ee‬‬
‫‪ : N‬ﺗﻌﺪﺍﺩ ﺩﻭﺭﺍﻥﻫﺎﻱ ﺳﺎﻋﺘﮕﺮﺩ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺣﻮﻝ ﻧﻘﻄﻪ‪(-1) ٣‬‬

‫‪ : P‬ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺭ ﻧﻴﻤﺔ ﺭﺍﺳﺖ ﺻﻔﺤﻪ ‪. s‬‬
‫‪in‬‬
‫‪ : Z‬ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺩﺭ ﻧﻴﻤﺔ ﺭﺍﺳﺖ ﺻﻔﺤﺔ ‪) s‬ﺻﻔﺮﻫﺎﻱ ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ(‪.‬‬
‫‪ng‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺣﻘﻴﻘﺖ »ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭﻱ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ« ﭼﻴﺰﻱ ﻧﻴﺴﺖ ﺟﺰ ﻫﻤﺎﻥ »ﻗﻀﻴﺔ ﺁﺭﮔﻮﻣﺎﻥ« ‪:‬‬
‫‪le‬‬
‫‪ro‬‬

‫ﺑﺎ ﺍﻳﻦ ﺗﻔﺎﻭﺕ ﮐﻪ ﭼﻮﻥ ﻧﻘﻄﺔ ﺻﻔﺮ ﺩﺭ ﺻﻔﺤﻪ ‪ ، F =1 + GH‬ﻣﻌﺎﺩﻝِ ﻧﻘﻄﻪ )‪ ( -1‬ﺩﺭ ﺻﻔﺤﺔ ‪ GH‬ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺑﻪ ﺟﺎﻱ ﻧﮕﺎﺷﺖ ﮐﺮﺩﻥ ﻣﻨﺤﻨﻲ ‪D‬‬

‫ﺗﺤﺖ ﺗﺎﺑﻊ ‪ F‬ﻭ ﻣﺤﺎﺳﺒﺔ ﺗﻌﺪﺍﺩ ﺩﻭﺭﺍﻥﻫﺎﻱ ﻣﻨﺤﻨﻲ ‪ F‬ﺣﻮﻝ ﻣﺒﺪﺃ ﺻﻔﺤﺔ ‪ ، ( N F ) ، F‬ﻣﻨﺤﻨﻲ ‪ D‬ﺭﺍ ﺗﺤﺖ ﺗﺎﺑﻊ ﺳﺎﺩﺓ ‪ GH‬ﻧﮕﺎﺷﺖ ﻣﻲﮐﻨﻴﻢ ﻭ‬
‫‪nt‬‬

‫ﺗﻌﺪﺍﺩ ﺩﻭﺭﺍﻥﻫﺎﻱ ﻣﻨﺤﻨﻲ ‪ GH‬ﺣﻮﻝ ﻧﻘﻄﺔ )‪ (-1‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪.‬‬

‫‪co‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺮﺍﻱ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻥ ‪ N‬ﺩﺭ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖِ ﮐﺎﻣﻞ ﺷﺪﻩ‪ 2 ،‬ﺭﻭﺵ ﺭﺍﻳﺞ ﺍﺳﺖ‪ .‬ﺩﺭ ﻫﺮ ﺩﻭ ﺭﻭﺵ‪ ،‬ﺍﺑﺘﺪﺍ ﺍﺯ ﻧﻘﻄﺔ )‪ ، (-1‬ﺑﺮﺩﺍﺭﻱ ﺑﻪ‬

‫ﻃﺮﻑ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺭﺳﻢ ﻣﻲﮐﻨﻴﻢ‪ ،‬ﻃﻮﺭﻱ ﮐﻪ ﺍﺑﺘﺪﺍﻱ ﺑﺮﺩﺍﺭ ﺭﻭﻱ ﻧﻘﻄﺔ )‪ ( -1‬ﻭ ﺍﻧﺘﻬﺎﻱ ﺁﻥ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺭﺍ ﻗﻄﻊ ﮐﻨﺪ‪:‬‬

‫‪1‬‬
‫ـ ﺑﻴﺎﻥ ﺍﺻﻠﻲ ﻣﻌﻴﺎﺭ ﭘﺎﻳﺪﺍﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ :‬ﻳﮏ ﺳﻴﺴﺘﻢ ﻓﻴﺪﺑﮏ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ ﺍﮔﺮ ﻭ ﻓﻘﻂ ﺍﮔﺮ‪ ،‬ﺗﻌﺪﺍﺩ ﺩﻭﺭﺍﻥﻫﺎﻱ ﭘﺎﺩ ﺳﺎﻋﺘﮕﺮﺩِ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺣﻮﻝ ﻧﻘﻄﺔ )‪، (-1‬ﺑﺎ ﺗﻌﺪﺍﺩ‬
‫ﻗﻄﺐﻫﺎﻱ ﺑﺎ ﻗﺴﻤﺖ ﺣﻘﻴﻘﻲِ ﻣﺜﺒﺖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺮﺍﺑﺮ ﺑﺎﺷﺪ ) ‪. ( N = - P‬‬
‫‪ 2‬ـ ﻣﻨﺤﻨﻲ ‪ D‬ﺭﺍ »ﻣﺴﻴﺮ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ« ﻧﻴﺰ ﻣﻲﻧﺎﻣﻨﺪ‪.‬‬
‫‪ 3‬ـ ﺑﻪ ﻫﻤﻴﻦ ﺗﺮﺗﻴﺐ ﺑﺮﺍﻱ ﺗﺤﻠﻴﻞ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺑﺎ ﻓﻴﺪﺑﮏ ﻣﺜﺒﺖ‪ N ،‬ﺗﻌﺪﺍﺩ ﺩﻭﺭﺍﻥﻫﺎﻱ ﺣﻮﻝ ﻧﻘﻄﻪ )‪ (+1‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
 ‫‪ ٦٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺭﻭﺵ ﺍﻭﻝ‪ :‬ﺑﺎ ﺗﻐﻴﻴﺮ ‪ w‬ﺍﺯ ‪ -¥‬ﺗﺎ ‪ ، +¥‬ﮐﻞ ﺗﻴﻐﻴﺮ ﻓﺎﺯﻱ ﺭﺍ ﮐﻪ ﺑﻪ ﻭﺟﻮﺩ ﺁﻣﺪﻩ ﻣﺤﺎﺳﺒﻪ ﻣﻲﮐﻨﻴﻢ‪ .‬ﺑﻪ ﺍﺯﺍﻱ ﻫﺮ ﺩﻭﺭﺍﻥ ﺳﺎﻋﺘﮕﺮﺩ ‪ N ,360‬ﻳﮏ‬

‫ﻭﺍﺣﺪ ﺯﻳﺎﺩ ﻣﻲﺷﻮﺩ‪.‬‬

‫ﺭﻭﺵ ﺩﻭﻡ ‪ :‬ﺗﻌﺪﺍﺩ ﺗﻘﺎﻃﻊﻫﺎﻱ ﺍﻳﻦ ﺑﺮﺩﺍﺭ ﺭﺍ ﺑﺎ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻣﻲﺷﻤﺎﺭﻳﻢ‪ .‬ﺑﺪﻳﻦ ﺗﺮﺗﻴﺐ ﮐﻪ ﺗﻘﺎﻃﻊ ﺑﺎ ﺩﻭﺭﺍﻥﻫﺎﻱ ﺳﺎﻋﺘﮕﺮﺩ ﺭﺍ ﻣﺜﺒﺖ‪ ،‬ﻭ ﺗﻘﺎﻃﻊ‬
‫‪١‬‬
‫ﺑﺎ ﺩﻭﺭﺍﻥﻫﺎﻱ ﭘﺎﺩ ﺳﺎﻋﺘﮕﺮﺩ ﺭﺍ ﻣﻨﻔﻲ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪ .‬ﺟﻤﻊ ﺟﺒﺮﻱ ﺍﻳﻦ ﺗﻘﺎﻃﻊ‪ N ،‬ﺭﺍ ﺑﻪ ﺩﺳﺖ ﻣﻲﺩﻫﺪ‪.‬‬

‫‪٢‬‬
‫ﺭﺳﻢ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ‬

‫‪.ir‬‬
‫ﺭﻭﺵ ﮐﻼﺳﻴﮏِ ﺗﺮﺳﻴﻢ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ ،‬ﺑﺎﺯﻧﻮﻳﺴﻲ ﺗﺎﺑﻊ ﻣﻮﺭﺩ ﻧﻈﺮ ﺑﻪ ﻓﺮﻡ ﺩﮐﺎﺭﺗﻲ ﻳﺎ ﻗﻄﺒﻲ ﻭ ﺳﭙﺲ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﻘﻄﻪ ﻳﺎﺑﻲ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ‬

‫ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺭﻭﺵ ﻧﻘﻄﻪ ﻳﺎﺑﻲ‪،‬ﺭﻭﺵ ﻧﺴﺒﺘﺎﹰ ﻃﻮﻻﻧﻲ ﻭ ﺯﻣﺎﻧﺒﺮ ﺍﺳﺖ‪ ،‬ﺭﻫﻴﺎﻓﺖ ﮐﻠﹼﻲ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻧﺪ ﺳﺮﻋﺖ ﺭﺳﻢ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺭﺍ ﺍﻓﺰﺍﻳﺶ ﺑﺪﻫﺪ‪:‬‬

‫‪rs‬‬
‫‪١‬ـ ﻧﮕﺎﺷﺖ ﻧﻤﻮﺩﻥِ‪ ٣‬ﻧﻘﻄﺔ ‪) w = 0+‬ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺗﺎﺑﻊ(‬

‫‪ee‬‬
‫‪æ‬‬ ‫‪ö‬‬
‫‪٢‬ـ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ﺣﻮﺍﻟﻲ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ ‪ ، jw‬ﻭ ﺩﺭ ﻧﻘﻄﺔ ÷ ‪ . s = ± aj ç s = ja + re jq‬ﺍﻳﻦ ﮐﺎﺭ ﺩﺭ ﺩﻭ‬
‫‪è‬‬ ‫‪r ®0‬‬ ‫‪ø‬‬
‫‪in‬‬
‫ﺣﺎﻟﺖ ﻣﻲﺗﻮﺍﻧﺪ ﺍﻧﺠﺎﻡ ﺑﮕﻴﺮﺩ‪:‬‬

‫ﺐ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ‬
‫ﺣﺎﻟﺖ ﺍﻭﻝ ـ ‪ exclude‬ﮐﺮﺩﻥِ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ ‪ : jw‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﻣﻨﺤﻨﻲِ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ )‪ (D‬ﺑﻪ ﻧﺤﻮﻱ ﺻﻔﺮ ﻳﺎ ﻗﻄ ِ‬
‫‪ng‬‬

‫‪ jw‬ﺭﺍ ﺩﻭﺭ ﻣﻲﺯﻧﺪ ﮐﻪ ﺍﻳﻦ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ‪ ،‬ﺩﺭﻭﻥِ ﻣﻨﺤﻨﻲ ‪ D‬ﻗﺮﺍﺭ ﻧﻤﻲﮔﻴﺮﻧﺪ‪ .‬ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﺩﺭ ﺷﮑﻞ ﻧﻴﺰ ﻧﺸﺎﻥ ﺩﺍﺩﻩﺍﻳﻢ‪ .‬ﻣﻌﻤﻮﻻﹰ ﺩﺭ ﺍﻳﻦ ﻣﺮﺣﻠﻪ‪،‬‬

‫ﻧﮕﺎﺷﺖِ ﺳﻪ ﻧﻘﻄﺔ ﻣﺸﺨﺺ ﺷﺪﻩ‪) ،‬ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ‪ r ® 0‬ﻣﻴﻞ ﻣﻲﮐﻨﺪ(‪ ،‬ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ‪:‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬

‫‪ 1‬ـ ﺍﻳﻦ ﺑﺮﺩﺍﺭ ﻫﺮ ﺟﻬﺘﻲ ﻣﻲﺗﻮﺍﻧﺪ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪.‬‬

‫‪ 2‬ـ ﻟﻄﻔﺎﹰ ﺍﺷﺘﺒﺎﻩ ﻧﮑﻨﻴﺪ! ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻫﻤﺎﻥ ﻣﻨﺤﻨﻲ ‪) D‬ﺩﺭ ﺻﻔﺤﺔ ‪ (s‬ﺍﺳﺖ ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﻳﺎ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ‪۰‬ﮐﻪ ﺩﺭ ﺻﻔﺤﺔ ‪ GH‬ﺭﺳﻢ ﻣﻲﺷﻮﺩ(‪،‬‬
‫ﻧﮕﺎﺷﺖِ ﻣﻨﺤﻨﻲِ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺗﺤﺖ ﺗﺎﺑﻊ ‪ GH‬ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫‪ 3‬ـ ﺍﻟﺒﺘﻪ ﺑﻪ ﺷﺮﻃﻲ ﮐﻪ ‪ s=0‬ﻗﻄﺐ ‪ GH‬ﻧﺒﺎﺷﺪ )ﺍﮔﺮ ‪ s=0‬ﻗﻄﺐ ‪ GH‬ﺑﻮﺩ‪ ،‬ﺑﻪ ﻣﺮﺣﻠﻪ ‪ 2‬ﻣﻲﺭﻭﻳﻢ‪.‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٦٧‬‬

‫ﺐ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ‬
‫ﺣﺎﻟﺖ ﺩﻭﻡ ـ ‪ include‬ﮐﺮﺩﻥِ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ ‪ : jw‬ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ‪ ،‬ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ )‪ (D‬ﺑﻪ ﻧﺤﻮﻱ ﺻﻔﺮ ﻳﺎ ﻗﻄ ِ‬

‫‪ jw‬ﺭﺍ ﺩﻭﺭ ﻣﻲﺯﻧﺪ ﮐﻪ ﺍﻳﻦ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ‪ ،‬ﺩﺭﻭﻥ ﻣﻨﺤﻨﻲ ‪ D‬ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﻧﺪ‪ .‬ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﺩﺭ ﺷﮑﻞ ﻧﻴﺰ ﻧﺸﺎﻥ ﺩﺍﺩﻩﺍﻳﻢ‪ ،‬ﻣﻌﻤﻮﻻﹰ ﺩﺭ ﺍﻳﻦ ﻣﺮﺣﻠﻪ‪،‬‬

‫ﻧﮕﺎﺷﺖِ ﺳﻪ ﻧﻘﻄﻪ ﻣﺸﺨﺺ ﺷﺪﻩ )ﺩﺭ ﺣﺎﻟﻴﮑﻪ ‪ r ® 0‬ﻣﻴﻞ ﻣﻲﮐﻨﺪ(‪ ،‬ﻣﺤﺎﺳﺒﻪ ﻣﻲﮔﺮﺩﺩ‪:‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫)‪lim GH ( j w‬‬
‫‪w®¥‬‬
‫‪ee‬‬ ‫‪۳‬ـ ﻳﺎﻓﺘﻦ ﻧﮕﺎﺷﺖِ ﺑﺎﻗﻴﻤﺎﻧﺪﺓ ﻣﺤﻮﺭ ‪: ( w® ¥ ) j w‬‬
‫‪in‬‬
‫) ‪lim GH ( s‬‬ ‫‪۴‬ـ ﻳﺎﻓﺘﻦ ﻧﮕﺎﺷﺖ ﻧﻴﻤﺪﺍﻳﺮﻩ ﻋﻈﻴﻤﻪ‪ w ،‬ﺍﺯ ‪ w = +¥‬ﺗﺎ ‪: w = -¥‬‬
‫‪r ®¥‬‬ ‫‪s = re jq‬‬
‫‪ng‬‬

‫‪ E‬ﻧﮑﺎﺕ ﺗﮑﻤﻴﻠﻲ ‪ :‬ﺑﻪ ﻣﻨﻈﻮﺭ ﺭﺳﻢ ﺩﻗﻴﻖﺗﺮِ ﺩﻳﺎﮔﺮﺍﻡﻫﺎﻱ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ ﻧﮑﺎﺕ ﺯﻳﺮ ﻧﻴﺰ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ‪:‬‬

‫‪١‬ـ ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﺤﻞ ﺗﻼﻗﻲِ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﻭ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪ ،‬ﮐﺎﻓﻴﺴﺖ ﭘﺲ ﺍﺯ ﺣﻞِ ﻣﻌﺎﺩﻟﺔ ‪ Im {G ( j w)} = 0‬ﻭ ﻳﺎﻓﺘﻦ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊِ‬
‫‪le‬‬

‫‪ w= w1‬ﻣﻘﺪﺍﺭ }) ‪ a = Re {G ( j w1‬ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﮐﻨﻴﻢ‪.‬‬

‫‪ro‬‬

‫‪٢‬ـ ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻣﺤﻞ ﺗﻼﻗﻲِﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﻭ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‪ ،‬ﮐﺎﻓﻴﺴﺖ ﭘﺲ ﺍﺯ ﺣﻞِ ﻣﻌﺎﺩﻟﺔ ‪ RE {G ( jw)} = 0‬ﻭ ﻳﺎﻓﺘﻦ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ‬

‫‪ ، w = w1‬ﻣﻘﺪﺍﺭ }) ‪ b = Im {G ( j w1‬ﺭﺍ ﻣﺤﺎﺳﺒﻪ ﮐﻨﻴﻢ‪.‬‬

‫‪nt‬‬
‫‪co‬‬
 ‫‪ ٦٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪٣‬ـ ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﺿﺎﺑﻄﺔ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺍﺯ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺍﺯ ﺭﻭﺵ ﺯﻳﺮ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﻢ )ﺍﻳﻦ ﻓﺎﺻﻠﺔ‪ ،‬ﻣﻌﻤﻮﻻﹰ ﺩﺭ ﻓﺮﮐﺎﻧﺲ ‪w = 0‬‬

‫ﻣﺤﺎﺳﺒﻪ ﻣﻲﺷﻮﺩ( ‪:‬‬

‫‪.ir‬‬
‫‪1‬‬
‫= ) ‪ GH ( s‬ﺭﺍ ﺭﺳﻢ ﮐﻨﻴﺪ‪.‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ﻗﻄﺒﻲِ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞِ ﺣﻠﻘﺔ‬
‫)‪s ( t s + 1‬‬

‫‪rs‬‬
‫ﺣﻞ ‪:‬‬
‫ﻣﺮﺣﻠﻪ ﺍﻭﻝ ـ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﮑﻪ ‪ s = 0‬ﺟﺰﻭ ﺩﺍﻣﻨﺔ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞِﺣﻠﻘﻪ ) ‪ GH ( s‬ﻧﻤﻲﺑﺎﺷﺪ‪ ،‬ﺍﻣﮑﺎﻥ ﻧﮕﺎﺷﺖ ﮐﺮﺩﻥِ ﺁﻥ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ ﻭ ﺑﻪ ﻣﺮﺣﻠﺔ ﺩﻭﻡ‬

‫‪ee‬‬
‫ﻣﻲﺭﻭﻳﻢ‪.‬‬

‫ﻣﺮﺣﻠﺔ ﺩﻭﻡ ـ ‪ s = 0‬ﻗﻄﺐ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﺯ ﻃﺮﻓﻲ ﻃﺒﻖ ﻗﻀﻴﺔ ﮐﻮﺷﻲ‪ ،‬ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ )‪ (D‬ﻧﺒﺎﻳﺪ ﺍﺯ ﺭﻭﻱ ﻫﻴﭻ ﺻﻔﺮ ﻳﺎ ﻗﻄﺒﻲ ﻋﺒﻮﺭ‬
‫‪in‬‬
‫ﮐﻨﺪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺑﻪ ﻫﺮ ﻳﮏ ﺍﺯ ﺩﺍﻭ ﺷﮑﻞ ﺯﻳﺮ ﻣﻲﺗﻮﺍﻧﺪ ﺍﻧﺘﺨﺎﺏ ﺷﻮﺩ‪:‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬

‫ﻧﮑﺘﻪ ‪ :‬ﮔﺮﭼﻪ ‪ include1‬ﻳﺎ ‪ ٢ exclude‬ﮐﺮﺩﻥِ ﺻﻔﺮ ﻭ ﻗﻄﺒﻲ ﮐﻪ ﺭﻭﻱ ﻣﺤﻮﺭ ‪ jw‬ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺑﺎﻋﺚ ﺗﻔﺎﻭﺕ ﺩﺭ ﺷﮑﻞ ﻧﻬﺎﻳﻲ ﻣﻨﺤﻨﻲ‬ ‫‪E‬‬
‫‪co‬‬

‫ﻗﻄﺒﻲ ﻣﻲﺷﻮﺩ‪ ،‬ﺍﻣﺎ ﺗﺄﺛﻴﺮﻱ ﺩﺭ ﺑﺮﺭﺳﻲ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻧﺪﺍﺭﺩ )ﺣﺎﻟﺖ ﭘﻴﺶﻓﺮﺽ‪ ،‬ﺣﺎﻟﺖ ‪ exlude‬ﮐﺮﺩﻥِ ﻗﻄﺐ ﻣﻲﺑﺎﺷﺪ‪(.‬‬

‫ﺑﺎ ﻓﺮﺽ ‪ exclude‬ﮐﺮﺩﻥِ ‪ ، s = 0‬ﺑﻪ ﺑﺮﺭﺳﻲِ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ﺣﻮﺍﻟﻲ ‪ s = 0‬ﻣﻲﭘﺮﺩﺍﺯﻳﻢ‪:‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬

‫‪lim GH ( s ) = lim‬‬ ‫‪» lim = lim‬‬ ‫‪= lim e - jq‬‬
‫‪r ®0‬‬ ‫‪r ® 0 s ( t s + 1) r ® 0 s r ® re‬‬ ‫‪j‬‬ ‫‪q‬‬ ‫‪r ®0 r‬‬

‫‪1‬‬
‫ﺷﺎﻣﻞ ﺑﻮﺩﻥ‪ ،‬ﺩﺭ ﺑﺮ ﺩﺍﺷﺘﻦ = ‪- include‬‬
‫‪2‬‬
‫ﺧﺎﺭﺝ ﮐﺮﺩﻥ‪ ،‬ﻣﺴﺘﺜﻨﻲ ﮐﺮﺩﻥ = ‪- exclude‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٦٩‬‬

‫‪١‬‬
‫ﺩﻟﻴﻞ ﺍﻧﺤﺮﺍﻑ ﺍﻧﺪﮎِ ﻧﻘﻄﻪ ‪ B‬ﺑﻪ ﺳﻤﺖ ﭼﭗِ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ‪ ،‬ﻭﺟﻮﺩِ ﺟﻤﻠﺔ )‪ ( t s +1‬ﺩﺭ ﻣﺨﺮﺝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫(‬ ‫)‬
‫ﻣﺮﺣﻠﻪ ﺳﻮﻡ ـ ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻧﮕﺎﺷﺖ ﺑﺎﻗﻴﻤﺎﻧﺪﻩ ﻣﺤﻮﺭ ‪ ، 0+ < w< ¥ j w‬ﭘﺲ ﺍﺯ ﺟﺎﻧﺸﺎﻧﻲ ‪ s = j w‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪.ir‬‬
‫‪1‬‬ ‫‪1‬‬ ‫‪æ‬‬ ‫‪wt ö‬‬
‫‪GH ( j w) = lim‬‬ ‫‪= lim‬‬ ‫‪ - ç 90 + tan -1‬‬ ‫÷‬
‫‪w®¥ jw ( j wt + 1) w®¥‬‬ ‫‪2‬‬ ‫‪è‬‬ ‫‪1 ø‬‬
‫‪w‬‬ ‫) (‬
‫‪t‬‬ ‫‪w‬‬ ‫‪+‬‬ ‫‪1‬‬

‫‪rs‬‬
‫ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﻣﻲﺑﻴﻨﻴﻢ‪ ،‬ﺑﺎ ﻣﻴﻞ ﮐﺮﺩﻥِ ‪ ، w® ¥‬ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺑﺎ ﺯﺍﻭﻳﻪﺍﻱ ﺣﺪﻭﺩ ‪ -179‬ﺑﻪ ﻣﺒﺪﺃ ﻧﺰﺩﻳﮏ ﻣﻲﺷﻮﺩ‪ .‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ‬

‫‪ee‬‬
‫ﺗﺸﺨﻴﺺ ﺩﻗﻴﻖ ﺯﺍﻭﻳﻪﻫﺎ ﮔﺎﻫﺎﹰ ﻣﻲﺗﻮﺍﻧﺪ ﮐﻤﮏ ﺑﺰﺭﮔﻲ ﺑﺮﺍﻱ ﺣﻞ ﺗﺴﺖ ﺑﺎﺷﺪ!‬

‫ﻣﺜﻼﹰ‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﺩﺭ ﺩﻭ ﺷﮑﻞ ﻓﻮﻕ ﻣﻲﺑﻴﻨﻴﻢ‪ ،‬ﺯﺍﻭﻳﺔ ﻭﺭﻭﺩ ﺑﻪ ﻣﺒﺪﺃ ﺩﺭ ﺷﮑﻞ ‪ ۱‬ﺣﺪﻭﺩﺍﹰ ‪ -181‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ‪ ،‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﻗﻄﻌﺎﹰ ﺑﺎﻳﺪ‬
‫‪ro‬‬

‫ﻣﺤﻮﺭ ‪ Re‬ﺭﺍ ﻗﻄﻊ ﮐﺮﺩﻩ ﺑﺎﺷﺪ ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ﺷﮑﻞ ‪ ،۲‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺳﻴﺴﺘﻤﻲ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ ﮐﻪ ﺯﺍﻭﻳﺔ ﻭﺭﻭﺩ ﺑﻪ ﻣﺒﺪﺃﻱ ﺩﺭ ﺣﺪﻭﺩ ‪-179‬‬
‫‪nt‬‬

‫ﺩﺍﺭﺩ ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻲﺗﻮﺍﻧﺪ ﺑﺪﻭﻥ ﻗﻄﻊ ﻧﻤﻮﺩﻥ ﻣﺤﻮﺭ ‪ Re‬ﺑﻪ ﻣﺒﺪﺃ ﻭﺍﺭﺩ ﺷﻮﺩ‪.‬‬
‫‪co‬‬

‫ﻣﺮﺣﻠﻪ ﭼﻬﺎﺭﻡ ـ ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ﻧﮕﺎﺷﺖ ﻧﻴﻤﺪﺍﻳﺮﻩ ﻋﻈﻴﻤﻪ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻋﻤﻞ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬

‫‪lim GH ( s ) = lim‬‬ ‫‪» lim‬‬ ‫‪= lim‬‬
‫‪r ®¥ t s‬‬ ‫‪2‬‬ ‫‪r ®¥ t2‬‬ ‫‪2 + j2 f‬‬
‫‪r ®¥‬‬ ‫‪+s‬‬ ‫‪r ®¥ t r‬‬ ‫‪e‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﺔ ﻓﻮﻕ‪ ،‬ﮐﻞ ﻧﻴﻤﺪﺍﻳﺮﺓ ﻋﻈﻴﻤﻪ ﺑﻪ ﻣﺒﺪﺃ ﺻﻔﺤﻪ ‪ GH‬ﻧﮕﺎﺷﺖ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪ 1‬ـ ﺑﺮﺍﻱ ﺍﺛﺒﺎﺕ ﺍﻳﻦ ﻣﻮﺿﻮﻉ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﺪ ﺍﺯ ﻣﻔﻬﻮﻡ ﺑﺮﺩﺍﺭﻫﺎ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﻴﺪ‪ .‬ﺩﺭ ﺣﻘﻴﻘﺖ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ﻣﺠﻤﻮﻉ ﺯﺍﻭﻳﺔ ﺑﺮﺩﺍﺭﻫﺎﻳﻲ ﮐﻪ ﺍﺯ ﻫﺮ ﻳﮏ ﺍﺯ ﺩﻭ ﻗﻄﺐ‪ ،‬ﺑﻪ ﻧﻘﻄﻪ ‪ B‬ﻣﺘﺼﻞ‬

‫ﻣﻲﺑﺎﺷﺪ )ﻣﺜﻼﹰ ‪، (91‬ﻟﺬﺍ ﻧﮕﺎﺷﺖ ﻳﺎﻓﺘﺔ ﻧﻘﻄﺔ ‪ B‬ﻧﻴﺰ ﻭﺍﺭﺩ ﺭﺑﻊ ﺳﻮﻡ ﻣﻲﺷﻮﺩ‪.‬‬ ‫ﻣﻲﺷﻮﺩ‪ ،‬ﮐﻤﻲ ﺑﻴﺶ ﺍﺯ ‪90‬‬
 ‫‪ ٧٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺑﺮﺍﻱ ﺭﺳﻢ ﺩﻗﻴﻖﺗﺮ ﻣﻨﻨﻲ ﻗﻄﺒﻲ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﺮﺍﻱ ﻓﺎﺻﻠﺔ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺍﺯ ﻣﺤﻮﺭ ﻣﻮﻫﻮﻣﻲ ﺭﺍ ﻧﻴﺰ ﻣﺤﺎﺳﺒﻪ ﮐﻨﻴﻢ‪:‬‬

‫‪ìï‬‬ ‫‪1‬‬ ‫‪üï‬‬ ‫‪-t‬‬

‫‪x = lim Re í‬‬ ‫‪ý = lim‬‬ ‫‪=-t‬‬
‫‪îï j w ( j t w+ 1) þï w®0 ( t w) + 1‬‬
‫‪w® 0‬‬ ‫‪2‬‬

‫ﺷﮑﻞ ﺯﻳﺮ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺗﮑﻤﻴﻞ ﺷﺪﺓ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ‪) .‬ﻗﺴﻤﺖ ﻧﻘﻄﻪ ﭼﻴﻦ‪ ،‬ﻧﮕﺎﺷﺖ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﻣﻨﻔﻲ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ(‪.‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﻩ ﺍﻳﻦ ﺗﺴﺖ ﻣﻲﺗﻮﺍﻧﻴﻢ ﻧﮑﺎﺕ ﮐﻠﻲ ﺯﻳﺮ ﺭﺍ ﻧﺘﻴﺠﻪ ﺑﮕﻴﺮﻳﻢ‪:‬‬
‫‪in‬‬
‫‪ E‬ﻧﮑﺘﻪ ‪:١‬‬
‫‪ng‬‬

‫(‬ ‫)‬
‫‪(١‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ‪ ،‬ﺗﻨﻬﺎ ﮐﺎﻓﻴﺴﺖ ﮐﻪ ﻧﮕﺎﺷﺖ ﺭﺍ ﺑﻪ ﺍﺯﺍﻱ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﻣﺜﺒﺖ ‪ 0+ < w< ¥‬ﺭﺳﻢ ﮐﻨﻴﻢ‪ .‬ﻧﮕﺎﺷﺖِ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﻣﻨﻔﻲ‬

‫(‬ ‫)‬
‫‪le‬‬

‫‪ ، -¥ < w< 0-‬ﻗﺮﻳﻨﺔ ﻧﮕﺎﺷﺖِ ﻓﺮﮐﺎﻧﺲﻫﺎﻱ ﻣﺜﺒﺖ ﻧﺴﺒﺖ ﺑﻪ ﻣﺤﻮﺭ ‪ Re‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪) .‬ﺩﺭ ﺣﻘﻴﻘﺖ ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ ﺑﻮﺩ ﮐﻪ ﻧﮕﺎﺷﺖ ﻗﺴﻤﺘﻲ‬

‫ﭘﺎﻳﻴﻨﻲ ‪ ١ detour‬ﺭﺍ ﺑﻪ ﺩﺳﺖ ﻧﻴﺎﻭﺭﺩﻳﻢ(‪.‬‬

‫ِ‬
‫‪ro‬‬

‫‪ (۲‬ﺑﺮﺍﻱ ﺑﺮﺭﺳﻲ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ﺍﻃﺮﺍﻑ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐِ ‪ s = ± a j‬ﻓﻘﻂ ﺟﻤﻠﺔ ﻣﺮﺑﻮﻁ ﺑﻪ ﺁﻥ ﺻﻔﺮ ﻳﺎ ﻗﻄﺐ )ﻳﻌﻨﻲ ‪ ( s 2 + a 2‬ﺭﺍ ﻫﻨﮕﺎﻡ‬
‫‪nt‬‬

‫ﺣﺪﮔﻴﺮﻱ ﺍﺯ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪) .‬ﺩﺭ ﺣﻘﻴﻘﺖ ﺩﺭ ﺍﻳﻦ ﺣﺎﻟﺖ ﺍﻧﺪﺯﻩ ﻭ ﻓﺎﺯِ ﺳﺎﻳﺮ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎ ﺭﻭﻱ ‪ detour‬ﺗﻘﺮﻳﺒﺎﹰ ﺛﺎﺑﺖ ﺍﺳﺖ(‪.‬‬

‫‪ (۳‬ﺍﺯ ﺭﻭﻱ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﻳﮏ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ ، w = 0+‬ﺑﻪ ﻫﻴﭻ ﻭﺟﻪ ﻧﻤﻲﺗﻮﺍﻧﻴﻢ ﻧﺎﺳﺮﻩ‪ ،‬ﺳﺮﻩ ﻳﺎ ﺍﮐﻴﺪﺍﹰ ﺳﺮﻩ ﺑﻮﺩﻥِ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﺸﺨﻴﺺ ﺩﻫﻴﻢ‪.‬‬
‫‪co‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪:٢‬‬

‫‪(١‬ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ‪، w® ¥‬ﺑﻪ ﻳﮑﻲ ﺍﺯ ﺳﻪ ﺷﮑﻞ ﺯﻳﺮ ﺍﺳﺖ‪:٢‬‬

‫ﺍﻟﻒ( ﺗﻮﺍﺑﻊ ﺍﮐﻴﺪﺍﹰ ﺳﺮﻩ‪ :‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ‪ ، w= ¥‬ﻭﺍﺭﺩ ﻣﺒﺪﺃ ﻣﻲﺷﻮﺩ‪) .‬ﺍﻳﻦ ﻭﺭﻭﺩ‪ ،‬ﺍﺯ ﻫﺮ ﻃﺮﻑ ﻣﻲﺗﻮﺍﻧﺪ ﺍﻧﺠﺎﻡ ﺷﻮﺩ(‪:‬‬

‫ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ ﺍﻧﺪﮐﻲ ﺑﺎ ﻣﺴﻴﺮ ﺍﺻﻠﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ )ﮐﺎﻳﮑﻮﺋﻴﺴﺖ( ﻣﺘﻔﺎﻭﺕ‬ ‫‪ 1‬ـ ﺑﺮﺍﻱ ﺁﻥ ﮐﻪ ﻧﺸﺎﻥ ﺩﻫﻴﻢ ﻣﺴﻴﺮِ ﻧﺎﻳﮑﻮﺋﻴﺴﺘﻲ ﮐﻪ ﺑﺮﺍﻱ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎﻱ ﻭﺍﻗﻊ ﺑﺮ ﻣﺤﻮﺭ ‪jw‬‬
‫ﺍﺳﺖ‪ ،‬ﻣﺴﻴﺮ ﻧﻴﮑﻮﺋﻴﺴﺖ ﺩﺭ ﺍﻃﺮﺍﻑ ﺍﻳﻨﮕﻮﻧﻪ ﺻﻔﺮ ﻭ ﻗﻄﺐﻫﺎ ﺭﺍ ‪) detour‬ﺩﻳﺘﻮﺭ( ﻣﻲﻧﺎﻣﻴﻢ )‪ detour‬ﺩﺭ ﻟﻐﺖ ﺑﻪ ﻣﻌﻨﺎﻱ »ﺍﻧﺤﺮﺍﻑ ﺍﺯ ﺧﻂ ﻣﺴﻴﺮ ﺍﺻﻠﻲ« ﻣﻲﺑﺎﺷﺪ(‪.‬‬
‫‪ 2‬ـ ﺍﻳﻦ ﻧﮑﺘﻪ ﺷﺎﻣﻞ ﺭﻓﺘﺎﺭ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺑﻪ ﺍﺯﺍﻱ ﻧﮕﺎﺷﺖ ﻧﻴﻤﺪﺍﻳﺮﺓ ﻋﻈﻴﻤﻪ ﻧﻴﺰ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٧١‬‬

‫ﺏ( ﺗﻮﺍﺑﻊ ﺳﺮﻩ‪ :‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ‪ ، w= ¥‬ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﻣﺤﺪﻭﺩ ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪) ،‬ﺑﻪ ﺟﺰ ﻣﺒﺪﺃ( ﻭﺍﺭﺩ ﻣﻲﺷﻮﺩ‪:‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﺝ(ﺗﻮﺍﺑﻊ ﻧﺎﺳﺮﻩ‪ :‬ﮐﻤﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ‪ ، w = ¥‬ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﺩﺭ ﺑﻲﻧﻬﺎﻳﺖ ﻣﻴﻞ ﻣﻲﮐﻨﺪ‪:‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪ (٢‬ﺩﺭ ﮐﻠﻴﺔ ﺳﻴﺴﺘﻢﻫﺎ )ﻧﺎﺳﺮﻩ‪،‬ﺳﺮﻩ ﻭ ﺍﮐﻴﺪﺍﹰ ﺳﺮﻩ( ‪،‬ﺯﺍﻭﻳﻪ ‪ GH‬ﺑﻪ ﺍﺯﺍﻱ ‪ -90 ( n - m ) , w ® ¥‬ﻣﻲﺑﺎﺷﺪ‪ n) .‬ﺩﺭﺟﺔ ﻣﺨﺮﺝ‪ m ،‬ﺩﺭﺟﺔ‬
‫‪ro‬‬

‫ﺻﻮﺭﺕ(‪ .‬ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﺍﻳﻦ ﻧﮑﺘﻪ ﻫﻴﭽﮕﻮﻧﻪ ﺍﺭﺗﺒﺎﻃﻲ ﺑﻪ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ ﺑﻮﺩﻥ ﺳﻴﺴﺘﻢ ﻧﺪﺍﺭﺩ )ﺍﺛﺒﺎﺕ ﺍﻳﻦ ﻧﮑﺘﻪ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻔﻬﻮﻡ ﺑﺮﺩﺍﺭﻫﺎ ﻣﻲﺗﻮﺍﻧﺪ‬
‫‪nt‬‬

‫ﺍﻧﺠﺎﻡ ﺷﻮﺩ(‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪:٣‬‬
‫‪co‬‬

‫‪1‬‬
‫ﺑﺎﺷﺪ(‪ ،‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺩﺭ ‪) w = 0+‬ﻧﻘﻄﺔ ﺑﺎﻻﻳﻲِ‬ ‫‪(١‬ﭼﻨﺎﻧﭽﻪ ‪ GH‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔ ﻳﮏ ﺳﻴﺴﺘﻢ »ﻧﻮﻉ ‪ «N‬ﺑﺎﺷﺪ )‪ GH‬ﺩﺍﺭﺍﻱ ﻋﺎﻣﻞِ‬
‫‪SN‬‬

‫ﺩﻳﺘﻮﺭ(‪ ،‬ﺍﺯ ﻳﮏ ﻣﺤﻞ ﺩﻭﺭ ﻭ ﻣﺠﺎﻧﺐ ﺑﺎ ﺧﻂ ﻋﻤﻮﺩﻱﺍﻱ ﮐﻪ ﺩﺭ ﺯﺍﻭﻳﺔ ‪ -90 N‬ﺩﺭﺟﻪ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ ،‬ﺷﺮﻭﻉ ﻣﻲﮔﺮﺩﺩ‪) ١.‬ﻧﮕﺎﺷﺖِ ﻧﻘﻄﺔ ‪( w = 0+‬‬

‫‪1‬‬
‫‪-‬‬ ‫‪N¹0‬‬
 ‫‪ ٧٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪1‬‬
‫ﺑﺎﺷﺪ(‪ ،‬ﻧﮕﺎﺷﺖ ﻳﺎﻓﺘﺔ ﻧﻘﻄﻪ ‪ ، w = 0-‬ﺗﻮﺳﻂ ﻳﮏ‬ ‫‪ (۲‬ﭼﻨﺎﻧﭽﻪ ‪ GH‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔﻳﮏ ﺳﻴﺴﺘﻢ »ﻧﻮﻉ ‪ «N‬ﺑﺎﺷﺪ )‪ GH‬ﺩﺍﺭﺍﻱ ﻋﺎﻣﻞ‬
‫‪SN‬‬

‫ﺩﻭﺭﺍﻥ ﺳﺎﻋﺘﮕﺮﺩ ‪ ۱ 180 N‬ﺩﺭﺟﻪﺍﻱ )ﺑﻪ ﺷﻌﺎﻉ ﺑﻲﻧﻬﺎﻳﺖ(‪ ،‬ﺑﻪ ﻧﮕﺎﺷﺖ ﻳﺎﻓﺘﺔ ﻧﻘﻄﺔ ‪ w = 0+‬ﻭﺻﻞ ﻣﻲﺷﻮﺩ )ﺍﻳﻦ ﻗﺴﻤﺖ‪ ،‬ﻫﻤﺎﻥ ﻧﮕﺎﺷﺖِ ﮐﻞ‬

‫ﺩﻳﺘﻮﺭ‪ ،‬ﺍﺯ ‪ w = 0-‬ﺗﺎ ‪ w = 0+‬ﺍﺳﺖ(‪.‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﻣﺜﺎﻝﻫﺎﻱ ﺯﻳﺮ ﮐﺎﺭﺑﺮﺩ ﺩﻭ ﻧﮑﺘﺔ ﻓﻮﻕ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﻨﺪ )ﺩﺭ ﺍﻳﻦ ﺍﺷﮑﺎﻝ‪ ،‬ﻓﻘﻂ ﻧﮕﺎﺷﺖ ﺩﻳﺘﻮﺭ ﺭﺍ ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩﺍﻳﻢ(‪:‬‬
‫‪in‬‬
‫ﮎ ﺑﻬﺘﺮِ ﭼﮕﻮﻧﮕﻲ ﻧﮕﺎﺷﺖ ﺷﺪﻥ ﻧﻘﺎﻁ ﺩﻳﺘﻮﺭ‪ ،‬ﻫﺮ ﻳﮏ ﺍﺯ ﺍﻳﻦ ﻧﻘﺎﻁ ﺭﺍ ﺑﺎ ﻳﮏ ﻧﺎﻡ ﻧﺸﺎﻥ ﺩﺍﺩﻩﺍﻳﻢ‪:‬‬
‫ﺑﺮﺍﻱ ﺩﺭ ِ‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٧٣‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﻣﺜﺎﻝ‪ :‬ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻳﮏ ﺳﻴﺴﺘﻢ ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ‪:‬‬
‫‪in‬‬
‫‪ng‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۷۰‬‬ ‫ﺗﻌﺪﺍﺩ ﺻﻔﺮﻫﺎ ﻭ ﻗﻄﺐﻫﺎﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺳﻴﺴﺘﻢ ﺻﻔﺮ ﺍﺳﺖ ﺁﻧﮕﺎﻩ ‪:‬‬
‫‪le‬‬

‫‪ (۲‬ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬ ‫‪(۱‬ﺗﻌﺪﺍﺩ ﻗﻄﺐ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺳﻴﺴﺘﻢ ‪ 2‬ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫‪ (۴‬ﻫﻴﭽﮑﺪﺍﻡ‬ ‫‪ (۳‬ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺳﻴﺴﺘﻢ ‪ 1‬ﺍﺳﺖ‪.‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪nt‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪:‬ﻋﺎﺩﺕ ﮐﻨﻴﺪ! ﭘﻴﺶ ﺍﺯ ﻫﺮ ﮐﺎﺭ‪ ،‬ﺍﺑﺘﺪﺍ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺭﺍ ﺗﮑﻤﻴﻞ ﮐﻨﻴﺪ‪:‬‬
‫‪co‬‬
 ‫‪ ٧٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﮑﻞ ﻓﻮﻕ‪ N = 2 ،‬ﺍﺳﺖ‪ .‬ﺍﺯ ﻃﺮﻓﻲ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺩﺭ ﺻﻮﺭﺕ ﺳﺌﻮﺍﻝ ﻓﺮﺽ ﺷﺪﻩ ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺎﺯِ ﺳﻴﺴﺘﻢ ﺻﻔﺮ ﺍﺳﺖ‬

‫) ‪ ، ( P = 0‬ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬

‫‪Z= N+P=2‬‬

‫ﻳﻌﻨﻲ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺍﻱ ﺩﻭ ﻗﻄﺐ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬

‫)‪ks ( s + 1‬‬
‫= ‪ GH‬ﺭﺍ ﺑﻪ ﺍﺯﺍﻱ ‪ k < 0‬ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ؟ )ﻣﺴﻴﺮ‬ ‫ﻣﺜﺎﻝ‪ :‬ﮐﺪﺍﻡ ﮔﺰﻳﻨﻪ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ‬
‫‪s 2 + 2s + 2‬‬

‫‪.ir‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۵‬‬ ‫ﻣﺘﻌﺎﺭﻑ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﮐﻨﻴﺪ‪(.‬‬
‫‪(۲‬‬ ‫‪(۱‬‬

‫‪rs‬‬
‫‪(۴‬‬
‫‪ee‬‬ ‫‪(۳‬‬
‫‪in‬‬
‫‪ng‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ »ﺳﺮﻩ« ﺑﻮﺩﻥِ ﺳﻴﺴﺘﻢ‪ ،‬ﺩﺭ ‪ w= ¥‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺑﺎﻳﺪ ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﻣﺤﺪﻭﺩ )ﺑﻪ ﺟﺰ ﻣﺒﺪﺃ( ﺭﻭﻱ ﻣﺤﻮﺭ ‪ Re‬ﺑﺮﺳﺪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ ‪ ۱‬ﻭ‬
‫‪le‬‬

‫‪ ۴‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ‪ .‬ﺍﺯ ﻃﺮﻓﻲ ﭘﺮ ﻭﺍﺿﺢ ﺍﺳﺖ ﮐﻪ ﭼﻮﻥ ‪ K < 0‬ﺍﺳﺖ‪ ،‬ﺍﻳﻦ ﻧﻘﻄﺔ ﻣﺤﺪﻭﺩ‪ ،‬ﺭﻭﻱ ﻣﺤﻮﺭ ‪ Re < 0‬ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ .‬ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ‬
‫‪ro‬‬

‫ﺍﺳﺖ‪.‬‬
‫‪nt‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻘﺎﺑﻞ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ ،‬ﮐﻪ ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ) ‪ G ( s‬ﺁﻥ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۵‬‬ ‫ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﭘﻠﻪ ﻭﺍﺣﺪ ﻋﺒﺎﺭﺗﺴﺖ ﺍﺯ‪:‬‬
‫‪co‬‬

‫‪1‬‬
‫‪(۲‬‬ ‫‪0 (۱‬‬
‫‪11‬‬
‫‪1‬‬
‫‪ (۴‬ﺍﻃﻼﻋﺎﺕ ﺩﺍﺩﻩ ﺷﺪﻩ ﮐﺎﻓﻲ ﻧﻴﺴﺖ‪.‬‬ ‫‪(۳‬‬
‫‪10‬‬
‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٧٥‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬
‫= ‪ess‬‬ ‫=‬ ‫=‬ ‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ‪ GH ( 0 ) = 10‬ﻣﻲﺑﺎﺷﺪ‪،‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺍﻳﻦ ﺳﻴﺴﺘﻢ »ﻧﻮﻉ ﺻﻔﺮ« ﺑﺮﺍﺑﺮ ﺑﺎ‬
‫‪1 + K p 1 + GH ( 0 ) 11‬‬

‫ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﻳﺎﺩﺁﻭﺭﻱ‪ (١) :‬ﺑﺎﺯ ﻫﻢ ﺑﻪ ﺗﻨﺎﻇِﺮ ﺑﻴﻦ ﺩﻭ ﻣﻔﻬﻮﻡ »ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ« ﻭ »ﺭﻓﺘﺎﺭ ﻓﺮﮐﺎﻧﺲ ﭘﺎﻳﻴﻦ ﺳﻴﺴﺘﻢ« ﺗﻮﺟﻪ ﮐﻨﻴﺪ‪.‬‬

‫)‪ (٢‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺻﻮﺭﺕ ﺳﺌﻮﺍﻝ‪ ،‬ﻓﺮﺽ ﺿﻤﻨﻲِ ﻭﺟﻮﺩ ﺧﻄﺎﻱِ ﻣﺤﺪﻭﺩِ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ‪ ،‬ﺑﻪ ﻣﻌﻨﺎﻱ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪.ir‬‬
‫)‪ (٣‬ﺩﺭ ﺣﺎﻟﺘﻲ ﮐﻪ ﺳﻴﺴﺘﻢ ﺍﺯ ﻧﻮﻉ »ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ« ﺑﺎﺷﺪ‪ ،‬ﺗﻌﺮﻳﻒ ﺍﻭﻝ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ )ﺧﺮﻭﺟﻲ ﻣﻘﺎﻳﺴﻪ ﮐﻨﻨﺪﻩ( ﻭ ﺗﻌﺮﻳﻒ ﺩﺩﻭﻡ ﺧﻄﺎﻱ‬

‫ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ )ﺍﺧﺘﻼﻑ ﻭﺭﻭﺩﻱ ﻭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ( ‪ ،‬ﻫﻢ ﺍﺭﺯﻧﺪ‪) .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻣﻲﺗﻮﺍﻧﺴﺘﻴﻢ ﺑﺪﻭﻥ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻔﻬﻮﻡ »ﺿﺮﺍﻳﺐ ﺧﻄﺎ«‪ ،‬ﻣﺴﺘﻘﻴﻤﺎﹰ ﺍﺯ‬

‫‪rs‬‬
‫ﺗﻌﺮﻳﻒ ﺩﻭﻡ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻧﻴﺰ ﺑﻪ ﻫﻤﻴﻦ ﺟﻮﺍﺏ ﺑﺮﺳﻴﻢ‪(.‬‬

‫‪ee‬‬
‫ﻣﺜﺎﻝ‪ :‬ﺩﻳﺎﮔﺮﺍﻡ ﻗﻄﺒﻲ ﺳﻴﺴﺘﻤﻲ ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﮐﻤﺘﺮﻳﻦ ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎ ﻭ ﺻﻔﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﭼﻴﺴﺖ‪ .‬ﭼﻪ ﺗﻌﺪﺍﺩﻱ ﺍﺯ‬
‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۴‬‬ ‫ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺑﺎ ﻓﻴﺪﺑﮏ ﻣﻨﻔﻲ ﻭﺍﺣﺪ ﺩﺭ ﺳﻤﺖ ﺭﺍﺳﺖ ﻗﺮﺍﺭ ﺩﺍﺭﺩ؟‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬

‫‪(۱‬ﻳﮏ ﺻﻔﺮ ﻭ ﻳﮏ ﻗﻄﺐ ﺩﺍﺭﺩ ـ ﻗﻄﺐ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻧﺪﺍﺭﺩ‪.‬‬

‫‪ro‬‬

‫‪ (۲‬ﺻﻔﺮ ﻧﺪﺍﺭﺩ ﻭ ﭼﻬﺎﺭ ﻗﻄﺐ ﺩﺍﺭﺩ ـ ﻳﮑﻲ ﺍﺯ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬

‫‪ (۳‬ﺩﻭ ﺻﻔﺮ ﻭ ﺩﻭ ﻗﻄﺐ ﺩﺍﺭﺩ ـ ﻳﮑﻲ ﺍﺯ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬
‫‪nt‬‬

‫‪ (۴‬ﺻﻔﺮ ﻧﺪﺍﺭﺩ ﻭ ﺩﻭ ﻗﻄﺐ ﺩﺍﺭﺩ ﻭ ﺑﻬﺮﺓ ﻓﺮﮐﺎﻧﺲ ﺑﺎﻻ ﻣﻨﻔﻲ ﺍﺳﺖ ـ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻳﮏ ﻗﻄﺐ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺩﺍﺭﺩ‪.‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪co‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺧﺘﻢ ﺷﺪﻥِ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺑﻪ ﻧﻘﻄﻪﺍﻱ ﻣﺤﺪﻭﺩ )ﻭ ﻏﻴﺮ ﺻﻔﺮ( ﺭﻭﻱ ﻣﺤﻮﺭ ﺣﻘﻴﻘﻲ‪ ،‬ﺳﻴﺴﺘﻢ ﺑﺎﻳﺪ ﺳﺮﻩ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ٢‬ﻭ ‪٤‬‬

‫ﻧﻤﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﻨﺪ‪ .‬ﺑﺮﺍﻱ ﺗﺸﺨﻴﺺ ﺗﻌﺪﺍﺩ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﺔ ﻧﺎﭘﺎﻳﺪﺍﺭ‪ ،‬ﺍﺑﺘﺪﺍ ﺑﺎﻳﺪ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ ﺭﺍ ﺗﮑﻤﻴﻞ ﮐﻨﻴﻢ‪:‬‬
 ‫‪ ٧٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﺑﺮﺍﻱ ﺍﻳﻦ ﮐﻪ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺍﺯ ﻧﻘﻄﻪﺍﻱ ﺩﻭﺭ ﻣﺠﺎﻧﺐ ﺑﺎ ﻳﮏ ﺧﻂ ﺍﻓﻘﻲ ﺷﺮﻭﻉ ﺷﻮﺩ‪،‬ﺑﺎﻳﺪ ﺳﻴﺴﺘﻢ »ﻧﻮ ِﻉ ﺯﻭﺝ« ﺑﺎﺷﺪ‪ .‬ﻟﺬﺍ ﮔﺰﻳﻨﺔ ‪١‬‬

‫ﻧﻤﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﻭ ﻓﻘﻂ ﮔﺰﻳﻨﺔ ‪ ٣‬ﺑﺎﻗﻲ ﻣﻲﻣﺎﻧﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮔﺰﻳﻨﻪ‪ ،‬ﺳﻴﺴﺘﻢ »ﻧﻮﻉ ﺩﻭ« ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻭ ‪ ، w= 0-‬ﺗﻮﺳﻂ ﻳﮏ ﺩﻭﺭﺍﻥِ‬

‫ﺳﺎﻋﺘﮕﺮﺩ ‪ 180 ´ 2‬ﺩﺭﺟﻪﺍﻱ ﺑﻪ ‪ w= 0+‬ﻣﺘﺼﻞ ﻣﻲﮔﺮﺩﺩ‪.‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ‪ N = +1‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺩﺭ ﻣﻮﺭﺩ ﻗﻄﺐﻫﺎﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫‪Z = N + P =1 + 0 =1‬‬

‫‪.ir‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (٣‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ E‬ﻧﮑﺎﺕ ‪:‬‬

‫‪rs‬‬
‫= ) ‪ GH ( s‬ﺑﺎﺷﺪ‪) .‬ﺻﻔﺮِ‬
‫) ‪( s - 1)( s + 10‬‬ ‫‪(١‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺗﺮﺳﻴﻢ ﺷﺪﻩ ﺩﺭ ﺍﻳﻦ ﺳﺌﻮﺍﻝ‪ ،‬ﻣﻲﺗﻮﺍﻧﺪ ﻣﺮﺑﻮﻁ ﺑﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﺔ ﺳﻴﺴﺘﻢ‬
‫‪s2‬‬

‫‪ee‬‬
‫ﺳﻤﺖ ﺭﺍﺳﺖ ﻧﺰﺩﻳﮑﺘﺮ ﺍﺯ ﺻﻔﺮِﺳﻤﺖ ﭼﭗ ﻧﺴﺒﺖ ﺑﻪ ﻣﺒﺪﺃ(‪.‬‬

‫‪ (٢‬ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ MATLAB‬ﻫﻨﮕﺎﻡ ﺗﺮﺳﻴﻢ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﮐﻪ ﺩﺭ ﻣﺒﺪﺃ ﺩﺍﺭﺍﻱ ﻗﻄﺐ ﻫﺴﺘﻨﺪ‪ ،‬ﺑﺎ ﺍﻟﮕﻮﺭﻳﺘﻤﻲ ﻣﺘﻔﺎﻭﺕ ﮐﺎﺭ ﻣﻲﮐﻨﺪ ﻭ ﺩﺭ‬
‫‪in‬‬
‫ﻧﺘﻴﺠﻪ ﻧﻤﻮﺩﺍﺭ ‪ MATLAB‬ﻭ ﻧﻤﻮﺩﺍﺭﻱ ﮐﻪ ﺑﻪ ﺭﻭﺵ ﺩﺳﺘﻲ ﺗﺮﺳﻴﻢ ﻣﻲﺷﻮﺩ‪ ،‬ﺍﻧﺪﮐﻲ ﻣﺘﻔﺎﻭﺗﻨﺪ‪.‬‬
‫‪ng‬‬
‫‪1‬‬
‫ﺑﺰﺭﮒ )ﮐﻮﭼﮏ( ﻣﻲﺷﻮﻧﺪ‪.‬‬ ‫ﻧﮑﺘﻪ ‪ :‬ﺍﮔﺮ ﻧﻤﻮﺩﺍﺭ ﻗﻄﺒﻲ ﺑﺎ ﻧﺴﺒﺖ ﺗﺠﺎﻧﺲ ‪ a‬ﺑﺰﺭﮒ )ﮐﻮﭼﮏ( ﺷﻮﺩ‪ ،‬ﻣﺤﻮﺭﻫﺎﻱ ﺻﻔﺤﺔ ‪ GH‬ﺑﺎ ﻧﺴﺒﺖ‬ ‫‪E‬‬
‫‪a‬‬

‫‪æ‬‬ ‫‪1ö‬‬
‫÷ ‪. ç -1 ® -‬‬
‫‪le‬‬

‫‪è‬‬ ‫‪aø‬‬
‫‪ro‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۷‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﮐﺪﺍﻡ ﮔﺰﻳﻨﻪ ﺑﻴﺎﻧﮕﺮ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺮﺍﻱ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ؟‬
‫‪( s + 1) (١‬‬
‫) ‪s3 ( s + 10‬‬
‫‪nt‬‬

‫‪1‬‬
‫‪(٢‬‬
‫) ‪s ( s + 10 )( s + 100‬‬
‫‪co‬‬

‫‪1‬‬
‫‪(٣‬‬
‫‪s‬‬ ‫‪2‬‬
‫) ‪( s + 10 )( s + 100‬‬
‫)‪( s + 1‬‬ ‫‪(٤‬‬
‫) ‪s 2 ( s + 10 )( s + 100‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺳﻴﺴﺘﻢ ﺩﺭ ‪ w = 0+‬ﺍﺯ ﻧﻘﻄﻪﺍﻱ ﺩﻭﺭ ﻭ ﻣﺠﺎﻧﺐ ﺑﺎﻳﮏ ﺧﻂ ﺍﻓﻘﻲ ﺁﻏﺎﺯ ﺷﺪﻩ‪ ،‬ﻧﺘﻴﺠﻪ ﻣﻲﮔﻴﺮﻳﻢ ﺳﻴﺴﺘﻢ ﺍﺯ »ﻧﻮﻉ‬

‫ﺯﻭﺝ« ﺍﺳﺖ‪) .‬ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﻪﻫﺎﻱ ‪ ١‬ﻭ ‪ ٢‬ﺣﺬﻑ ﻣﻲﺷﻮﻧﺪ(‪.‬‬

‫ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﻗﻄﺒﻲ ‪٧٧‬‬

‫ﺍﺯ ﻃﺮﻓﻲ ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ﺩﺭ ‪ ، w® ¥‬ﻣﻨﺤﻨﻲ ﻗﻄﺒﻲ ﺑﺎ ﺯﺍﻭﻳﻪ ‪ -270‬ﻭﺍﺭﺩ ﻣﺒﺪﺃ ﺷﺪﻩ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﺧﺘﻼﻑ ﺩﺭﺟﺔ ﺻﻮﺭﺕ ﻭ ﻣﺨﺮﺝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ‬

‫ﺑﺎﻳﺪ ‪ n - m = 3‬ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻓﻘﻂ ﮔﺰﻳﻨﺔ )‪ (٤‬ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ ﻭ ﻟﺬﺍ ﻓﻘﻂ ﮔﺰﻳﻨﺔ ‪ ٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫)ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ ‪(۸۸‬‬ ‫ﮐﺪﺍﻡ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻣﺘﻨﺎﻇﺮ ﺑﺎ ﻳﮏ ﻣﺴﻴﺮ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻣﻨﺎﺳﺐ ﺑﺮﺍﻱ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻲﺑﺎﺷﺪ؟‬
‫‪(۲‬‬ ‫‪(۱‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫ﻫﺮ ﺩﻭ ﮔﺰﻳﻨﻪ ‪ ۲‬ﻭ ‪ ۳‬ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ‪.‬‬ ‫‪(۴‬‬ ‫‪(۳‬‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٤‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﻣﻌﺎﺩﻟﻪ ﻣﺸﺨﺼﻪ ﺳﻴﺴﺘﻢ ﻣﺬﮐﻮﺭ‪ ، D ( s ) = s 2 + Ks + 1 ،‬ﻣﻌﺮﻑ ﻳﮏ ﺳﻴﺴﺘﻢ ﻫﻤﻮﺍﺭﻩ ﭘﺎﻳﺪﺍﺭ ) ‪ ( k > 0‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻃﺒﻖ ﻣﻌﻴﺎﺭ‬
‫‪le‬‬

‫ﭘﺎﻳﺪﺭﺍﻱ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ‪ Z = 0‬ﻣﻲﺑﺎﺷﺪ ) ‪. ( Z = N + P‬‬

‫‪ro‬‬

‫ﮔﺰﻳﻨﻪ ‪ ،١‬ﺳﻴﺴﺘﻤﻲ ﺑﺎ ‪ N = -1‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ ‪ ، Z = N + P‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﻣﻲﺗﻮﺍﻧﺪ ﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ ﮐﻪ ‪ P = 1‬ﺑﺎﺷﺪ‪.‬‬

‫ﺑﺎ ﺍﻳﻦ ﺣﺎﻝ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﺎﺑﻊ ﺣﻠﻘﺔ ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﺍﻧﺘﺨﺎﺏ ﭼﻨﻴﻦ ﻣﺴﻴﺮﻱ ﻏﻴﺮﻣﻤﮑﻦ ﺍﺳﺖ‪.‬‬
‫‪nt‬‬

‫ﮔﺰﻳﻨﻪ ‪ ،٢‬ﺳﻴﺴﺘﻤﻲ ﺑﺎ ‪ N = 0‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﻃﻪ ‪ ، Z = N + P‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﻣﻲﺗﻮﺍﻧﺪ ﺷﻮﺩ ﮐﻪ ‪ P = 0‬ﺑﺎﺷﺪ‪.‬‬
‫‪co‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﺯﺁﻥ ﺟﺎﻳﻲ ﮐﻪ ﺷﺮﻁ ‪ ، P = 0‬ﺑﺎ ‪ exclude‬ﮐﺮﺩﻥ ﻗﻄﺐﻫﺎﻱ ‪ s = ± j‬ﻗﺎﺑﻞ ﺣﺼﻮﻝ ﺍﺳﺖ‪ ،‬ﮔﺰﻳﻨﻪ ‪ ۲‬ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ‪.‬‬

‫ﮔﺰﻳﻨﻪ ‪ ،۳‬ﺳﻴﺴﺘﻤﻲ ﺑﺎ ‪ N = -2‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ ‪ ، Z = N + P‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﻣﻲﺗﻮﺍﻧﺪ ﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ ﮐﻪ ‪P = 2‬‬

‫ﺑﺎﺷﺪ‪.‬‬
 ‫‪ ٧٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﺯ ﺁﻥ ﺟﺎﻳﻲ ﮐﻪ ﺷﺮﻁ ‪ ، P = 2‬ﺑﺎ ‪ include‬ﮐﺮﺩﻥ ﻗﻄﺐﻫﺎﻱ ‪ s = ± j‬ﻗﺎﺑﻞ ﺣﺼﻮﻝ ﺍﺳﺖ‪ ،‬ﮔﺰﻳﻨﻪ ‪ ۳‬ﻫﻢ ﻣﻲﺗﻮﺍﻧﺪ ﺻﺤﻴﺢ ﺑﺎﺷﺪ‪.‬‬

‫ﺩﻳﺎﮔﺮﺍﻡ ﺯﻳﺮ ﺟﺰﺋﻴﺎﺕ ﺭﺳﻢ ﺩﻳﺎﮔﺮﺍﻡ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ )ﺩﺭ ﺣﺎﻟﺖ ‪ exclude‬ﮐﺮﺩﻥ( ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺩﻗﻴﻖﺗﺮ ﺑﻪ ﺗﺼﻮﻳﺮ ﻣﻲﮐﺸﺪ )ﺑﺮﺍﻱ ﻧﮕﺎﺷﺖِ ﺩﻳﺘﻮﺭِ ﺣﻮﻝ‬

‫‪ s = j‬ﻓﺮﺽ ﮐﻨﻴﺪ‪ s = j + re jq ،‬ﻣﻲﺑﺎﺷﺪ ﻭ ﺳﭙﺲ ﺣﺪ ) ‪ lim GH ( s‬ﺭﺍ ﺑﻴﺎﺑﻴﺪ‪:(.‬‬

‫‪r ®0‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۴‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ee‬‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
 ‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ‬
‫‪in‬‬
‫ﺣﺪ ﺑﻬﺮﻩ )ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ‪(١‬‬
‫‪ng‬‬
‫ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺷﮑﻞ ﺯﻳﺮ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ‪ .‬ﻫﻤﺎﻥ ﻃﻮﺭ ﮐﻪ ﻣﻲﺩﺍﻧﻴﻢ ﺑﺎ ﺗﻐﻴﻴﺮ ﻣﻘﺪﺍﺭ ‪ ، K‬ﻣﮑﺎﻥ ﺭﻳﺸﻪﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺗﻐﻴﻴﺮ ﻣﻲﮐﻨﺪ )ﻭ‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺳﻴﺴﺘﻢ ﻣﻤﮑﻦ ﺍﺳﺖ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺷﻮﺩ(‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻘﺪﺍﺭ ‪K‬ﺍﻱ ﺭﺍ ﮐﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﺯﺍﻱ ﺁﻥ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪ ،‬ﺑﻪ ﺩﺳﺖ‬

‫ﺑﻴﺎﻭﺭﻳﻢ‪.‬‬
‫‪le‬‬
‫‪ro‬‬

‫ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ ﮐﻪ ﻣﺨﺮﺝ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ، 1 + KGH ،‬ﺻﻔﺮ ﺷﻮﺩ‪:‬‬
‫‪nt‬‬

‫‪1 + KGH ( jw) = 0 Þ KGH ( jwc ) = 1 180‬‬

‫‪co‬‬

‫(‬ ‫)‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪K‬ﺍﻱ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﺁﻥ ﺣﺎﺻﻞِ ‪ KGH jwp‬ﺩﺍﺭﺍﻱ ﺍﻧﺪﺍﺯﻩ ‪ 1‬ﻭ ﻓﺎﺯ ‪ 180‬ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬

‫ﺑﻬﺮﺓ ﺳﻴﺴﺘﻢ ) ‪ ، ( K‬ﺩﺍﺭﺍﻱ ﻳﮏ ﺣﺪ ﺑﺎ ﻧﺎﻡ »ﺣﺪ ﺑﻬﺮﻩ« ﻳﺎ »ﺣﺎﺷﻴﻪ ﺑﻬﺮﻩ« ﺍﺳﺖ ﮐﻪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪1‬‬ ‫‪1‬‬
‫= ‪K = GM‬‬ ‫‪« K ( dB ) = 20 log‬‬
‫) ‪GH ( j wC‬‬ ‫) ‪GH ( jwC‬‬

‫‪1‬‬
‫‪- Gain Margin‬‬
 ‫‪ ٨٠‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﻓﺎﺯ‪( wp ) ١‬‬

‫(‬ ‫)‬
‫ﻓﺮﮐﺎﻧﺲ ﺧﺎﺻﻲ ﮐﻪ ﺩﺭ ﺁﻥ ﻓﺎﺯ )‪ GH ( jw‬ﺑﺮﺍﺑﺮ ‪ -180‬ﻣﻲﺷﻮﺩ )ﺗﻮﺟﻪ ﮐﻨﻴﺪ ‪ K‬ﻳﮏ ﻋﺪﺩ ﺛﺎﺑﺖ ﺍﺳﺖ ﻭ ﺗﺄﺛﻴﺮﻱ ﺩﺭ ﻓﺎﺯ ‪ GH‬ﻧﺪﺍﺭﺩ(‪.‬‬

‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‬

‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬ ‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﻧﻤﻮﺩﺍﺭ ﺑﻮﺩ‬
‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬

‫ﺍﻟﮕﻮﺭﻳﺘﻢ ﻣﺤﺎﺳﺒﻪ ﺣﺪ ﺑﻬﺮﻩ‬

‫‪ìï Im GH ( j w) = 0‬‬
‫‪co‬‬

‫‪.í‬‬ ‫‪١‬ـ ﻣﺤﺎﺳﺒﺔ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﻓﺎﺯ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﺍﺑﻄﻪ ‪  GH = - 180‬ﻳﺎ ﺭﺍﺑﻄﻪ‬
‫‪ïîRe {GH ( jw)} < 0‬‬

‫‪1‬‬ ‫‪1‬‬
‫‪ ، GM dB = 20 log‬ﺩﺭ ﺻﻮﺭﺗﻲ ﮐﻪ ‪ GM‬ﺑﺮ ﺣﺴﺐ ‪ dB‬ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺍﺳﺖ(‪.‬‬ ‫‪) GM‬ﻭ ﻳﺎ‬ ‫‪٢‬ـ ﻣﺤﺎﺳﺒﺔ‬
‫‪GH jwp‬‬‫(‬ ‫)‬ ‫‪GH jwp‬‬‫(‬ ‫)‬

‫ﻧﻴﺰ ﻧﻤﺎﻳﺶ ﻣﻲﺩﻫﻨﺪ‪ .‬ﺍﻳﻦ ﻧﻤﺎﺩﮔﺬﺍﺭﻱ‪ ،‬ﻫﻢ ﺑﺮﺍﻱ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﻓﺎﺯ‪ ،‬ﻭ ﻫﻢ ﺑﺮﺍﻱ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ‬ ‫‪ 1‬ـ ﮐﻼﹰ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﺭﺍ ﻓﺮﮐﺎﻧﺲ ‪ Crossover‬ﻧﻴﺰ ﻣﻲﻧﺎﻣﻨﺪ ﻭ ﺁﻥ ﺭﺍ ﺑﺎ ‪wC‬‬
‫ﺑﻬﺮﻩ‪ ،‬ﺑﻪ ﮐﺎﺭ ﻣﻲﺭﻭﺩ‪.‬‬
‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ ‪٨١‬‬

‫‪K‬‬
‫= ) ‪ G ( s‬ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 1.1‬ﺑﺎﺷﺪ‪ ،‬ﺧﻄﺎﻱ‬ ‫ﻣﺜﺎﻝ‪ :‬ﺍﮔﺮ ﺣﺪ ﺑﻬﺮﻩ )‪ (Gain Margin‬ﺩﺭ ﺳﻴﺴﺘﻤﻲ ﺑﺎ ‪ H ( s ) = 1‬ﻭ‬
‫) ‪s ( s + 1)( s + 10‬‬
‫ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢ ﺑﻪ ﻭﺭﻭﺩﻱ ) ‪ ( t + 1.1) u ( t‬ﮐﻪ ﺩﺭ ﺁﻥ ) ‪ u ( t‬ﭘﻠﻪ ﻭﺍﺣﺪ ﺍﺳﺖ‪ ،‬ﮐﺪﺍﻡ ﮔﺰﻳﻨﻪ ﻣﻲﺑﺎﺷﺪ؟‬
‫‪1‬‬
‫‪(۴‬‬ ‫‪0.91 (۳‬‬ ‫‪0.826 ( ۲‬‬ ‫‪0.1 (۱‬‬
‫‪11‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺳﻴﺴﺘﻢ ﻧﻮﻉ ﻳﮏ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻭﺭﻭﺩﻱ ) ‪ 1.1u ( t‬ﺭﺍ ﺑﺪﻭﻥ ﻫﻴﭽﮕﻮﻧﻪ ﺧﻄﺎﻳﻲ ﺩﻧﺒﺎﻝ ﻣﻲﮐﻨﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﻨﻬﺎ ﮐﺎﻓﻴﺴﺖ ﺧﻄﺎﻱ‬

‫‪.ir‬‬
‫‪1‬‬
‫‪١‬‬
‫= ‪ ess‬ﺭﺍ ﺑﻴﺎﺑﻴﻢ‪ .‬ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪) K‬ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪ ، ( K v‬ﺍﺯ ‪ GM‬ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲﮐﻨﻴﻢ‪.‬‬ ‫ﻣﺎﻧﺪﮔﺎﺭِ ﻣﺮﺑﻮﻁ ﺑﻪ ﻭﺭﻭﺩﻱِ ) ‪ ، tu ( t‬ﻳﻌﻨﻲ‬
‫‪Kv‬‬

‫‪rs‬‬
‫‪wù‬‬
‫(‬ ‫)‬ ‫‪é‬‬
‫‪ GH jwp = -180 Þ ] ê90 + tan -1 w+ tan -1 ú = - 180‬‬
‫‪ë‬‬ ‫‪10 û‬‬

‫‪ee‬‬
‫‪w‬‬
‫‪Þ tan -1 w+ tan -1‬‬ ‫‪= 90‬‬
‫‪10‬‬
‫ﺑﺎ ﺗﺎﻧﮋﺍﻧﺖ ﮔﺮﻓﺘﻦ ﺍﺯ ﻃﺮﻓﻴﻦ ﺗﺴﺎﻭﻱ ﻓﻮﻕ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬
‫‪in‬‬
‫‪w‬‬
‫‪w+‬‬ ‫‪2‬‬
‫‪10 = ¥ Þ 1 - w = 0 Þ w = 10 æ rad ö‬‬
‫‪ng‬‬
‫‪p‬‬ ‫‪ç‬‬ ‫÷‬
‫‪w2‬‬ ‫‪10‬‬ ‫‪è s ø‬‬
‫‪1-‬‬
‫‪10‬‬
‫‪le‬‬

‫‪1‬‬ ‫‪-110 + j´ 0‬‬

‫= ‪GM‬‬ ‫=‬ ‫‪= 1.1 Þ K = 100‬‬
‫(‬
‫‪GH j 10‬‬ ‫)‬ ‫‪K‬‬
‫‪ro‬‬

‫‪1‬‬ ‫‪1‬‬ ‫‪1‬‬

‫= ‪ess‬‬ ‫=‬ ‫=‬ ‫‪= 0.1‬‬
‫‪K u lim s GH ( s ) 100‬‬
‫‪s ®0‬‬
‫‪nt‬‬

‫‪10‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫‪co‬‬

‫ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺳﻮﺍﻝ ﻓﻮﻕ‪ ،‬ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ‪ ، wp‬ﻣﻲﺗﻮﺍﻧﺴﺘﻴﻢ ﺍﺯﺣﻞ ﻣﻌﺎﺩﻟﺔ ‪ Im {GH ( jw)} = 0‬ﻧﻴﺰ ﮐﻤﮏ ﺑﮕﻴﺮﻳﻢ )ﻭﻟﻲ ﻃﻮﻻﻧﻲﺗﺮ‬ ‫‪E‬‬
‫ﻣﻲﺷﺪ!(‬

‫‪tan a + tan b‬‬

‫= ) ‪tan ( a + b‬‬ ‫‪ 1‬ـ ﻳﺎﺩﺁﻭﺭﻱ ‪:‬‬
‫‪1 - tan a tan b‬‬
 ‫‪ ٨٢‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻣﺜﺎﻝ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺷﮑﻞ ﻣﻘﺎﺑﻞ ﺩﺍﺭﻳﻢ‪:‬‬

‫‪K‬‬
‫= )‪G (s‬‬
‫)‪s ( s + 1‬‬

‫‪1‬‬
‫= ) ‪Gc (s‬‬
‫‪s + 10‬‬

‫ﺍﮔﺮ ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ) ‪ e ( t‬ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﺑﺮﺍﺑﺮ ‪ 0.2‬ﺑﺎﺷﺪ‪ ،‬ﺣﺪ ﺑﻬﺮﻩ )‪ (Gain Margin‬ﺳﻴﺴﺘﻢ ﭼﻘﺪﺭ ﺍﺳﺖ؟‬
‫‪¥ (۴‬‬ ‫‪22 (۳‬‬ ‫‪2.2 (۲‬‬ ‫‪1.1 (۱‬‬

‫‪.ir‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺳﻴﺴﺘﻢ ﻧﻮﻉ ﻳﮏ ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺧﻄﺎﻱ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱ ﺷﻴﺐ ﻭﺍﺣﺪ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪rs‬‬
‫‪1‬‬ ‫‪1‬‬ ‫‪K‬‬
‫= ‪ess‬‬ ‫=‬ ‫‪= = 0.2 Þ K = 50‬‬
‫‪K u lim s GH ( s ) 10‬‬

‫‪ee‬‬
‫‪s ®0‬‬

‫ﺑﺮﺍﻱ ﻳﺎﻓﺘﻦ ‪ ، GM‬ﺍﺑﺘﺪﺍ ﺑﺎﻳﺪ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﻓﺎﺯ ﺭﺍ ﺑﻴﺎﺑﻴﻢ‪:‬‬

‫‪in‬‬
‫‪wù‬‬
‫(‬ ‫)‬ ‫‪é‬‬
‫‪GH jwp = -180 Þ - ê90 + tan -1 w + tan -1 ú = -180 Þ wp = 10‬‬
‫‪ë‬‬ ‫‪10 û‬‬
‫‪ng‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ GM‬ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﺑﺎ ‪:‬‬

‫‪1‬‬ ‫‪-110‬‬
‫= ‪GM‬‬ ‫=‬ ‫‪= 2.2‬‬
‫(‬
‫‪GH j wp‬‬ ‫)‬ ‫‪50‬‬
‫‪le‬‬

‫ﻭ ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ro‬‬

‫ﺗﺬﮐﺮ ‪ :‬ﮔﺮﭼﻪ ﺩﺭ ﺍﻳﻦ ﺳﺌﻮﺍﻝ ﺧﻄﺎ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ ﺩﻗﻴﻖ ﺗﻌﺮﻳﻒ ﮐﺮﺩﻩ‪ ،‬ﺍﻣﺎ ﺍﮔﺮ ﺑﻪ ﺟﺎﻱ ﺧﺮﻭﺟﻲ ﻣﻘﺎﻳﺴﻪ ﮐﻨﻨﺪﻩ‪ ،‬ﺧﻄﺎ ﺭﺍ ﺑﻪ ﺻﻮﺭﺕ‬ ‫‪Ã‬‬
‫‪nt‬‬

‫‪ e = r - c‬ﻧﻴﺰ ﺗﻌﺮﻳﻒ ﻣﻲﮐﺮﺩﻳﻢ‪ ،‬ﺑﺎﺯ ﻫﻢ ﺑﻪ ﻫﻤﻴﻦ ﺟﻮﺍﺏ ﻣﻲﺭﺳﻴﺪﻳﻢ‪.‬‬

‫ﺣﺪ ﻓﺎﺯ )ﺣﺎﺷﻴﻪ ﻓﺎﺯ‪(١‬‬

‫‪co‬‬

‫ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺯﻳﺮ ﻣﻔﺮﻭﺽ ﺍﺳﺖ‪ .‬ﻣﻲﺧﻮﺍﻫﻴﻢ ﻣﻘﺪﺍﺭ ﺗﺄﺧﻴﺮ ‪ q‬ﺍﻱ ﺭﺍ ﮐﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﺍﺯﺍﻱ ﺁﻥ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ‪ ،‬ﺑﻪ ﺩﺳﺖ ﺑﻴﺎﻭﺭﻳﻢ‪:‬‬

‫ﺳﻴﺴﺘﻢ ﺯﻣﺎﻧﻲ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ ﮐﻪ ﻣﺨﺮﭺ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﻪ‪ ، 1 + e- jqGH ،‬ﺻﻔﺮ ﺷﻮﺩ‪:‬‬

‫‪1 + e- jqGH = 0 Þ e- jqGH jwg =1  - 180‬‬‫(‬ ‫)‬

‫‪1‬‬
‫‪- Phase Margine‬‬
‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ ‪٨٣‬‬

‫(‬ ‫)‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ q‬ﺍﻱ ﮐﻪ ﺑﻪ ﺍﺯﺍﻱ ﺁﻥ ﺣﺎﺻﻞِ ‪ e- jqGH j wg‬ﺩﺍﺭﺍﻱ ﺍﻧﺪﺍﺯﻩ ‪ 1‬ﻭ ﻓﺎﺯ ‪ -180‬ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﻣﺮﺯ ﻧﺎﭘﺎﻳﺪﺍﺭﻱ ﻗﺮﺍﺭ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺄﺧﻴﺮ ﺳﻴﺴﺘﻢ ) ‪ ، ( q‬ﺩﺍﺭﺍﻱ ﻳﮏ ﺣﺪ ﺍﺳﺖ ﮐﻪ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪q = PM = 180 +  GH jwg‬‬‫(‬ ‫)‬

‫ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﺑﻬﺮﻩ ) ‪( wg‬‬

‫‪.ir‬‬
‫ﻓﺮﮐﺎﻧﺲ ﺧﺎﺻﻲ ﮐﻪ ﺩﺭﺁﻥ ﻓﺮﮐﺎﻧﺲ‪ ،‬ﺍﻧﺪﺍﺯﻩ )‪ GH ( jw‬ﺑﺮﺍﺑﺮ ﺑﺎ ﻳﮏ )ﻳﺎ ‪ ( 0dB‬ﻣﻲﺷﻮﺩ )ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﭼﻮﻥ ‪ e jq = 1‬ﺍﺳﺖ‪ ،‬ﺟﻤﻠﺔ ﻧﻤﺎﻳﻲ‬

‫ﺗﺄﺛﻴﺮﻱ ﺩﺭ ﺍﻧﺪﺍﺯﻩ ‪ GH‬ﻧﺪﺍﺭﺩ(‪.‬‬

‫‪rs‬‬
‫ﺣﺪ ﻓﺎﺯ ﻭ ﻧﻤﻮﺩﺍﺭﻫﺎﻱ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﻲ‬

‫‪ee‬‬ ‫ﺣﺪ ﻓﺎﺯ ﻭ ﻧﻤﻮﺩﺍﺭ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‬

‫‪in‬‬
‫‪ng‬‬
‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬
 ‫‪ ٨٤‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﺍﻟﮕﻮﺭﻳﺘﻢ ﻣﺤﺎﺳﺒﺔ ﺣﺪ ﻓﺎﺯ‬

‫‪١‬ـ ﻣﺤﺎﺳﺒﺔ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﺑﻬﺮﻩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﺍﺑﻄﻪ ‪ ) GH =1‬ﻳﺎ ‪( GH dB = 0‬‬

‫) (‬
‫‪٢‬ـ ﻣﺤﺎﺳﺒﺔ ‪PM = 180 +  GH wg‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺁﻳﺎ ﻫﺮ ﻗﺪﺭ ‪ GM‬ﺳﻴﺴﺘﻤﻲ ﺑﺰﺭﮔﺘﺮ ﺑﺎﺷﺪ‪ ،‬ﺁﻥ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭﺗﺮ ﺍﺳﺖ؟‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﺷﮑﺎﻝ ﺑﺎﻻﻑ ﮔﺮﭼﻪ ﺳﻴﺴﺘﻢ »ﺍﻟﻒ« ﺩﺍﺭﺍﻱ ‪ GM‬ﺑﺴﻴﺎﺭ ﺑﺰﺭﮔﺘﺮﻱ ﻧﺴﺒﺖ ﺑﻪ ﺳﻴﺴﺘﻢ »ﺏ« ﻣﻲﺑﺎﺷﺪ‪ ،‬ﺍﻣﺎ ﺍﮔﺮ ﻓﺎﺯ ﺳﻴﺴﺘﻢ »ﺍﻟﻒ« ﺍﻧﺪﮎ‬
‫‪in‬‬
‫ﺗﻐﻴﻴﺮ ﮐﻨﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﻧﺎﭘﺎﻳﺪﺍﺭ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻳﻦ ﻧﺘﻴﺠﻪ ﻣﻬﻢ ﺭﺍ ﺩﺭ ﻧﮑﺘﺔ ﺯﻳﺮ ﺧﻼﺻﻪ ﻣﻲﮐﻨﻴﻢ‪.‬‬

‫‪ E‬ﻧﮑﺘﻪ ‪ :‬ﺩﺭ ﺳﻴﺴﺘﻢﻫﺎﻱ ﻣﻴﻨﻴﻤﻢ ﻓﺎﺯ‪ ،‬ﺷﺮﻁ ﭘﺎﻳﺪﺍﺭﻱ‪ ،‬ﻣﺜﺒﺖ ﺑﻮﺩﻥِ ﻫﺮ ﺩﻭ ﮐﻤﻴﺖ ‪ GM‬ﻭ ‪ PM‬ﺍﺳﺖ‪.‬‬
‫‪ng‬‬

‫(‬ ‫‪s + 3) e-Ts‬‬

‫ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺁﻧﮑﻪ ﺳﻴﺴﺘﻢ ﭘﺎﻳﺪﺍﺭ ﺑﺎﺷﺪ ﺣﺪﺍﮐﺜﺮ‬ ‫= ) ‪G (s ) H (s‬‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺳﻴﺴﺘﻢ ﺑﻪ ﺻﻮﺭﺕ‬
‫‪le‬‬

‫)‪s ( s + 1‬‬
‫ﻣﻘﺪﺍﺭ ‪ T‬ﭼﻘﺪﺭ ﺍﺳﺖ؟‬
‫‪ro‬‬

‫‪p‬‬ ‫‪p‬‬ ‫‪p‬‬

‫‪ (۴‬ﻫﻴﭽﮑﺪﺍﻡ‬ ‫‪(۳‬‬ ‫‪(۲‬‬ ‫‪(۱‬‬
‫‪2 3‬‬ ‫‪3 3‬‬ ‫‪3‬‬
‫‪nt‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭ ﻣﺎﻧﺪﻥ ﺍﻳﻦ ﺳﻴﺴﺘﻢ‪ ،‬ﮐﺎﻓﻴﺴﺖ ‪ PM‬ﻣﺜﺒﺖ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺍﺑﺘﺪﺍ ﺑﻪ ﺳﺮﺍﻍ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﺑﻬﺮﻩ ﻣﻲﺭﻭﻳﻢ‪:‬‬
‫‪co‬‬

‫‪1 w2 + 9‬‬
‫(‬
‫‪Gh j wg = 1 Þ‬‬ ‫)‬ ‫‪w w2 + 1‬‬
‫‪æ rad ö‬‬
‫‪= 1 Þ wg = 3 ç‬‬
‫‪è s ø‬‬
‫÷‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ PM‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﺮﺍﺑﺮ ﺍﺳﺖ ﺑﺎ ‪:‬‬

‫‪180‬‬
‫ﻣﻲﮔﺮﻓﺖ‪.‬‬ ‫ﺍﮔﺮ ﺯﻭﺍﻳﺎ ﺭﺍ ﺑﺮﺣﺴﺐ ﺩﺭﺟﻪ ﻣﻲﻧﻮﺷﺘﻴﺪ‪،‬ﻳﮏ ﺿﺮﻳﺐ‬
‫‪p‬‬
‫‪æ‬‬ ‫‪w - p‬‬ ‫‪ö‬‬ ‫‪p‬‬
‫÷ ‪PM = p + ç ta -1 - Tw- - tan -1 w‬‬ ‫‪Þ PM = - T 3‬‬
‫‪ç‬‬ ‫‪3‬‬ ‫‪2‬‬ ‫‪÷ w = wc‬‬ ‫‪3‬‬
‫‪è‬‬ ‫‪ø‬‬
‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ ‪٨٥‬‬

‫ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭ ﻣﺎﻧﺪﻥ ﺳﻴﺴﺘﻢ‪ ،‬ﺷﺮﻁ ‪ PM > 0‬ﺭﺍ ﺑﺮﻗﺮﺍﺭ ﻣﻲﮐﻨﻴﻢ‪:‬‬

‫‪p‬‬
‫<‪T‬‬
‫‪3 3‬‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (٢‬ﭘﺎﺳﺦ ﺍﻳﻦ ﺗﺴﺖ ﻣﻲﺑﺎﺷﺪ‪.‬‬

‫‪1‬‬
‫= ) ‪ GH ( s‬ﺍﺳﺖ‪ .‬ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ ﺳﻴﺴﺘﻢ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬ ‫ﻣﺜﺎﻝ‪ :‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺑﺎﻳﺴﺘﻲ ﺳﻴﺴﺘﻤﻲ ﺑﻪ ﺻﻮﺭﺕ‬
‫‪( s + 1)3‬‬

‫‪.ir‬‬
‫‪1‬‬
‫‪ = 8 (۲‬ﺣﺪ ﺑﻬﺮﻩ‪ = 135 ،‬ﺣﺪ ﻓﺎﺯ‬ ‫= ﺣﺪ ﺑﻬﺮﻩ‪ = 135 ،‬ﺣﺪ ﻓﺎﺯ‬ ‫‪(۱‬‬
‫‪8‬‬

‫‪rs‬‬
‫‪1‬‬
‫= ﺣﺪ ﺑﻬﺮﻩ‪ = 180 ،‬ﺣﺪ ﻓﺎﺯ‬ ‫‪(۴‬‬ ‫‪ = 8 (۳‬ﺣﺪ ﺑﻬﺮﻩ ‪ = 180 ،‬ﺣﺪ ﻓﺎﺯ‬
‫‪8‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۳‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪ee‬‬
‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﺣﺪ ﺑﻬﺮﻩ‪ ،‬ﺑﻪ ﺳﺮﺍﻍ ﻓﺮﮐﺎﻧﺲ ﻗﻄﻊ ﻓﺎﺯ ﻣﻲﺭﻭﻳﻢ‪:‬‬

‫(‬ ‫)‬ ‫‪æ rad ö‬‬

‫‪ GH j wp = -180 Þ - 3 tan -1 w = -180 Þ wp = 3 ç‬‬
‫‪in‬‬
‫÷‬
‫‪è s ø‬‬
‫‪ng‬‬

‫(‬
‫= ‪GH j wp‬‬ ‫)‬ ‫‪1‬‬
‫‪3‬‬
‫=‬
‫‪1‬‬
‫‪8‬‬
‫‪Þ GM = 8‬‬

‫)‪( w + 1‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪w= 3‬‬
‫‪le‬‬

‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﺔ ﺣﺪ ﻓﺎﺯ‪ ،‬ﺑﺎ ﮐﻤﻲ ﺯﻳﺮﮐﻲ ﻣﺘﻮﺟﻪ ﻣﻲﺷﻮﻳﻢ ﮐﻪ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ‪ ،‬ﺩﺍﻳﺮﻩ ﻭﺍﺣﺪ ﺭﺍ ﺩﺭ ‪ w = 0‬ﻗﻄﻊ ﻣﻲﮐﻨﺪ ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫‪ro‬‬

‫‪ PM = 180‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫‪nt‬‬
‫‪co‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺍﺯ ﺳﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺩﺍﺩﻩ ﺷﺪﻩ ﺯﻳﺮ ﺣﺪ ﻓﺎﺯ ﮐﺪﺍﻡ ﻳﮏ ﺑﻴﺸﺘﺮ ﺍﺳﺖ؟‬
‫‪1‬‬ ‫‪1‬‬
‫= ) ‪G2 (s‬‬ ‫ﺏ(‬ ‫= ) ‪G1 ( s‬‬ ‫ﺍﻟﻒ(‬
‫)‪s ( s + 1)( s + 3‬‬ ‫) ‪s ( s + 1)( s + 2‬‬

‫‪1‬‬
‫= ) ‪G3 ( s‬‬ ‫ﺝ(‬
‫)‪s ( s + 2 )( s + 3‬‬
 ‫‪ ٨٦‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫‪ (۲‬ﺏ‬ ‫‪ (۱‬ﺝ‬

‫‪ (۴‬ﺣﺪ ﻓﺎﺯ ﻫﺮ ﺳﻪ ﺗﺎﺑﻊ ﻳﮑﺴﺎﻥ ﺍﺳﺖ‪.‬‬ ‫‪ (۳‬ﺍﻟﻒ‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺑﺎ ﺗﻮﺟﻬﻬﺐ ﺗﻮﺍﺑﻊ ﺣﻠﻘﺔ ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﺷﮑﻞ ﮐﻠﻲ ﻣﻨﺤﻨﻲ ﻧﺎﻳﮑﻮﺋﻴﺴﺖ ﻫﺮﺳﻪ ﺗﺎﺑﻊ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﻣﻲﺑﺎﺷﺪ‪:‬‬

‫‪.ir‬‬
‫‪rs‬‬
‫‪ee‬‬
‫‪æ dB ö‬‬
‫‪ -20 ç‬ﺁﻏﺎﺯ‬ ‫ﺍﺯﻃﺮﻓﻲ ﺍﮔﺮ ﮐﻤﻲ ﺩﻗﺖ ﮐﻨﻴﻢ‪ ،‬ﺗﺎﺑﻊ »ﺝ« ﺩﺍﺭﺍﻱ ﮐﻤﺘﺮﻳﻦ ﮔﻴﻦِ ﻓﺮﮐﺎﻧﺲ ـ ﭘﺎﻳﻴﻦ ﺍﺳﺖ ﻭ ﻋﻼﻭﻩ ﺑﺮﺁﻥ‪ ،‬ﮐﻠﻴﺔ ﺗﻮﺍﺑﻊ ﻧﻴﺰ ﺑﺎ ﺷﻴﺐ ÷‬
‫‪è dec ø‬‬

‫ﻣﻲﺷﻮﻧﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ »ﺝ« ﺯﻭﺩﺗﺮ ﺍﺯ ﺑﻘﻴﻪ ﺗﻮﺍﺑﻊ ﺑﻪ ) ‪ 0 ( dB‬ﻣﻲﺭﺳﺪ ﻭ ﻟﺬﺍ ‪ wg‬ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ‪ PM‬ﮐﻤﺘﺮﻱ ﺧﻮﺍﻫﺪ ﺩﺍﺷﺖ‪ .‬ﺟﺪﻭﻝ ﺯﻳﺮ ﻣﻘﺎﺩﻳﺮ‬
‫‪in‬‬
‫ﺩﻗﻴﻖ ‪ PM‬ﻫﺎ ﺭﺍ ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪:‬‬
‫‪ng‬‬

‫) ‪PM ( Deg‬‬ ‫‪æ rad ö‬‬

‫‪wg ç‬‬ ‫÷‬
‫‪è s ø‬‬

‫ﺍﻟﻒ‬ ‫‪53.4‬‬ ‫‪0.45‬‬

‫‪le‬‬

‫ﺏ‬ ‫‪66.4‬‬ ‫‪0.32‬‬

‫‪ro‬‬

‫ﺝ‬ ‫‪82.1‬‬ ‫‪0.17‬‬

‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪nt‬‬

‫‪K‬‬
‫= ) ‪ G ( s‬ﺣﺪ ﻓﺎﺯ ﺑﺮﺍﺑﺮ ‪ 45‬ﺍﺳﺖ‪ ( K > 0 ) .‬ﭼﻨﺎﻧﭽﻪ ﺑﻪ ﺁﻥ ﺳﻴﮕﻨﺎﻝ‬ ‫ﻣﺜﺎﻝ‪ :‬ﺩﺭﻳﮏ ﺳﻴﺴﺘﻢ ﺑﺎ ﻓﻴﺪﺑﮏ ﻭﺍﺣﺪ ﻣﻨﻔﻲ ﺑﺎ‬
‫‪co‬‬

‫)‪s ( s + 1‬‬
‫‪ sin 4 2 t‬ﺍﻋﻤﺎﻝ ﺷﻮﺩ ﭘﺎﺳﺦ ﺁﻥ ﺩﺭ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﮐﺪﺍﻡ ﺍﺳﺖ؟‬
‫‪2 sin t 4 2 t (۲‬‬ ‫‪- 4 2 cos 4 2 t (۱‬‬

‫‪4 2 cos 4 2 t‬‬ ‫‪(۴‬‬ ‫‪4 2 sin t æ 4 2 t + p ö‬‬

‫‪ç‬‬ ‫‪÷ (۳‬‬
‫‪è‬‬ ‫‪4ø‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﺣﺪ ﺑﻬﺮﻩ ﻭ ﺣﺪ ﻓﺎﺯ ‪٨٧‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻓﺮﺽ ‪ ، PM = 45‬ﻓﺮﮐﺎﻧﺲ ﮔﺬﺭ ﺑﻬﺮﻩ ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﺪ ﺑﻮﺩ ﺑﺎ ‪:‬‬

‫(‬ ‫)‬ ‫‪æ rad ö‬‬

‫‪180 + -90 - tan -1 wg = 45 Þ tan -1 wg = 45 Þ wg = 1ç‬‬
‫‪è s ø‬‬
‫÷‬

‫ﺑﻨﺎﺑﺮﺍﻳﻦ ‪ ،‬ﻣﻘﺪﺍﺭ ‪،K‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﻌﺮﻳﻒ ‪ wg‬ﺑﻪ ﺩﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬

‫‪K‬‬ ‫‪w =1‬‬

‫¾¾¾ ‪= 1‬‬
‫‪g‬‬
‫‪® K= 2‬‬
‫‪wg wg2 + 1‬‬

‫‪.ir‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺴﺘﺔ ﺳﻴﺴﺘﻢ‪ ،‬ﺑﺮﺍﺑﺮ ﺧﻮﺍﻫﺪ ﺑﺪ ﺑﺎ ‪:‬‬

‫) (‬

‫‪rs‬‬
‫‪K‬‬ ‫‪2‬‬
‫= )‪T (s‬‬ ‫= ) ‪Þ T ( jw‬‬ ‫‪Þ T j 4 2 = - j4 2‬‬
‫‪s ( s + 1) + K‬‬ ‫‪2‬‬
‫(‬
‫‪-w + 2 + jw‬‬ ‫)‬

‫‪ee‬‬
‫ﺍﺯ ﺁﻧﺠﺎﻳﻲ ﮐﻪ ﭘﺎﺳﺦ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺑﻪ ﻭﺭﻭﺩﻱِ ﺑﺎ ﻓﺮﮐﺎﻧﺲِ ‪ w = 4 2‬ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ‪ ،‬ﻣﻲﺗﻮﺍﻧﻴﻢ ﺑﻨﻮﻳﺴﻴﻢ‪:‬‬

‫) (‬ ‫) (‬ ‫(‬
‫‪yss ( t ) = T j 4 2 ´ sin 4 2 t = 4 2 sin 4 2 t - 90‬‬ ‫)‬
‫‪in‬‬
‫) (‬
‫‪= - 4 2 cos 4 2 t‬‬
‫‪ng‬‬

‫ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (١‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫ﻣﺜﺎﻝ‪ :‬ﺣﺪ ﻓﺎﺯ ﻭ ﺣﺪ ﺑﻬﺮﻩ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ r‬ﺑﻪ ﺧﺮﻭﺟﻲ ‪ y‬ﺩﺭ ﺷﮑﻞ ﺯﻳﺮ ﺑﺮﺍﺑﺮ ‪ PM = 3.7‬ﻭ ‪ GM = 1.01‬ﻣﻲﺑﺎﺷﺪ‪ ،‬ﻣﻘﺎﺩﻳﺮ ﺣﺪ ﻓﺎﺯ ﻭ‬
‫‪le‬‬

‫ﺣﺪ ﺑﻬﺮﻩ ﺍﺯ ﻭﺭﻭﺩﻱ ‪ r‬ﺑﻪ ﺧﺮﻭﺟﻲ ‪ y‬ﭼﻘﺪﺭ ﻫﺴﺘﻨﺪ؟‬

‫‪GM = 1.01 , PM = 3.7 (۱‬‬

‫‪ro‬‬

‫‪GM = 1.52 , PM = 3.7 (۲‬‬

‫‪nt‬‬

‫‪GM = 1.52 , PM = 3.81 (۳‬‬

‫‪co‬‬

‫‪ (۴‬ﺣﺪﻭﺩ ﺧﻮﺍﺳﺘﻪ ﺷﺪﻩ ﺍﺯ ﺣﺪﻭﺩ ﺩﺍﺩﻩ ﻗﺎﺑﻞ ﺣﺼﻮﻝ ﻧﻴﺴﺖ‪.‬‬

‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪y y‬‬
‫ﻳﮑﺴﺎﻥ ﺍﺳﺖ‪ ،‬ﺑﻨﺎﺑﺮ ‪ PM‬ﻭ ‪ GM‬ﻧﻴﺰ ﺩﺭ ﻫﺮ ﺩﻭ ﺣﺎﻟﺖ ﻳﮑﺴﺎﻥ ﺧﻮﺍﻫﻨﺪ ﺑﻮﺩ‪ .‬ﻭ‬ ‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﮐﻪ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺣﻠﻘﻪ ﺑﺎﺯ ﺩﺭ ﻫﺮ ﺩﻭ ﺣﺎﻟﺖ ‪,‬‬
‫‪r r‬‬
‫ﻟﺬﺍ ﮔﺰﻳﻨﻪ )‪ (۱‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
 ‫‪ ٨٨‬ﺳﻴﺴﺘﻢﻫﺎﻱ ﻛﻨﺘﺮﻝ ﺧﻄﻲ‬

‫ﻣﺜﺎﻝ‪ :‬ﺑﻪ ﺍﺯﺍﻱ ﭼﻪ ﻣﻘﺎﺩﻳﺮﻱ ﺍﺯ ‪ T‬ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺯﻳﺮ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ؟‬
‫‪p‬‬
‫>‪T‬‬ ‫‪(۱‬‬
‫‪16‬‬
‫‪p‬‬
‫>‪T‬‬ ‫‪(۲‬‬
‫‪8‬‬
‫‪ (۳‬ﺑﻪ ﺍﺯﺍﻱ ﺗﻤﺎﻡ ﻣﻘﺎﺩﻳﺮ ‪T‬‬

‫‪ (۴‬ﭘﺎﻳﺪﺍﺭﻱ ﺣﻠﻘﻪ ﺑﺴﺘﻪ ﺭﺑﻄﻲ ﺑﻪ ‪ T‬ﻧﺪﺍﺭﺩ‪.‬‬

‫‪.ir‬‬
‫ﺣﻞ ‪ :‬ﮔﺰﻳﻨﻪ )‪ (٢‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬
‫ﺍﺑﺘﺪﺍﺑﻪ ﻣﺤﺎﺳﺒﺔ ‪ wg‬ﻣﻲﭘﺮﺩﺍﺯﻳﻢ‪:‬‬

‫‪rs‬‬
‫‪8‬‬ ‫‪æ rad ö‬‬
‫‪= 1 Þ wg = 2 ç‬‬ ‫÷‬
‫‪ws2 + 1‬‬ ‫‪è s ø‬‬

‫‪ee‬‬
‫ﺷﺮﻁ ﻧﺎﭘﺎﻳﺪﺍﺭ ﺷﺪﻥ ﺍﻳﻦ ﺳﻴﺴﺘﻢ‪ ،‬ﻣﻨﻔﻲ ﺷﺪﻥِ ‪ PM‬ﺍﺳﺖ )ﺗﻮﺟﻪ ﮐﻨﻴﺪ ﮐﻪ ‪ GM‬ﻫﻤﻮﺍﺭﻩ ﺑﻴﺶ ﺍﺯ ﻳﮏ ﺍﺳﺖ ﻭ ﻟﺬﺍ ﻧﻴﺎﺯﻱ ﺑﻪ ﺑﺮﺭﺳﻲ ﺷﺮﻁ ‪GM‬‬

‫ﻧﻴﺴﺖ‪:(.‬‬
‫‪in‬‬
‫‪æ‬‬ ‫‪wö‬‬ ‫‪p‬‬ ‫‪PM > 0‬‬ ‫‪p‬‬
‫÷ ‪PM = p + ç -2Tw - 2 tan -1‬‬ ‫¾¾¾¾ ‪= - 4T‬‬ ‫>‪® T‬‬
‫‪è‬‬ ‫‪2 ø w=2 2‬‬ ‫‪8‬‬
‫‪ng‬‬

‫ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ ﮔﺰﻳﻨﻪ )‪ (۲‬ﺻﺤﻴﺢ ﺍﺳﺖ‪.‬‬

‫‪le‬‬
‫‪ro‬‬
‫‪nt‬‬
‫‪co‬‬