ﻡﻭﺎﻘﻣ ﻝﺮﺘﻨﻛ
H
∞ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ٤
/ ١ ﻭﺭﺩﻮﺧ
ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﺎﺑ
ﺩﺍﺭ ﻲﻘﺗ ﺎﺿﺭ ﺪﻴﻤﺣ ،
*ﻲﺘﻌﻳﺮﺷ ﻻﺁ
ﻲﺳﻮﻃ ﻦﻳﺪﻟﺍﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﻲﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ ﺗﺎﺑﻭﺭ ﻩﻭﺮﮔ
ﺱﺭﺍ ﻚﻴ
ﻲﺘﺴﭘ ﻕﻭﺪﻨﺻ ،ﻥﺍﺮﻬﺗ ١٣٥٥
- ١٦٣١٥
ir . ac . kntu . d eet Taghirad@
*
ﻩﺪﻴﮑﭼ
ﻝﺮﺘﻨﻛ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ ﻡﻭﺎﻘﻣ
ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ٤
/ ١ ﺎﺑ ﻭﺭﺩﻮﺧ ﻲﻄﺧ ﺮﻴﻏ ﻝﺪﻣ ﺭﺍﺮﻗ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ
ﻭ ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﻥﺁ ﺭﺩ
ﭘ ﺩﺎﻬﻨﺸﻴ ﺖﺳﺍ ﻩﺪﺷ . ﻞﺑﺎﻗ ﺶﻫﺎﻛ ﺐﺟﻮﻣ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ
ﺪﻳﺩﺮﮔ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺕﺍﺮﺛﺍ ﻪﺟﻮﺗ ﺖﺳﺍ ﻩ
. ﻭ ﻝﺮﺘﻨﻛ ﻢﺘﺴﻴﺳ ﻲﺣﺍﺮﻃ ﺭﺩ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺭﺩ
ﺯﺍ ، ﻚﻳ
ﻝﺮﺘﻨﻛ ﻩﺩﺎﻔﺘﺳﺍ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ ﺖﺳﺍ ﻩﺪﺷ
. ﻲﺟﺭﺎﺧ ﻪﻘﻠﺣ ﺭﺩ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺯﺍ
ﻡﻭﺎﻘﻣ H∞
ﺭﻮﻈﻨﻣ ﻪﺑ ﺶﻫﺎﻛ
ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ ﻥﺎﺴﻧﺍ ﺖﻴﺳﺎﺴﺣ ﻲﺴﻧﺎﻛﺮﻓ ﺪﻧﺎﺑ ﺭﺩ ﻪﻧﺪﺑ ﺕﺎﺷﺎﻌﺗﺭﺍ .
ﻳﺯﺎﺳ ﻪﻴﺒﺷ ﺯﺍ ﻞﺻﺎﺣ ﺞﻳﺎﺘﻧ ﺑ ﻢﺘﺴﻴﺳ ﻱﺎﻬ
ﺎ
،ﻩﺩﺎﺟ ﻲﻓﺩﺎﺼﺗ ﻱﺩﻭﺭﻭ ﺍﺭ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ
ﺪﻴﻳﺄﺗ ﻲﻣ ﺪﻳﺎﻤﻧ
ﻱﺪﻴﻠﮐ ﺕﺎﻤﻠﮐ :
،ﻲﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ،ﻲﻄﺧ ﺮﻴﻏ ﻝﺪﻣ ،ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ،ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ
،ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﻡﻭﺎﻘﻣ ﻝﺮﺘﻨﻛ
H∞
،
ﺵﺎﺸﺘﻏﺍ ﻱﺩﻭﺭﻭ
، ﻱﺭﺎﻣﺁ ﻲﺳﺭﺮﺑ ،ﻩﺩﺎﺟ ﻲﻓﺩﺎﺼﺗ ﻱﺩﻭﺭﻭ .
١ - ﻪﻣﺪﻘﻣ
ﺯﺎﻴﻧ ﻩﺩﺎﺟ ﻪﻴﻠﻘﻧ ﻂﺋﺎﺳﻭ ﻲﻨﻤﻳﺍ ﻭ ﺮﻔﺳ ﻲﺘﺣﺍﺭ ﻪﺑ ﺮﺑ ﺍﺭ ﻱﺯﺎﺳﻭﺭﺩﻮﺧ ﻊﻳﺎﻨﺻ ﺯﺍ ﻱﺭﺎﻴﺴﺑ ،ﻱﺍ
ﺁ ﺪﻨﻳﺎﻤﻧ ﻩﺩﺎﻔﺘﺳﺍ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﺯﺍ ﺎﺗ ﺖﺳﺍ ﻪﺘﺷﺍﺩ ﻥ .
ﻲﻣ ﻝﺮﺘﻨﻛ ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﻱﺎﻫﺭﺍﺰﺑﺍ ﺎﺑ ﻪﻛ ﻲﻘﻴﻠﻌﺗ ﻱﺎﻬﻤﺘﺴﻴﺳ ﻦﻴﻨﭼ ﻮﺷ
ﻧ ﺪ
، ﻲﻣ ﺩﻮﺒﻬﺑ ﺍﺭ ﻥﺁ ﻲﻨﻤﻳﺍ ﻭ ﻭﺭﺩﻮﺧ ﺖﻛﺮﺣ ﺖﻴﻔﻴﻛ ﺪﻨﺸﺨﺑ
. ﺖﻴﻔﻴﻛ ﺮﻈﻧ ﺯﺍ
ﻢﺘﺴﻴﺳ ﺩﺮﻜﻠﻤﻋ ﻪﻘﺒﻃ ﻪﺘﺳﺩ ﻪﺳ ﻪﺑ ﻞﻴﺒﻣﻮﺗﺍ ﻖﻴﻠﻌﺗ ﻱﺎﻫ
ﻲﻣ ﻱﺪﻨﺑ ﺪﻧﻮﺷ . ﻢﺘﺴﻴﺳ ﻝﺎﻌﻓ ﺮﻴﻏ ﻖﻴﻠﻌﺗ ﻱﺎﻫ ﻞﻣﺎﺷ ﻪﻛ ،
ﻝﻭﺍﺪﺘﻣ ﻱﺎﻫﺮﻨﻓ ﻚﻤﻛ ﻭ ﺎﻫﺮﻨﻓ
ﻲﻣ ﺪﻨﺷﺎﺑ . ﻢﺘﺴﻴﺳ ﻦﻳﺍ ﺭﺩ ﺩﺭﺍﺪﻧ ﺩﻮﺟﻭ ﻲﻟﺮﺘﻨﻛ ﺎﻳ ﻭ ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﺕﺍﻭﺩﺍ ،ﺭﻮﺴﻨﺳ ﭻﻴﻫ ،ﺎﻫ
] ١ .[
ﻢﺘﺴﻴﺳ ﻝﺎﻌﻓ ﻪﻤﻴﻧ ﻖﻴﻠﻌﺗ ﻱﺎﻫ ﻪﻛ ،
ﻦﻳﺍ ﺭﺩ
ﻢﺘﺴﻴﺳ ﺑ ﺕﺭﻮﺼﺑ ﻱﮊﺮﻧﺍ ﻑﻼﺗﺍ ﺎﻫ ﮓﻧﺭﺩﻼ
ﻝﺮﺘﻨﻛ ﻲﻣ ﺩﻮﺷ ] ١ [ . ﺭﺩ ﻉﻮﻧ ﻦﻳﺍ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺯﺍ
ﻝﺎﻌﻓ ﺮﭙﻣﺩ ﻥﺍﺰﻴﻣ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻥﺎﻤﻟﺍ ﻥﺍﻮﻨﻋ ﻪﺑ
ﻢﺘﺴﻴﺳ ﻙﻼﻬﺘﺳﺍ ﺮﻨﻓ ﺕﺍﺯﺍﻮﻣ ﻪﺑ
ﻲﻣ ﻩﺩﺎﻔﺘﺳﺍ ﺩﻮﺷ
. ﺭﺩ ﻢﺘﺴﻴﺳ ﻱﺍﺮﺑ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻱﺎﻫ ﻭﺭﺩﻮﺧ ﺕﺎﺷﺎﻌﺗﺭﺍ ﻥﺍﺰﻴﻣ ﻖﻴﻗﺩ ﻝﺮﺘﻨﻛ
ﻱﺎﻫﺮﮕﻠﻤﻋ ﺯﺍ
ﻲﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺎﻳ ﻭ ﻲﻜﻴﺗﺎﻣﻮﻴﻧ ﺑ ﻪﻛ ﺩﻮﺷ
ﻪ ﻲﻣ ﻩﺩﺍﺩ ﺭﺍﺮﻗ ﺎﻫﺮﻨﻓ ﻚﻤﻛ ﻭ ﺎﻫﺮﻨﻓ ﺕﺍﺯﺍﻮﻣ ﺪﻧﻮﺷ
ﺯﺍ ﻞﺻﺎﺣ ﺕﺎﻋﻼﻃﺍ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻭ
ﺗﺍﺮﺘﺳﺍ ،ﻪﻧﺪﺑ ﺕﺎﺷﺎﻌﺗﺭﺍ ﮋ
ﻲﻣ ﻝﺎﻤﻋﺍ ﻝﺮﺘﻨﻛ ﺐﺳﺎﻨﻣ ﻱ ﺩﻮﺷ
. ﻲﻤﻬﻣ ﺮﺘﻣﺍﺭﺎﭘ ﺭﺎﻬﭼ ﻲﺣﺍﺮﻃ ﺭﺩ ﺪﻳﺎﺑ ﻪﻛ
ﺮﻫ ﺩﺮﻴﮔ ﺭﺍﺮﻗ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ
ﺯﺍ ﺪﻨﺗﺭﺎﺒﻋ :
،ﻞﻴﺒﻣﻮﺗﺍ ﻪﻧﺪﺑ ﺖﻛﺮﺣ ،ﺮﻔﺳ ﻲﺘﺣﺍﺭ ﭘ
ﻱﺭﺍﺪﻳﺎ ﺩﺎﺟ ﻱﻭﺭ ﺮﺑ ﻩ
ﻭ ﺖﻛﺮﺣ ﻢﺘﺴﻴﺳ ﺀﺍﺰﺟﺍ ﻖﻴﻠﻌﺗ
. ﻲﻤﻧ ﻲﻘﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﭻﻴﻫ ﻪﺘﺒﻟﺍ ﺪﻧﺍﻮﺗ
ﻬﺑ ﺍﺭ ﻻﺎﺑ ﺭﺩ ﻩﺪﺷ ﺮﻛﺫ ﺮﺘﻣﺍﺭﺎﭘ ﺭﺎﻬﭼ ﻥﺎﻣﺰﻤﻫ ﺭﻮﻄﺑ
،ﺩﺯﺎﺳ ﻪﻨﻴ ﺎﺑ ﻪﻜﻠﺑ ﺩﺎﺠﻳﺍ ﻪﺤﻟﺎﺼﻣ ﻆﻔﺣ ﻦﻤﺿ ﺭﺩ ﺍﺭ ﻥﺎﻨﻴﺸﻧﺮﺳ ﻲﺘﺣﺍﺭ ﺎﻬﻧﺁ ﻦﻴﺑ ﻱﺍ ﭘ
ﻱﺭﺍﺪﻳﺎ
ﻲﻣ ﻦﻴﻣﺄﺗ ﺪﻨﻛ . ﺭﺩ ﻢﺘﺴﻴﺳ ﻪﺤﻟﺎﺼﻣ ﻚﻳ ﻥﺩﺭﻭﺁ ﺖﺳﺪﺑ ﻥﺎﻜﻣﺍ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻪﻨﻴﻬﺑ
ﻴﺑ ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻦ ﺮﺴﻴﻣ
ﺖﺳﺍ ] ٢ .[
ﻖﻴﻠﻌﺗ ﻝﺎﻌﻓ ﻱﺎﻬﻤﺘﺴﻴﺳ ﻲﺣﺍﺮﻃ
ﻱﺭﺎﻴﺴﺑ ﻉﻮﺿﻮﻣ ﻭﺭﺩﻮﺧ ﺕﺎﻘﻴﻘﺤﺗ ﺯﺍ
ﻲﻣ ﻥﺎﻬﺟ ﺭﺩ ﻭﺭﺩﻮﺧ ﺖﻌﻨﺻ ﺯﻭﺭ ﻪﺑ ﺪﺷﺎﺑ
. ﺕﺎﻘﻴﻘﺤﺗ ﻦﻳﺍ ﺭﺩ ﻱﺎﻬﻟﺪﻣ
ﻱﺎﻬﻟﺪﻣ ﻞﻣﺎﺷ ﻭﺭﺩﻮﺧ ﺯﺍ ﻲﻋﻮﻨﺘﻣ
٤ / ١ , ٢ / ١ , ﺮﻈﻧ ﺭﺩ ﻭﺭﺩﻮﺧ ﻞﻣﺎﻛ ﻝﺪﻣ ﻭ ﮔ
،ﺖﺳﺍ ﻩﺪﺷ ﻪﺘﻓﺮ ﻪﻜﻴﻟﺎﺣ ﺭﺩ
ﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﮕ
ﺮ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺳ
ﺮﻈﻧ ﺭﺩ ﻢﺘﺴﻴ ﮔ
ﺖﺳﺍ ﻩﺪﺸﻧ ﻪﺘﻓﺮ
] ٢،٣،٤ [ . ﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﺖﻴﻤﻫﺍ ﻲﻠﻤﻋ ﺕﺎﺸﻳﺎﻣﺯﺁ ﻪﻛ ﺖﺴﻴﻟﺎﺣ ﺭﺩ ﻦﻳﺍ ﮕ
ﻥﺎﺸﻧ ﻭﺭﺩﻮﺧ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺭﺩ ﺐﺳﺎﻨﻣ ﺔﺤﻟﺎﺼﻣ ﻦﻴﻴﻌﺗ ﺭﺩ ﺍﺭ ﺮ
ﻲﻣ ﺪﻫﺩ . ﻲﻄﺧ ﺮﻴﻏ ﻞﻣﺎﻋ ﻦﻳﺍ ﻲﺳﺭﺮﺑ
، ﻲﻄﺧ ﺮﻴﻏ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ ﺎﺑ ﺑ
ﺵﻭﺮ
Backstepping
ﻪﺤﻟﺎﺼﻣ ﺩﻮﺒﻬﺑ ﻱﺍﺮﺑ ﺑ
ﺖﻛﺮﺣﻭ ﺮﻔﺳ ﻲﺘﺣﺍﺭ ﻦﻴ
ﺗ ﻱﺍ ﻩﺩﺎﺟ ﻒﻠﺘﺨﻣ ﻂﻳﺍﺮﺷﺭﺩ ﻖﻴﻠﻌ ﻊﺟﺍﺮﻣ ﺭﺩ
] ٧،٦،٥ [ ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﻡﺎﺠﻧﺍ .
ﻲﻄﺧﺮﻴﻏ ﻪﻨﻴﻬﺑ ﻝﺮﺘﻨﻛ ﺯﺍ ﺭﺩ ﺭﻮﻈﻨﻣ ﻦﻳﺪﺑ ﺰﻴﻧ
ﻊﺟﺍﺮﻣ ] ٨،٩ [ ﻩﺩﺎﻔﺘﺳﺍ
ﺖﺳﺍ ﻩﺪﺷ . ﻝﺮﺘﻨﻛ H∞ ﻲﻄﺧ ﺮﻴﻏ ﻳﺩ ﻲﺣﺍﺮﻃ ﺔﻨﻴﻣﺯ ﺰﻴﻧ
ﮕ ﻱﺮ ﻝﺪﻣ ﻚﻳ ﻱﺍﺮﺑ ﺍﺭ ٤
/ ١ ﻞﻴﺒﻣﻮﺗﺍ ﻲﻣ ﻞﻴﻜﺸﺗ ﺪﻫﺩ
] ١٠ .[
ﻱﺍﺮﺑ ﻪﻛ ﻱﺮﮕﻳﺩ ﺵﻭﺭ
ﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﻲﺳﺭﺮﺑ ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﺕﺎﻘﻴﻘﺤﺗ ﺯﺍ ﻱﺩﺍﺪﻌﺗ ﺭﺩ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕ
] ١١ [ , ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ
ﻲﻣ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﻢﺘﺴﻴﺳ ﻲﻄﺧﺮﻴﻏ ﺭﺎﺘﻓﺭ ﺶﻫﺎﻛ ﺖﻬﺟ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺪﺷﺎﺑ
.
ﻡﻭﺎﻘﻣ ﻝﺮﺘﻨﻛ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ H∞
ﺎﺑ ﻭﺭﺩﻮﺧ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﻝﺪﻣ
٤ / ١ ﻭ ﻠﻤﻋ ﻲﻄﺧﺮﻴﻏ ﺕﺍﺮﺛﺍ ﻦﺘﻓﺮﮔ ﺮﻈﻧ ﺭﺩ ﺎﺑ ﺩﺭﻮﻣ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕ
ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻪﺟﻮﺗ .
ﻔﻠﺘﺨﻣ ﺭﺎﻛ ﻁﺎﻘﻧ ﺭﺩ ﻲﻄﺧ ﺮﻴﻏ ﻢﺘﺴﻴﺳ ﻲ
ﻭ ﺖﺳﺍ ﻩﺪﺷ ﻱﺯﺎﺳ ﻲﻄﺧ ﺮﮕﻠﻤﻋ ﻪﺟﻮﺗ ﻞﺑﺎﻗ ﺮﻴﺛﺎﺗ ﻱﺯﺎﺳ ﻲﻄﺧ ﻦﻳﺍ ﺞﻳﺎﺘﻧ
ﻲﻣ ﻥﺎﺸﻧ ﻢﺘﺴﻴﺳ ﺭﺎﺘﻓﺭ ﺭﺩ ﺍﺭ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺪﻫﺩ
. ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﺮﮕﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﺶﻫﺎﻛ ﻱﺍﺮﺑ ﺲﭙﺳ .
ﻩﺮﻬﺑ
ﻱﺮﻴﮔ ﺖﺳﺍ ﻩﺩﻮﻤﻧ ﻲﻄﺧ ﻱﺮﻴﮕﻤﺸﭼ ﺭﻮﻄﺑ ﺍﺭ ﻢﺘﺴﻴﺳ ﺩﺮﻜﻠﻤﻋ ﺵﻭﺭ ﻦﻳﺍ ﺯﺍ ﻲﻤﻛ ﻡﺎﻤﻀﻧﺍ ﻪﺑ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﻝﺪﻣ ﻦﻴﻴﻌﺗ ﻥﺎﻜﻣﺍ ﻭ
ﻡﺪﻋ ﻱﺯﺎﺳ
ﺖﺳﺍ ﻩﺩﻮﻤﻧ ﺩﺎﺠﻳﺍ ﻲﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﻡﺮﻓ ﻪﺑ ﺍﺭ ﺖﻴﻌﻄﻗ .
ﺭﺩ ﻥﺎﺴﻧﺍ ﺖﻴﺳﺎﺴﺣ ﻲﺴﻧﺎﻛﺮﻓ ﺪﻧﺎﺑ ﻦﺘﻓﺮﮔ ﺮﻈﻧ ﺭﺩ ﺎﺑ ﻁﻮﻠﺨﻣ ﺖﻴﺳﺎﺴﺣ ﻪﻟﺎﺴﻣ ﻞﺣ
ﻪﺘﻓﺭ ﺭﺎﻜﺑ ﻲﺟﺭﺎﺧ ﺔﻘﻠﺣ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ ﺖﺳﺍ
. ﺭﺩ ﭘ ﻥﺎﻳﺎ ﻲﺑﺎﻳﺯﺭﺍ ﺩﺭﻮﻣ ﻩﺩﺎﺟ ﻲﻓﺩﺎﺼﺗ ﺕﺎﺷﺎﺸﺘﻏﺍ ﻪﺑ ﺦﺳﺎﭘ ﺭﺩ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺩﺮﻜﻠﻤﻋ
ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ .
ﻲﻣ ﻥﺎﺸﻧ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﺞﻳﺎﺘﻧ ﺪﻫﺩ
ﻪﻛ ﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﻢﻏﺮﻴﻠﻋ ﮕ
ﺭﺎﻜﺑ ﺎﺑ ﺮ ﮔ ﺗﺍﺮﺘﺳﺍ ﻦﻳﺍ ﻱﺮﻴ ﮋ
ﻦﻴﺑ ﻲﺑﻮﻠﻄﻣ ﺔﺤﻟﺎﺼﻣ ﻪﺑ ﻱ
ﻭ ﺮﻔﺳ ﻲﺘﺣﺍﺭ ﭘ
ﻲﻣ ﻢﺘﺴﻴﺳ ﻱﺭﺍﺪﻳﺎ ﺖﻓﺎﻳ ﺖﺳﺩ ﻥﺍﻮﺗ
.
٢ - ﺯﺎﺴﻟﺪﻣ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻱ
ﻊﺟﺮﻣ ﻲﺑﺮﺠﺗ ﺞﻳﺎﺘﻧ ﺱﺎﺳﺍ ﺮﺑ ﻭﺭﺩﻮﺧ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻩﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧ ﺭﺩ ﻝﺪﻣ ]
١٤،١٢،١٣ [ ﻝﺪﻣ ﻚﻳ ، ٤
/ ١ ﻞﻜﺷ ﺭﺩ ﻪﻛ ،ﺖﺳﺍ ﻞﻴﺒﻣﻮﺗﺍ )
١ (
ﺖﺳﺍ ﻩﺪﺷ ﻩﺪﻴﺸﻛ ﺮﻳﻮﺼﺗ ﻪﺑ .
ﻪﺑ ﻊﺟﺍﺮﻣ ﺯﺍ ﻱﺭﺎﻴﺴﺑ ﺭﺩ ﻭ ﺖﺳﺍ ﻩﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧ ﺭﺩ ﺥﺮﭼ ﻚﻳ ﻱﻭﺭ ﺮﺑ ﻪﻧﺪﺑ ﻱﺩﻮﻤﻋ ﺕﺎﻛﺮﺣ ﺎﻬﻨﺗ ﻝﺪﻣ ﻦﻳﺍ ﺭﺩ
ﻳﺄﺗ ﺭﻮﻈﻨﻣ ﺗﺍﺮﺘﺳﺍ ﺪﻴ ﮋ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ﻩﺪﺷ ﻪﺋﺍﺭﺍ ﻝﺮﺘﻨﻛ ﻱ ﮔ
ﺖﺳﺍ ﻪﺘﻓﺮ ]
١٢،١٠،١١ .[
ﻝﺪﻣ ﻦﻳﺍ ﺭﺩ Ms
ﻭ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺍﺭ ﻪﻧﺪﺑ ﻡﺭﺎﻬﭼ ﻚﻳ ﻡﺮﺟ
Mu
ﺖﺳﺍ ﻥﺁ ﻖﻴﻠﻌﺗ ﺕﺍﻭﺩﺍ ﻭ ﺥﺮﭼ ﻚﻳ ﻡﺮﺟ ﻑﺮﻌﻣ .
ﺖﻳﺮﻨﻓ ﺐﻳﺮﺿ ﺎﺑ ﺮﻨﻓ ﻚﻳ ﺕﺭﻮﺼﺑ ﻞﻴﺒﻣﻮﺗﺍ ﺥﺮﭼ Kt
ﻩﺪﺷ ﺽﺮﻓ ﻭ ﺖﺳﺍ ﻩﺪﺷ ﻝﺪﻣ
ﺎﻧ ﻥﺁ ﻲﻳﺍﺮﻴﻣ ﻪﻛ ﺖﺳﺍ ﭼ
ﺖﺳﺍ ﺰﻴ . ﻲﻧﺯﻮﺳ ﺮﻴﺷ ﺎﺑ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻚﻳ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺭﺩ ﻭﺮﻴﻧ ﺪﻟﻮﻣ ﺮﺼﻨﻋ )
٢
× ٤ ( ﻩﺪﺷ ﻪﺘﻓﺮﮔ ﺮﻈﻧ ﺭﺩ
ﺖﺳﺍ ] ١٤ .[
ﻲﻣ ﻩﺩﺎﺟ ﺢﻄﺳ ﻱﺭﺍﻮﻤﻫﺎﻧ ﺯﺍ ﻞﺻﺎﺣ ﺵﺎﺸﺘﻏﺍ ﻥﺍﺮﺒﺟ ﺚﻋﺎﺑ ﻥﺎﻣﺯ ﺎﺑ ﺮﻴﻐﺘﻣ ﻱﻭﺮﻴﻧ ﻚﻳ ﺩﺎﺠﻳﺍ ﺎﺑ ﺮﺼﻨﻋ ﻦﻳﺍ ﺩﻮﺷ
. ﺮﻴﺷ ﺖﻛﺮﺣ
ﻲﻣ ﻝﺮﺘﻨﻛ ﻢﻴﻘﺘﺴﻣ ﻱﺩﻭﺭﻭ ﻥﺎﻳﺮﺟ ﻚﻳ ﺎﺑ ﻱﺍ ﻪﻐﻴﺗ ﺮﻴﺷ ﻚﻳ ﻪﻠﻴﺳﻮﺑ ﻲﻧﺯﻮﺳ ﺩﻮﺷ
. ﺮﻴﺷ ﻞﻣﺎﺷ ﻪﻛ ﻮﻟﻭﻭﺮﺳ ﻚﻴﻣﺎﻨﻳﺩ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﺕﺎﺸﻳﺎﻣﺯﺁ ﻖﺑﺎﻄﻣ
ﻱﺍﺭﺍﺩ ﻊﻗﺍﻭ ﺭﺩ ،ﺖﺳﺍ ﻲﻧﺯﻮﺳ ﻭ ﻱﺍ ﻪﻐﻴﺗ ٣
ﺪﺷﺎﺒﻴﻣ ﻲﻜﻳﺮﺘﻜﻟﺍ ﻭ ﻲﻜﻴﻧﺎﻜﻣ ،ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﻱﺎﻬﻤﺘﺴﻴﺳ ﺮﻳﺯ ﺯﺍ ﻲﺷﺎﻧ ﺐﻄﻗ .
ﻢﺘﺴﻴﺳ ﺐﻟﺎﻏ ﺐﻄﻗ ﺎﻣﺍ
ﻪﺑ ﻁﻮﺑﺮﻣ ﺖﺳﺍ ﻩﺪﺷ ﻝﺪﻣ ،ﺩﻮﺸﻴﻣ ﻲﺋﺎﺳﺎﻨﺷ ﺶﻳﺎﻣﺯﺁ ﻖﻳﺮﻃ ﺯﺍ ﻪﻛ ﻚﻳ ﻪﺟﺭﺩ ﻢﺘﺴﻴﺳ ﻚﻳ ﺎﺑ ﻪﺠﻴﺘﻧ ﺭﺩ ﻭ ﻩﺩﻮﺑ ﻥﺁ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﻢﺘﺴﻴﺳ ﺮﻳﺯ ]
١٤ .[
ﻦﺗﻮﻴﻧ ﺵﻭﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻝﺪﻣ -
ﺖﺳﺍ ﻩﺪﺷ ﻦﻴﻴﻌﺗ ﺮﻳﺯ ﺕﺭﻮﺻ ﻪﺑ ﺮﻠﻳﻭﺍ :
) ١
f (
A u s s u s s s
sZ K Z Z B Z Z F F
M =− ( − )− ( − )+ −
f A r u t u s s u s s u
uZ K Z Z B Z Z K Z Z F F
M = ( − )+ ( − )− ( − )− +
ﻥﺁ ﺭﺩ ﻪﻛ
Z
r،ﻩﺩﺎﺟ ﻲﺷﺎﺸﺘﻏﺍ ﻱﺩﻭﺭﻭ FA
ﻠﻤﻋ ﻱﻭﺮﻴﻧ ﮕ
ﻭ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮ Ff
ﻲﻣ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻙﺎﻜﻄﺻﺍ ﻱﻭﺮﻴﻧ ﻑﺮﻌﻣ ﺪﺷﺎﺑ
. ﻪﻄﺑﺍﺭ
ﺮﮕﻠﻤﻋ ﻱﻭﺮﻴﻧﻭ ﻲﻧﺯﻮﺳ ﺮﻴﺷ ﺖﻛﺮﺣ ﻦﻴﺑ ﻲﻄﺧ ﺮﻴﻏ
، FA =PL×A
، ﻲﻣ ﻩﺩﺍﺩ ﻥﺎﺸﻧﺮﻳﺯ ﺕﺭﻮﺼﺑ ﺩﻮﺷ
] ١٥ :[
) ٢
» (
¼
« º
¬
ª − − − −
= sgn( ) ( )
u s L tm L v s
v d
A P x P C P AZ Z
x C A
F
ω ρ α
ﻠﻤﻋ ﻙﺎﻜﻄﺻﺍ ﻱﻭﺮﻴﻧ ﮕ
ﻭﺮﻴﻧ ﻲﻨﺤﻨﻣ ﺎﺑ ﻲﺑﺮﺠﺗ ﺕﺭﻮﺻ ﻪﺑ ﻭ ﻩﺩﻮﺑ ﻪﺟﻮﺗ ﻞﺑﺎﻗ ﺮ -
ﻊﺑﺎﺗ ﺯﺍ ﺖﺧﺍﻮﻨﻜﻳ ﺐﻳﺮﻘﺗ ﻚﻳ ﻖﺑﺎﻄﻣ ﺖﻋﺮﺳ
Signum
ﻝﺪﻣ
ﻲﻣ ﺩﻮﺷ :
) ٣ ( s
m Z
Z if
‚ Z Z
Ff =µsgn(s− u) | s− u|>0.01 / s m Z
Z if Z ‚
Sin Z
F s u
u s
f | | 0.01 /
2 01 .
0 − <
¸¸¹·
¨¨©§ −
=µ π
ﺩﺭﺍﺩ ﺖﻘﺑﺎﻄﻣ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﻲﻠﻤﻋ ﻱﺎﻫ ﻲﺳﺭﺮﺑ ﺎﺑ ﻲﺑﻮﺨﺑ ﻝﺪﻣ ﻦﻳﺍ ﺭﺍﺪﻘﻣ ﻭ
ﺩﻭﺪﺣµ ﻲﻣ ﻩﺩﺯ ﻦﻴﻤﺨﺗ 240N
ﺩﻮﺷ ] ١٣ .[
ﻞﻜﺷ ) ١ ( ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻝﺪﻣ ٤
/ ١ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻭ ﻭﺭﺩﻮﺧ
ﺕﺭﻮﺼﺑ ﺖﻟﺎﺣ ﻱﺎﻫﺮﻴﻐﺘﻣ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ
u
s z
z x1 = −
، zs
x2 =
، zu
x3 =
، zu
x4 =
،
2 1
5 p p
x = − ﻭ
xv
x6=
ﻲﻣ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺮﻳﺯ ﺕﺭﻮﺼﺑ ﻢﺘﺴﻴﺳ ﺖﻟﺎﺣ ﺕﻻﺩﺎﻌﻣ ﻭ ﺪﻧﻮﺸﻴﻣ ﺏﺎﺨﺘﻧﺍ ﺩﻮﺷ
:
) ٤ (
4 2
1 x x
x = −
(
s s f)
s
F Ax x x B x M k
x2= 1 − 1− ( 2− 4)+ 5−
4
3 x
x =
(
s s t r f)
u
F Ax z x k x x B x M k
x4= 1 1+ ( 2− 4)− ( 3− )− 5+
5 6 6
4 2 5
5 x A(x x ) x P sgn(x )x
x =−β −α − +γ s− )
1(
6
6 x u
x = − + τ
ﻥﺁ ﺭﺩ ﻪﻛ r
w c
g:=α d 1/ β =αctm α:=
(
4β/vt)
ρ =ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﻝﺎﻴﺳ ﻲﻟﺎﮕﭼ u=ﻮﻟﻭﻭﺮﺳ ﻱﺩﻭﺭﻭ W =ﻝﺮﺘﻨﻛ ﺮﻴﺷ ﻱﺎﻨﻬﭘd =
C ﻪﻴﻠﺨﺗ ﺐﻳﺮﺿ Vt =ﺮﮕﻠﻤﻋ ﻢﺠﺣ Ps =ﻊﺒﻨﻣ ﺭﺎﺸﻓ
tm =
C ﺖﺸﻧ ﺐﻳﺮﺿ
ﻭ ﭘ ﻝﻭﺪﺟ ﺭﺩ ﻲﺑﺮﺠﺗ ﺕﺭﻮﺻ ﻪﺑ ﻢﺘﺴﻴﺳ ﻱﺎﻫﺮﺘﻣﺍﺭﺎ )
١ ( ﺪﻧﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ]
٥ .[
ﻝﻭﺪﺟ ) ١ ( ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻲﻠﻤﻋ ﺮﻳﺩﺎﻘﻣ
N/m5 4.515×1013
α kg 290
Ms
N/m2 β 1
kg 59
Mu
N/m5/2 kg1/2 1.545×109
γ N/m 16812
Ks
10342500 Pa Ps
N/m 190000
Kt
m2 3.35×10-4
A
٣ - ﻡﻭﺎﻘﻣ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ
H∞
ﻲﻄﺧ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ ﺭﻮﻈﻨﻣ ﻪﺑ H∞
ﻝﺪﻣ ﻚﻳ ﺐﻴﻛﺮﺗ ﺎﺑ ﺍﺭ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﺮﻴﻏ ﻚﻴﻣﺎﻨﻳﺩ ﺖﺴﻣﺯﻻ ﺍﺪﺘﺑﺍ ﻭﺭﺩﻮﺧ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺭﺩ
ﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﻭ ﻲﻄﺧ ﺩﻮﺷ ﻩﺩﺯ ﺐﻳﺮﻘﺗ ﻲ
. ﻥﺁ ﺯﺍ ﻲﻳﺎﺳﺎﻨﺷ ﺪﻨﻳﺍﺮﻓ ﺭﺩ ﻪﻛ ﺖﺳﺍ ﻲﻳﺎﻬﻜﻴﻣﺎﻨﻳﺩ ﺔﻴﻠﻛ ﻞﻣﺎﺷ ﻊﻗﺍﻭ ﺭﺩ ﻱﺯﺎﺴﻟﺪﻣ ﺭﺩ ﻲﻨﻴﻌﻣﺎﻧ ﻡﺮﺗ ﺩﻮﺟﻭ
ﺖﺳﺍ ﻩﺪﺷ ﺮﻈﻨﻓﺮﺻ .
ﻲﻣﺎﻧ ﻝﺪﻣ ﻦﻴﻴﻌﺗ ﺭﻮﻈﻨﻣ ﻪﺑ ﻲﻣ ﻩﺮﻬﺑ ﻢﺘﺴﻴﺳ ﻲﺴﻧﺎﻛﺮﻓ ﻲﺋﺎﺳﺎﻨﺷ ﺯﺍ ،ﻢﺘﺴﻴﺳ ﻲﻨﻴﻌﻣﺎﻧ ﻭ
ﻢﻳﺮﺑ . ﻒﻠﺘﺨﻣ ﺕﺎﺸﻳﺎﻣﺯﺁ ﻡﺎﺠﻧﺍ ﺎﺑ
ﺔﻴﻠﻛ ﺪﻴﻨﻛ ﺽﺮﻓ ﻲﺴﻧﺎﻛﺮﻓ ﭘ
ﻱﺎﻬﺨﺳﺎ ﺔﻋﻮﻤﺠﻣ ﺭﺩ ﺍﺭ ﻢﺘﺴﻴﺳ ﻲﺴﻧﺎﻛﺮﻓ ﻢﻴﻨﻛ ﻱﺪﻨﺑ ﻪﺘﺳﺩ р
. ﻲﻣﺎﻧ ﻝﺪﻣ ﻪﻜﻨﻳﺍ ﺽﺮﻓ ﺎﺑ ﺮﺑﺍﺮﺑ ﻢﺘﺴﻴﺳ
P0
،ﺪﺷﺎﺑ
ﻪﺑ ﺖﺒﺴﻧ ﺍﺭ ﻲﻣﺎﻧ ﻝﺪﻣ ﺖﻴﻌﻄﻗ ﻡﺪﻋ ﻲﻣ ﺶﻳﺎﻤﻧ ﺮﻳﺯ ﻡﺮﻓ ﻪﺑ ﯽﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﺕﺭﻮﺻ ﻪﺑ p
ﻢﻴﻫﺩ .
) ٥ ( )
( )) ( ) ( 1 ( )
(s sW s P0 s P = +∆
р,
∈ ) (s
∀P
ﻥﺁ ﺭﺩ ﻪﻛ (s)
ﻲﻣ ﻩﺪﻴﻣﺎﻧ ﻲﻨﻴﻌﻣﺎﻧ ﻲﻧﺯﻭ ﻊﺑﺎﺗ ﻪﻛ ﺖﺳﺍ ﺖﺑﺎﺛ ﺭﺍﺪﻳﺎﭘ ﻊﺑﺎﺗ ﻚﻳW ﻭ ﺩﻮﺷ
ﺖﺳﺍﺮﻴﻐﺘﻣ ﺭﺍﺪﻳﺎﭘ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻚﻳ ∆
. ) ( ) (sW s ﺰﻴﻧ ∆
ﺯﺍ ﻩﺰﻴﻟﺎﻣﺮﻧ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻑﻼﺘﺧﺍ ١
ﻲﻣ ﺪﺷﺎﺑ :
) ٦ ) (
( ) ( ) 1 (
) (
0
ω ω ω
ω j W j
j P
j
P − =∆
ﺮﮔﺍ
|| ||∆∞≤1 ﺖﺷﺍﺩ ﻢﻴﻫﺍﻮﺧ ، :
) ٧ ω (
ω ω
ω −1≤ ( ),∀ )
( ) (
0
j j W
P j P
ﺕﺍﺮﻴﻴﻐﺗ ﻢﺳﺭ ﺎﺑ 1
) ( / )
(jω P0 jω − ﻲﺴﻧﺎﻛﺮﻓ ﺦﺳﺎﭘ ﻱﺎﻬﻨﻴﻤﺨﺗ ﺔﻴﻠﻛ ﻱﺍﺮﺑ ،P
) (jω ﻲﻧﺯﻭ ﻊﺑﺎﺗ ،ﺕﺍﺮﻴﻴﻐﺗ ﻦﻳﺍ ﻱﻻﺎﺑ ﺪﺣ ﻦﻴﻴﻌﺗ ﻭ P
ﻲﻨﻴﻌﻣﺎﻧ (s) ﻲﻣ ﺖﺳﺪﺑ W ﺪﻳﺁ
.
ﺮﻈﻧ ﺭﺩ ﺎﺑ ،ﻭﺭﺩﻮﺧ ﻖﻴﻠﻌﺗ ﺯﺎﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺍﺪﺘﺑﺍ ﺵﻭﺭ ﻦﻳﺍ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﮔ
ﺩﺭﻮﻣ ﻪﻧﺪﺑ ﻖﻠﻄﻣ ﺖﻛﺮﺣ ﻲﺟﻭﺮﺧ ﻭ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﻱﺩﻭﺭﻭ ﻦﺘﻓﺮ
ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻲﻳﺎﺳﺎﻨﺷ .
ﺖﻛﺮﺣ ﻪﻛ ﺎﺠﻧﺁ ﺯﺍ
Spool
ﺖﻳﺩﻭﺪﺤﻣ ﻱﺍﺭﺍﺩ ﺮﻴﺷ
±1 ﺘﺴﻴﺳ ﻪﺑ ﻲﻳﺎﺳﺎﻨﺷ ﻱﺍﺮﺑ ﻪﻛ ﻱﺩﻭﺭﻭ ﻥﺎﻳﺮﺟ ﻪﻨﻣﺍﺩ ،ﺮﺘﻤﻴﺘﻧﺎﺳ ﻢ
ﻦﻴﺑ ﺖﺳﺍ ﻩﺪﺷ ﻝﺎﻤﻋﺍ ﺎﺗ 0
ﺮﻈﻧ ﺭﺩ ﺮﭙﻣﺁ ﻲﻠﻴﻣ 10 ﮔ
ﺖﺳﺍ ﻩﺪﺷ ﻪﺘﻓﺮ .
ﺯﺍ ﻲﻛﺎﺣ ﺖﻟﺎﺣ ﻦﻳﺍ ﺭﺩ ﻲﻨﻴﻌﻣﺎﻧ ﻭ ﻲﻄﺧ ﻝﺪﻣ ﻦﻴﻴﻌﺗ ﺯﺍ ﻞﺻﺎﺣ ﺞﻳﺎﺘﻧ
ﻲﻣ ﺭﻭﺩ ﻢﻫ ﺯﺍ ﻒﻠﺘﺨﻣ ﺕﺎﺸﻳﺎﻣﺯﺁ ﺯﺍ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻱﺎﻬﻟﺪﻣ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﺮﻴﻏ ﻚﻴﻣﺎﻨﻳﺩ ﻞﻴﻟﺪﺑ ﻪﻛ ﺖﺴﻧﺁ ﺪﻨﺷﺎﺑ
. ﻦﻴﻳﺎﭘ ﻱﺎﻫ ﻪﻨﻣﺍﺩ ﺭﺩ ﺎﺻﻮﺼﺧ
ﺎﻜﻄﺻﺍ ﺮﺛﺍ ﻪﻛ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﻲﻣﺮﻫﺎﻇ ﺮﺘﺸﻴﺑ ﻙ
ﺖﺳﺍ ﺮﺗﺩﻮﻬﺸﻣ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻱﺎﻬﻟﺪﻣ ﻑﻼﺘﺧﺍ ،ﺩﻮﺷ .
ﻲﻤﻧ ﻪﺠﻴﺘﻧ ﺭﺩ ﺯﺍ ﻲﺑﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﻥﺍﻮﺗ
ﻲﻣﺎﻧ ﻝﺪﻣ ﺱﺎﺳﺍ ﺮﺑ ﺎﻬﻨﺗ ﻪﻛ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺖﺷﺍﺩ ﺭﺎﻈﺘﻧﺍ ﺍﺭ ﺖﺳﺍ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻢﺘﺴﻴﺳ
.
ﻞﮑﺷ ) ٢ ( ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺎﺑ ﻝﺮﺘﻨﻛ ﻢﺘﺴﻴﺳ ﻡﺍﺮﮕﻳﺩ ﻙﻮﻠﺑ
ﺮﻴﻏ ﻚﻴﻣﺎﻨﻳﺩ ﺶﻫﺎﻛ ﺭﻮﻈﻨﻣ ﻪﺑ ﻠﻤﻋ ﻲﻜﻳﺰﻴﻓ ﺖﻴﻫﺎﻣ ﺯﺍ ﻪﻛ ﻢﺘﺴﻴﺳ ﻲﻄﺧ
ﮕ ﻲﻣ ﻲﺷﺎﻧ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮ ﻲﻣ ،ﺩﻮﺷ
ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﻥﺍﻮﺗ
ﺖﺴﺟ ﻩﺮﻬﺑ ]
١٦،١١ .[
ﻲﻣ ﻢﺘﺴﻴﺳ ﺭﺎﺘﻓﺭ ﻥﺩﻮﻤﻧ ﺮﺗ ﻲﻄﺧ ،ﻲﻜﻴﻣﺎﻨﻳﺩ ﻱﺎﻬﻤﺘﺴﻴﺳ ﺭﺩ ﻚﺑﺪﻴﻓ ﺔﺘﺴﺟﺮﺑ ﺕﺎﻴﺻﻮﺼﺧ ﺯﺍ ﻲﻜﻳ ﺪﺷﺎﺑ
. ﺭﺎﺘﺧﺎﺳ ﻦﻳﺍ
ﻞﻜﺷ ﺭﺩ ﻪﻛ ﺮﻈﻧ ﺩﺭﻮﻣ )
٢ ( ﻴﻓ ﺔﻘﻠﺣ ﻭﺩ ﺯﺍ ،ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﺭﺎﺘﻓﺭ ﻱﺯﺎﺳ ﻲﻄﺧ ﺭﻮﻈﻨﻣ ﻪﺑ ﻲﻠﺧﺍﺩ ﺔﻘﻠﺣ ﻪﻛ ،ﺖﺳﺍ ﻩﺪﺷ ﻞﻴﻜﺸﺗ ﻚﺑﺪ
ﻠﻤﻋ ﻲﻜﻴﻣﺎﻨﻳﺩ ﮕ
ﺎﺑ ﻭ ﻲﻄﺧ ﺮﻴﻏ ﺮ ﭘ
ﺭﺰﺑ ﺪﻧﺎﺑ ﻱﺎﻨﻬ ﮔ
ﻲﻣ ﻲﺣﺍﺮﻃ ﻲﺟﺭﺎﺧ ﺔﻘﻠﺣ ﺯﺍ ﺮﺘ ﺩﻮﺷ
. ﻪﻘﻠﺣ ﺭﺩ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺯﺍ ﺶﻫﻭﮋﭘ ﻦﻳﺍ ﺭﺩ
ﻲﻣ ﺩﺎﻬﻨﺸﻴﭘ ﻱﺯﺎﺳ ﻲﻄﺧ ﻱﺍﺮﺑ ﻲﻠﺧﺍﺩ ﻲﻣ ﻩﺩﺍﺩ ﺢﻴﺿﻮﺗ ﺪﻌﺑ ﺶﺨﺑ ﺭﺩ ﻪﻛ ﻲﻘﻳﺮﻃ ﻪﺑ ﻪﻛ ،ﺩﻮﺷ
ﺩﻮﺷ ﺖﺳﺍ ﻩﺪﺷ ﻲﺣﺍﺮﻃ .
٣ - ١ - ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺭﺩ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ
ﻲﻣ ﻦﻴﻳﺎﭘ ﻪﺒﺗﺮﻣ ﻲﻄﺧ ﻝﺪﻣ ﻚﻳ ﺎﺑ ﻲﻟﻭ ،ﺩﻮﻤﻧ ﻥﺎﻴﺑ ﻲﻄﺧ ﻝﺪﻣ ﻚﻳ ﺎﺑ ﺎﻬﺴﻧﺎﻛﺮﻓ ﻪﻤﻫ ﺭﺩ ﻥﺍﻮﺘﻴﻤﻧ ﺍﺭ ﺮﮕﻠﻤﻋ ﻲﻄﺧﺮﻴﻏ ﺭﺎﺘﻓﺭ ﻪﭼﺮﮔﺍ ﺭﺎﺘﻓﺭ ﻥﺍﻮﺗ
ﺩﺮﻛ ﻲﺑﺎﻳﺯﺭﺍ ﻢﺘﺴﻴﺳ ﻱﺭﺎﻛ ﻩﺩﻭﺪﺤﻣ ﺭﺩ ﺍﺭ ﻥﺁ ﻲﻠﻛ .
ﺮﮕﻠﻤﻋ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﻪﻜﻨﻳﺍ ﻞﻴﻟﺪﺑ ﻦﻳﺍ ﺭﺩ ﻭ ﺪﺷﺎﺒﻴﻣ ﻞﻴﺒﻣﻮﺗﺍ ﻪﻧﺪﺑ ﺕﺎﺷﺎﻌﺗﺭﺍ ﻥﺩﺮﻛﺍﺮﻴﻣ ﺭﻮﻈﻨﻤﺑ
ﻲﻣ ﻭﺩ ﻪﺒﺗﺮﻣ ﻝﺪﻣ ﻚﻳ ﺖﻓﺮﮔ ﺮﻈﻧ ﺭﺩ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻱﺍﺮﺑ ﻥﺍﻮﺘﻴﻣ ﻪﻛ ﻲﻟﺪﻣ ﻦﻳﺮﺗ ﻩﺩﺎﺳ ،ﺪﻫﺪﻴﻣ ﺥﺭ ﻱﮊﺮﻧﺍ ﻞﻳﺪﺒﺗ ﻢﺘﺴﻴﺳ ﺪﺷﺎﺑ
. ﻩﺮﻬﺑ
ﻱﺩﻭﺭﻭ ﻱﻭﺭ ﺮﺑ ﻲﻨﻴﺑ ﺶﻴﭘ ﻱﺎﻄﺧ ﻥﺩﺮﻛ ﻪﻨﻴﻤﻛ ﻩﻮﻴﺷ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍﻭ ﻢﺘﺴﻴﺳ ﻲﻳﺎﺳﺎﻨﺷ ﻱﺎﻬﺷﻭﺭ ﺯﺍ ﻱﺮﻴﮔ -
ﺧ ﻪﻴﺒﺷ ﺯﺍ ﻩﺪﺷ ﺝﺍﺮﺨﺘﺳﺍ ﻱﺎﻬﻴﺟﻭﺮ
ﻲﻣ ﻪﺠﻴﺘﻧ ﻭﺮﻴﻧ ﻲﺟﻭﺮﺧﻭ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﻱﺩﻭﺭﻭ ﺎﺑ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮﮕﻠﻤﻋ ﻱﺍﺮﺑ ﺍﺭ ﺮﻳﺯ ﻭﺩ ﻪﺒﺗﺮﻣ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ،ﻲﻄﺧ ﺮﻴﻏ ﻞﻣﺎﻛ ﻢﺘﺴﻴﺳ ﻱﺯﺎﺳ ﺪﻫﺩ
:
) ٨
( ) (
(
.053110.68 18722.24)
38
2 6
+ +
+
= ×
− s s
s input
valve servo
Fact
ﺩﻭﺪﺣ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ ﻱﺍﺭﺍﺩ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻦﻳﺍ ٥٠
ﺓﺮﻬﺑ ﻭ ﻪﻴﻧﺎﺛ ﺮﺑ ﻥﺎﻳﺩﺍﺭ ﻝﺩﺎﻌﻣ dc
٦٧dB
/ ١١٩ ﺪﺷﺎﺒﻴﻣ . ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ ﺭﺩ ﺖﺳﺍ ﻡﺯﻻ ﻪﻛ ﻲﺗﺎﻜﻧ ﺯﺍ
ﺪﺷﺎﺒﻴﻣ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﻝﺎﻨﮕﻴﺳ ﺕﺍﺮﻴﻴﻐﺗ ﻩﺩﻭﺪﺤﻣ ﻥﺩﻮﺑ ﻚﭼﻮﻛ،ﺩﺮﻴﮔ ﺭﺍﺮﻗ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ .
ﻉﺎﺒﺷﺍ ﺯﺍ ﻱﺮﻴﮔﻮﻠﺟ ﻱﺍﺮﺑ ﻞﻴﻟﺩ ﻦﻴﻤﻬﺑ
ﻮﻛ ﻲﺘﺴﻳﺎﺑ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺓﺮﻬﺑ ﺮﮕﻠﻤﻋ ﭼ
ﺩﻮﺷ ﺭﺎﻴﺘﺧﺍ ﻚ .
ﻳﺩ ﻑﺮﻃ ﺯﺍ ﮕ ﺎﺘﺧﺎﺳ ﺭﺩ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﻪﺑ ﻥﺪﻴﺳﺭ ﻱﺍﺮﺑ ﺮ ﺖﺳﺍ ﻡﺯﻻ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭ
ﺪﺷﺎﺑ ﻲﺟﺭﺎﺧ ﻪﻘﻠﺣ ﺯﺍ ﺮﺘﮔﺭﺰﺑ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ ﻪﻛ .
ﺓﺮﻬﺑ ﺎﺑ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﺍﺬﻟ
0.0001
ﺔﺘﺴﺑ ﺭﺍﺪﻣ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ
ﻲﻣ ﻞﻳﺪﺒﺗ ﺮﻳﺯ ﺕﺭﻮﺼﺑ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺩﻮﺷ
:
) ٩
( )
((
3805+3818.05)(
++1818.24.36)
= s s
s F
F
des act
ﻲﻣ ﻥﺎﺸﻧ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻦﻳﺍ ﺓﺮﻬﺑ ﺏﺎﺨﺘﻧﺍ ﻪﻛﺪﻫﺩ
−4
ﺐﻄﻗ ﻑﺬﺣ ﺚﻋﺎﺑ 10 ﭘ
ﻢﺘﺴﻴﺳ ﺭﺍﺪﻳﺎ -18.36
ﺮﻔﺻ ﺎﺑ -18.24 ﻦﻳﺪﺑ ﻭ ﺖﺳﺍ ﻩﺪﺷ
ﺎﺗ ﻪﺘﺴﺑ ﻪﻔﻠﺣ ﻢﺘﺴﻴﺳ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ ﻲﺒﺳﺎﻨﺗ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺎﺑ ﺎﻬﻨﺗ ﺐﻴﺗﺮﺗ (rad/sec)
ﻲﻣ ﺶﻳﺍﺰﻓﺍ 3818 ﺪﺑﺎﻳ
. ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﻢﺘﺴﻴﺳ ﺭﺩ ﻪﻜﻨﻳﺍ
ﻲﻣ ﺭﺍﺪﻘﻣ ﻦﻳﺍﺯﺍ ﺮﺘﻤﻛ ﺭﺎﻴﺴﺑ ﺯﺎﻴﻧ ﺩﺭﻮﻣ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﺀﺎﺿﺭﺍ ﺍﺭ ﻲﻠﺧﺍﺩ ﺔﻘﻠﺣ ﻲﺣﺍﺮﻃ ﻱﺎﻫﺯﺎﻴﻧ ﺔﻴﻠﻛ ﻩﺩﺎﺳ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻦﻳﺍ ،ﺪﺷﺎﺑ
ﻲﻣ ﺪﻨﻛ . ﻞﻜﺷ ) ٣ ( ﺪﻫﺪﻴﻣ ﻥﺎﺸﻧ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺭﺩ ﻲﺳﻮﻨﻴﺳ ﻱﺩﻭﺭﻭ ﻪﺑ ﺍﺭ ﻭﺮﻴﻧ ﻖﻴﻗﺩ ﹰﻼﻣﺎﻛ ﻲﺑﺎﻳﺩﺭ ﺰﻴﻧ .
ﺘﺧﺎﺳ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ ﻚﺑﺪﻴﻓ ﺭﺎ
ﺖﺳﺍ ﻩﺪﺷ ﻲﻄﺧ ﺮﻴﻏ ﻢﺘﺴﻴﺳ ﻱﺯﺎﺳ ﻲﻄﺧ ﺚﻋﺎﺑ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﻥﺩﺮﺑ ﺭﺎﻜﺑﻭ ﻱﺯﺍﻮﻣ ﺦﺳﺎﭘ ﻲﻄﺧ ﻝﺮﺘﻨﻛ ﻱﺎﻬﺷﻭﺭ ﻪﻛ ﺖﺷﺍﺩ ﺭﺎﻈﺘﻧﺍ ﻥﺍﻮﺘﻴﻣ ﻭ
ﺪﺷﺎﺑ ﻪﺘﺷﺍﺩ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻱﺍﺮﺑ ﻲﺒﺳﺎﻨﻣ .
ﻲﻣ ﺭﺍﺮﻜﺗ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺩﻮﺟﻭ ﺎﺑ ﺍﺭ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﻲﻳﺎﺳﺎﻨﺷ ﺪﻨﻳﺍﺮﻓ ﻝﺎﺣ ﻢﻴﻨﻛ
. ﺮﮕﻠﻤﻋ ﻱﻭﺮﻴﻧ ﻪﻠﺣﺮﻣ ﻦﻳﺍ ﺭﺩ Fd
ﻪﻧﺪﺑ ﺖﻛﺮﺣ ﻭ ،
،ﻞﻴﺒﻣﻮﺗﺍ Zs
ﺪﻧﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ﻲﻳﺎﺳﺎﻨﺷ ﺪﻨﻳﺍﺮﻓ ﺭﺩ ﻲﺟﻭﺮﺧﻭ ﻱﺩﻭﺭﻭ ﻱﺎﻬﻟﺎﻨﮕﻴﺳ ﻥﺍﻮﻨﻌﺑ ﺐﻴﺗﺮﺘﺑ ، .
ﻞﻜﺷ ) ٤ ( ﻲﻄﺧ ﻲﻳﺎﺳﺎﻨﺷ ﺞﻳﺎﺘﻧ
ﻲﻣ ﻥﺎﺸﻧ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺩﻮﺟﻭ ﺎﺑ ﺍﺭ ﻲﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﻭ ﺪﻫﺩ
. ﻲﻣﺎﻧ ﻝﺪﻣ ﻪﺒﺗﺮﻣ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻚﻳ ﺭﺎﻬﭼ
ﺪﺷﺎﺒﻴﻣ ﺮﻳﺯ ﺕﺭﻮﺼﺑ ﺯﺎﻓ ﻢﻤﻴﻨﻴﻣ ﻭ ﺭﺍﺪﻳﺎﭘ :
) ١٠
( )( )
((
s.9 110.4 7s.262011j)(
s.657s.35413431.17.3jj)
1 6
± +
± +
± + +
× −
= Fd
travel
= Body )
0(s P
ﻲﻣﺎﻧ ﻝﺪﻣ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻭ ﺭﺍﺪﻳﺎﭘ ﻱﺎﻬﺒﻄﻗ ﻭ ﺎﻫﺮﻔﺻ ﻱﺍﺭﺍﺩ
ﺮﻬﺑ dc ﺓ ﺮﺑﺍﺮﺑ
–199.25dB
ﺪﺷﺎﺒﻴﻣ .
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
-500 -400 -300 -200 -100 0 100 200 300 400 500
Fd & Fa
Time(sec)
Force(N)
Frequency response of suspension system with i nner loop
Frequency (rad/sec)
Magnitude (dB)
100 101 102
-130 -120 -110 -100 -90 -80 -70
Frequency content of multipl icative uncertainty
Frequency (rad/sec)
Magnitude (dB)
100 101 102
-40 -30 -20 -10 0 10 20
.... Experi ment Nomi nal model
W=0.2165(0.1s+1)2 / (0.05s+1)2
ﻞﻜﺷ ) ٣ ( ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺭﺩ ﻭﺮﻴﻧ ﻲﺑﺎﻳﺩﺭ ﻠﻤﻋ
ﮕ ﺮ ﻭﺮﺳ - ﻴﻫ ﻚﻴﻟﻭﺭﺪ ﻞﻜﺷ
) ٤ ( ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻲﺴﻧﺎﻛﺮﻓ ﺦﺳﺎﭘ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺎﺑ
, ﻲﻣﺎﻧ ﻝﺪﻣ ﻲﻨﻴﻌﻣﺎﻧﻭ
ﻪﻟﺩﺎﻌﻣ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ )
٧ ( ﻞﻳﺪﺒﺗ ﻊﺑﺍﻮﺗ ﻭ ﻲﻣﺎﻧ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﺓﺰﻴﻟﺎﻣﺮﻧ ﻑﻼﺘﺧﺍ ﻱﻻﺎﺑ ﺪﺣ ﻥﺍﻮﻨﻋ ﻪﺑ ﺰﻴﻧ ﻩﺪﻧﻮﺷ ﺏﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ
ﺕﺭﻮﺼﺑ ،ﻩﺪﺷ ﻲﺋﺎﺳﺎﻨﺷ
( )
( )
2 2
0.2165 0.1 1 ( )
0.05 1 W s s
s
= +
+
ﻴﻣ ﻩﺩﺯ ﺐﻳﺮﻘﺗ ﺩﻮﺸ
. ﻧﺎﻤﻫ ﮕ ﻪﻛ ﻪﻧﻮ ،ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ،ﺩﻮﺸﻴﻣ ﻪﻈﺣﻼﻣ
ﺖﺳﺍ ﺮﺗ ﻲﻄﺧ ﻢﺘﺴﻴﺳ ﻲﻠﻛ ﺭﺎﺘﻓﺭ ﻭ ﻩﺩﻮﺑ ﻚﻳﺩﺰﻧ ﻢﻬﺑ ﺭﺎﻴﺴﺑ ﻩﺪﺷ ﻲﻳﺎﺳﺎﻨﺷ ﻱﺎﻬﻟﺪﻣ .
ﻮﻛ ﺎﻬﺴﻧﺎﻛﺮﻓ ﻪﻤﻫﺭﺩ ﻢﺘﺴﻴﺳ ﻲﻨﻴﻌﻣﺎﻧ ﻦﻴﻨﭽﻤﻫ ﭼ
ﻦﻴﻳﺎﭘ ﻭ ﻚ
ﺯﺍ ﺮﺗ ﺯﺍ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻲﻄﺧ ﺓﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺖﻴﻘﻓﻮﻣ ﺶﺨﺑ ﺪﻳﻮﻧ ﻉﻮﺿﻮﻣ ﻦﻳﺍ ،ﺪﺷﺎﺒﻴﻣ 0dB
ﻱﺭﻮﺌﺗ ﻖﻳﺮﻃ H∞
ﻲﻣ ﺪﺷﺎﺑ .
٣ - ٢ - ﻁﻮﻠﺨﻣ ﺖﻴﺳﺎﺴﺣ ﻪﻟﺎﺴﻣ ﻞﺣ
ﻲﻣ ﻪﻟﺄﺴﻣ ﻦﻳﺍ ﺭﺩ ﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻢﻴﻫﺍﻮﺧ
ﻩﺪ ﻪﻛ ﻢﻴﻨﻛ ﻲﺣﺍﺮﻃ ﻱﺍ ﻩﺩﺎﺟ ﻱﺩﻭﺭﻭ ﺮﻴﺛﺄﺗ
ﻲﺟﻭﺮﺧ ﻪﺑ d ﻭﺭﺩﻮﺧ ﺔﻧﺪﺑ ﻲﻳﺎﺠﺑﺎﺟ
ﺩﻮﺟﻭ ﺎﺑ ﺍﺭ y
ﻠﻤﻋ ﻱﻭﺮﻴﻧ ﺭﺩ ﺩﻮﺟﻮﻣ ﺖﻳﺩﻭﺪﺤﻣ ﮕ
uﺮ ﻪﻨﻴﻤﻛ ﺩﺯﺎﺳ . ﺔﻠﺌﺴﻣ ﺵﺎﺸﺘﻏﺍ ﻑﺬﺣ ﻨﻧﺎﻤﻫ
ﻲﻣ ﻲﻄﺧ ﻝﺮﺘﻨﻛ ﻱﺎﻬﻤﺘﺴﻴﺳ ﺭﺩ ﺐﻴﻘﻌﺗ ﻲﻣﻮﻤﻋ ﺔﻠﺌﺴﻣ ﺪ
ﺪﻧﺍﻮﺗ ﺑ ﻪ ﺖﻴﺳﺎﺴﺣ ﻊﺑﺎﺗ ﻥﺩﺮﻛ ﻪﻨﻴﻤﻛ ﺕﺭﻮﺻ ﺮﻴﺒﻌﺗ
ﺩﻮﺷ . ﺮﻈﻧ ﺭﺩ ﺎﺑ ﮔ
ﻲﻧﺯﻭ ﻊﺑﺍﻮﺗ ﻦﺘﻓﺮ
Ws
ﺖﻴﺳﺎﺴﺣ ﻊﺑﺎﺗ ﻱﺍﺮﺑ ﻭ
Wu
ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻱﺍﺮﺑ
ﻠﻤﻋ ﻱﻭﺮﻴﻧ ﮕ ﺎﺑ ﺮ ﻲﺴﻧﺎﻛﺮﻓ ﻱﺍﻮﺘﺤﻣ ﻁﻮﻠﺨﻣ ﺖﻴﺳﺎﺴﺣ ﺔﻠﺌﺴﻣ ﻞﺣ ﺎﺑ ﻭ ﺮﻈﻧ ﺩﺭﻮﻣ
s 1
u
W S W U∞<
ﻲﻣ ﺗ ﻦﻴﺑ ﻱﺍ ﻪﻨﻴﻬﺑ ﺔﺤﻟﺎﺼﻣ ﻥﺍﻮ ﻲﻟﺮﺘﻨﻛ ﻑﺍﺪﻫﺍ
ﺩﺭﻭﺁ ﺖﺳﺪﺑ ﺮﻈﻧ ﺩﺭﻮﻣ .
ﺖﺳﺍ ﻪﻨﻴﻬﺑ ﻭ ﻪﻨﻴﻬﺑ ﺮﻳﺯ ﻞﺣ ﻱﺍﺭﺍﺩ ﻪﻟﺄﺴﻣ ﻦﻳﺍ ]
١٧ [ ﺐﺳﺎﻨﻣ ﻱﺩﺪﻋ ﻱﺎﻬﺷﻭﺭ ﺯﺍ ﻭ ﻩﺪﺷ ﺩﺎﻬﻨﺸﻴﭘ ﻥﺁ ﺔﻨﻴﻬﺑ ﻞﺣ ﻱﺍﺮﺑ ١
ﺖﺳﺍ . ﺏﺎﺨﺘﻧﺍ ﻲﻧﺯﻭ ﻊﺑﺍﻮﺗ ﺐﺳﺎﻨﻣ
ﺭﺩ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ H∞
، ﻴﺳ ﻲﻜﻳﺰﻴﻓ ﺕﺎﻴﺻﻮﺼﺧ ﺱﺎﺳﺍ ﺮﺑ ﺩﺮﻜﻠﻤﻋ ﻭ ﻢﺘﺴ
ﺕﺭﻮﺻ ﺏﻮﻠﻄﻣ
ﻲﻣ ﮔ ﺩﺮﻴ . ﺏﺎﺨﺘﻧﺍ ﻲﻧﺯﻭ ﻊﺑﺎﺗ
Ws
ﺱﺎﺳﺍ ﺮﺑ ﻱﺩﻮﻤﻋ ﺕﺎﺷﺎﻌﺗﺭﺍ ﻪﺑ ﺖﺒﺴﻧ ﻥﺎﺴﻧﺍ ﺖﻴﺳﺎﺴﺣ ﻲﺴﻧﺎﻛﺮﻓ ﺪﻧﺎﺑ ﻪﻛ
ﺩﻭﺪﺣ ﺎﺗ 3 ﺪﺷﺎﺒﻴﻣ ﺰﺗﺮﻫ 8 ]
١٨ [ ،
ﻲﻣ ﻲﺣﺍﺮﻃ ﺩﻮﺷ
. ﺐﻴﺗﺮﺗ ﻦﻳﺪﺑ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ
Ws
ﻲﻣﺎﻤﺗ ﻪﻛ ﺩﻮﺸﻴﻣ ﺏﺎﺨﺘﻧﺍ ﻥﺎﻨﭼ ﺯﺍ ﺮﺘﻤﻛ ﻱﺎﻬﺴﻧﺎﻛﺮﻓ
ﺖﺸﻫ ﺪﻫﺩ ﺶﺷﻮﭘ ﺍﺭ ﺰﺗﺮﻫ .
ﺎﺠﻧﺍ ﺎﺑ ﻡ
ﹰﺎﺘﻳﺎﻬﻧ ﺭﺮﻜﻣ ﻱﺎﻄﺧ ﻭ ﻲﻌﺳ ﺖﻴﺳﺎﺴﺣ ﻲﻧﺯﻭ ﻊﺑﺎﺗ
ﺐﺳﺎﻨﻣ ﺕﺭﻮﺼﺑ ( ) 155
s 51 W s =s ﻱﺍﺭﺍﺩ ﻪﻛ +
ﻱﺎﻨﻬﭘ 51 rad/secﺪﻧﺎﺑ ﺖﺸﻫ ﻝﺩﺎﻌﻣ
ﺗﺮﻫ ﺰ
ﺪﺷﺎﺒﻴﻣ ﺖﺳﺍ ﻩﺪﺷ ﺏﺎﺨﺘﻧﺍ ، .
ﻲﻧﺯﻭ ﻊﺑﺎﺗ Wu
ﺮﻈﻧ ﺭﺩ ﺖﺑﺎﺛ ﻱﺭﺍﺪﻘﻣ ﺰﻴﻧ ﮔ
ﻠﻤﻋ ﻩﺩﺎﺟ ﺵﺎﺸﺘﻏﺍ ﺔﻨﻣﺍﺩ ﺮﺜﻛﺍﺪﺣ ﻪﻛ ،ﺖﺳﺍ ﻩﺪﺷ ﻪﺘﻓﺮ ﮕ
ﻪﺑ ﺍﺭ ﺎﻫﺮ
ﺪﻧﺎﺳﺮﻧ ﻉﺎﺒﺷﺍ .
ﻁﻮﻠﺨﻣ ﺖﻴﺳﺎﺴﺣ ﺔﻠﺌﺴﻣ ﻞﺣ ﺎﺑ ﺐﻴﺗﺮﺗ ﻦﻳﺪﺑ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ
H∞
ﺮﻳﺯ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻱﺍﺮﺑ ﺖﺳﺍ ﻩﺪﺷ ﻲﺣﺍﺮﻃ
:
) ١١
( )( ) (
(
s s)
(s )(sj s )(s jj)s
C 1.9 10 2021 50 41 38.33
17 . 34 35 . 57 26 . 7 4 . 1 10 7 . ) 42
( 4
11
± + + +
× +
± +
± +
= ×
ﻪﻛ ﻲﻣﺎﻧ ﻝﺪﻣ ﺭﺍﺪﻳﺎﭘ ﻱﺎﻬﺒﻄﻗ ﻥﺁ ﻱﺎﻫﺮﻔﺻ ﻑﺬﺣ ﺍﺭ
ﺶﻳﺍﺰﻓﺍ ﺚﻋﺎﺑ ﻭ ﻩﺩﺮﻛ ﭘ
ﻲﻣ ﻢﺘﺴﻴﺳ ﺪﻧﺎﺑ ﻱﺎﻨﻬ ﮔ
ﺩﺩﺮ .
٣ - ٣ - ﻞﻴﻠﺤﺗ ﭘ ﻡﻭﺎﻘﻣ ﻱﺭﺍﺪﻳﺎ
ﺭﺎﻜﺑ ﺎﺑ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻡﻭﺎﻘﻣ ﻱﺭﺍﺪﻳﺎﭘ ﻞﻴﻠﺤﺗ ﻱﺍﺮﺑ ﮔ
ﻞﻜﺷ ﺭﺩ ﻩﺪﺷ ﻦﻴﻴﻌﺗ ﻲﺑﺮﺿ ﻲﻨﻴﻌﻣﺎﻧ ﻥﺍﺰﻴﻣ ﻱﺮﻴ )
٤ ( ﻞﻴﻠﺤﺗ ﺯﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ µ
ﺖﺳﺍ . ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻭ ﻱﺯﺍﻮﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺎﺑ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﻡﻭﺎﻘﻣ ﻱﺭﺍﺪﻳﺎﭘ ﺖﻴﻌﺿﻭ ﻞﻴﻠﺤﺗ ﻦﻳﺍ ﺭﺩ H∞
ﻪﻠﺌﺴﻣ ﻞﺣ ﻖﻳﺮﻃ ﺯﺍ ﻪﻛ
ﺖﺳﺍ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻁﻮﻠﺨﻣ ﺖﻴﺳﺎﺴﺣ ,
ﺩﺮﻴﮕﻴﻣ ﺭﺍﺮﻗ ﻲﺳﺭﺮﺑ ﺩﺭﻮﻣ .
ﻥﺍﺰﻴﻣ ،ﺐﺳﺎﻨﻣ ﻱﺩﺪﻋ ﻱﺎﻬﺷﻭﺭ ﻭ ﻢﺘﺴﻴﺳ ﻲﻨﻴﻌﻣﺎﻧ ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ
ﻪﺘﻓﺎﻳ ﺭﺎﺘﺧﺎﺳ ﻦﻴﻜﺗ ﺮﻳﺩﺎﻘﻣ ﺕﺍﺮﻴﻴﻐﺗ µ)
( ﻞﻜﺷ ﺭﺩ ﻭ ﻩﺪﺷ ﻦﻴﻴﻌﺗ ﺲﻧﺎﻛﺮﻓ ﺐﺴﺣﺮﺑ )
٥ ( ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ .
ﻪﺟﻮﺗ ﺎﺑ ﻮﻛ ﺮﻳﺩﺎﻘﻣ ﻪﺑ ﭼ
ﺯﺍ ﺮﺘﻜ
µ ﻚﻳ ﻲﻣ ﻪﺠﻴﺘﻧ ،ﺎﻬﺴﻧﺎﻛﺮﻓ ﺔﻴﻠﻛ ﺭﺩ ﮔ
ﺖﺳﺍ ﺭﺍﺮﻗﺮﺑ ﻡﻭﺎﻘﻣ ﻱﺭﺍﺪﻳﺎﭘ ﻁﺮﺷ ﻪﻛ ﻢﻳﺮﻴ .
10-1 100 101 102 103 104
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Frequency (rad/sec) Robust Stability
ﻞﻜﺷ ) ٥ ( ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﻡﻭﺎﻘﻣ ﻱﺭﺍﺪﻳﺎﭘ ﻞﻜﺷ
) ٦ ( ﻂﺳﻮﺗ ﻩﺩﺎﺟ ﺢﻄﺳ ﻱﺭﺍﻮﻤﻫﺎﻧ ﻱﺪﻨﺑ ﻪﻘﺒﻃ ISO
.1 µ - Synthesis Toolbox
٤ - ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺩﺮﻜﻠﻤﻋ ﻲﺳﺭﺮﺑ
ﻱﺭﺍﻮﻤﻫﺎﻧ ﻢﺘﺴﻴﺳ ﺭﺎﺘﻓﺭ ﻖﻴﻗﺩ ﻲﺳﺭﺮﺑ ﺭﻮﻈﻨﻣ ﻪﺑ ﻄﺳ
ﺕﺭﻮﺼﺑ ﻩﺩﺎﺟ ﺢ ﻴﺳ
ﮕ ﻭ ﻪﻨﻣﺍﺩ ﺕﺎﻴﺻﻮﺼﺧ ﻪﻛ ﺖﺳﺍ ﻩﺪﺷ ﻱﺯﺎﺴﻟﺪﻣ ﻲﻓﺩﺎﺼﺗ ﻝﺎﻨ
ﺮﻈﻧ ﺭﺩ ﻩﺩﺎﺟ ﻉﻮﻧ ﺩﺭﺍﺪﻧﺎﺘﺳﺍ ﺮﻳﺩﺎﻘﻣ ﺎﺑ ﻥﺁ ﺲﻧﺎﻛﺮﻓ ﮔ
ﺖﺳﺍ ﺐﺳﺎﻨﺘﻣ ،ﻩﺪﺷ ﻪﺘﻓﺮ .
ﺮﻳﺩﺎﻘﻣ ﺕﺎﻴﺻﻮﺼﺧ ﻲﻓﺩﺎﺼﺗ
ﻒﻴﻃ ﻲﻟﺎﮕﭼ ﻞﻴﻠﺤﺗ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ
(PSD) ﺕﺭﺪﻗ ﺩﺩﺮﮕﻴﻣ ﻒﻴﺻﻮﺗ .
ﻘﺒﻃ ﻪ ﻱﺍﺮﺑ ﻪﺘﻓﺮﮔ ﺕﺭﻮﺻ ﻱﺪﻨﺑ ﺎﻧ
ﻂﺳﻮﺗ ﻩﺩﺎﺟ ﺢﻄﺳ ﻱﺭﺍﻮﻤﻫ ﺩﺭﺍﺪﻧﺎﺘﺳﺍ ﻲﻧﺎﻬﺟ ﻥﺎﻣﺯﺎﺳ
ﺎﻫ ) (ISO
، ﺭﺩ
ﻞﻜﺷ ) ٥ - ١ ( ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ]
١٩ .[
ﻩﺩﺎﺟ ﻉﻮﻧ ﺏﺎﺨﺘﻧﺍ ﺎﺑ ﺐﻴﺗﺮﺗ ﻦﻳﺪﺑ ﺎﺑ ﻩﺩﺎﺟ ﻱﺩﻭﺭﻭ ،poor
ﻚﻳ ﻴﺳ ﮕ ﻲﻓﺩﺎﺼﺗ ﻝﺎﻨ ﻦﻴﺳﻮﮔ ﻊﻳﺯﻮﺗ ﺎﺑ
ﻭ
ﮕﭼ ﺎ ﯽﻟ ﺓﺩﻭﺪﺤﻣ ﺭﺩ ﻲﻔﻴﻃ 128 512 m /c− 3
ﺖﺳﺍ ﻩﺪﺷ ﺪﻴﻟﻮﺗ .
ﻴﺳ ﻦﻳﺍ ﻭ ﮕ ﻲﺑﺎﻳ ﻥﻭﺭﺩ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻝﺎﻨ spline
ﻪﺑ ﻴﺳ ﻚﻳ ﮕ ﻝﺎﻨ ﭘ ﻭ ﻪﺘﺳﻮﻴ
ﺖﺳﺍ ﻩﺪﺷ ﻱﺭﺍﺩﺮﺑ ﻪﻧﻮﻤﻧ ﻥﺎﻣﺯ ﺮﻫ ﺎﺑ ﻱﺯﺎﺳ ﻪﻴﺒﺷ ﻪﺑ ﻝﺎﻤﻋﺍ ﻞﺑﺎﻗ .
ﺭﻮﻈﻨﻣ ﻪﺑ ﻪﻛ ﺖﺳﺍ ﺮﺘﺒﺳﺎﻨﻣ ﺎﻬﻳﺯﺎﺳ ﻪﻴﺒﺷ ﺞﻳﺎﺘﻧ ﻲﻓﺩﺎﺼﺗ ﺖﻴﻫﺎﻣ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ
ﺯﺍ ﺞﻳﺎﺘﻧ ﺔﺴﻳﺎﻘﻣ ﻱﺭﺎﻣﺁ ﻞﻴﻠﺤﺗ
ﺩﻮﺷ ﻩﺩﺎﻔﺘﺳﺍ .
ﻪﻧﻮﻤﻧ ﻥﺍﻮﻨﻋ ﻪﺑ ﻩﺩﻭﺪﺤﻣ ﻥﺍﻮﺘﻴﻣ
ﺍ ﺎﺑ ﺎﻣ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﻱﺎﻬﻟﺎﻨﮕﻴﺳ ﻪﻛ ﺍﺭ ﻱﺍ ﻝﺎﻤﺘﺣ
% ٩٠ ﺭﺍﺮﻗ ﻥﺁ ﺭﺩ
ﺪﻧﺮﻴﮕﻴﻣ ﺩﻮﻤﻧ ﻦﻴﻴﻌﺗ ﺮﻳﺯ ﺔﻄﺑﺍﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ]
١ :[
) ١٢ (
[
( )]
( )Pr ob x t e dx Erf
x
− ≤ ≤ = = §
©¨
·
¹¸
−
³
−λσ λσ
σ π
λ
λσ
λσ σ
1
2 2
2 22
( ) ( ) ( )
Pr | | 1 Pr Erfc
ob x tª¬ >λσº¼= − obª¬−λσ≤x t ≤λσº¼= §¨© λ2·¸¹
ﻥﺁ ﺭﺩ ﻪﻛ
،ﺭﺎﻴﻌﻣ ﻑﺍﺮﺤﻧﺍδ { } ( )1
2 Erf 0.9
λ= −
(Erf) ﻭ (Erfc) ﻭ ﺐﻴﺗﺮﺗ ﻪﺑ Error function
ﻞﻤﻜﻣ ﻊﺑﺎﺗ ﻭ ﻥﺁ
ﻲﻣ ﺪﻨﺷﺎﺑ . ﻦﻳﺍ
ﺎﺑ ﻩﺩﻭﺪﺤﻣ ﺳﺎﺤﻣ
ﺔﺒ ﺭﺎﻴﻌﻣ ﻑﺍﺮﺤﻧﺍ ﻴﺳ
ﮕ ﻒﻠﺘﺨﻣ ﻱﺎﻬﻟﺎﻨ ﻢﺘﺴﻴﺳ
ﺮﻳﺯ ﺔﻄﺑﺍﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻭ ﻪﺒﺳﺎﺤﻣ ﻞﺑﺎﻗ
ﺍ ﺖﺳ :
) ١٣ ( ) (
[ ]
x90=λ90× +σ mean x t
ﻪﻛ ﻥﺁ ﺭﺩ x90
ﻱﻻﺎﺑ ﺪﺣ ﻝﺎﻨﮕﻴﺳ ﻝﺎﻤﺘﺣﺍ ﺎﺑ ﺍﺭ x
% ٩٠ ﻲﻣ ﻥﺎﺸﻧ ﺪﻫﺩ
. ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ x90
ﻲﻣ ﻱﺭﺎﻴﻌﻣ ﻥﺍﻮﻨﻌﺑ ﺪﻧﺍﻮﺗ ﻲﻤﻛ
ﻪﺴﻳﺎﻘﻣ ﻱﺍﺮﺑ
ﻴﺳ ﮕ ﻲﺟﻭﺮﺧ ﻱﺎﻬﻟﺎﻨ ﻝﺎﻌﻓ ﺮﻴﻏ ﻭ ﻝﺎﻌﻓ ﻢﺘﺴﻴﺳ ﻭﺩ
،ﺪﻧﺭﺍﺩ ﻲﻓﺩﺎﺼﺗ ﻲﺘﻴﻫﺎﻣ ﻪﻛ ، ﺩﻮﺷ ﻩﺩﺎﻔﺘﺳﺍ
. ﻞﻜﺷ ) ٧ ( ﻲﺘﺣﺍﺭ ﻪﺑ ﻁﻮﺑﺮﻣ ﻱﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻦﻴﺑ ﻪﺴﻳﺎﻘﻣ
ﻭ ﺮﻔﺳ ﭘ ﻲﻣ ﻥﺎﺸﻧ ﺍﺭ ﻝﺎﻌﻓﺮﻴﻏ ﻭ ﻝﺎﻌﻓ ﻢﺘﺴﻴﺳ ﻱﺭﺍﺪﻳﺎ ﻝﻭﺪﺟ ﻭ ﺪﻫﺩ
) ٢ ( ﻲﻤﻛ ﺕﺭﻮﺻ ﻪﺑ ﺍﺭ ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻦﻳﺍ ﻱﺭﺎﻣﺁ ﻪﺴﻳﺎﻘﻣ ﻲﻣ ﻥﺎﺸﻧ
ﺪﻫﺩ .
ﻧﺎﻤﻫ ﮕ ﻮ ﻲﻣ ﻩﺪﻫﺎﺸﻣ ﻪﻛ ﻪﻧ ﻪﺘﺷﺍﺩ ﺶﻫﺎﻛ ﺮﺑﺍﺮﺑ ﻩﺩ ﺩﻭﺪﺣ ﻝﺎﻌﻓﺮﻴﻏ ﻢﺘﺴﻴﺳ ﻪﺑ ﺖﺒﺴﻧ ﻝﺎﻌﻓ ﻢﺘﺴﻴﺳ ﺭﺩ ﻥﺁ ﺖﻛﺮﺣ ﻭ ﻞﻴﺒﻣﻮﺗﺍ ﻪﻧﺪﺑ ﺏﺎﺘﺷ ،ﺩﻮﺷ
ﻪﻜﻴﻟﺎﺣ ﺭﺩ ،ﺖﺳﺍ ﻲﻨﻤﻳﺍ
ﺖﺳﺍ ﻪﺘﻓﺎﻳ ﺩﻮﺒﻬﺑ ﻩﺩﺎﺟ ﺯﺍ ﺥﺮﭼ ﻑﺍﺮﺤﻧﺍ ﺶﻫﺎﻛ ﺎﺑ ﺰﻴﻧ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺭﺩ ﻭﺭﺩﻮﺧ .
ﻖﻴﻠﻌﺗ ﻑﺍﺮﺤﻧﺍ ﺶﻫﺎﻛ ﻦﻴﻨﭽﻤﻫ
ﺪﻴﻣ ﻥﺎﺸﻧ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﺭﺍﺪﻘﻣ ﻭ ﻲﻣ ﺀﺎﺿﺭﺍ ﻲﺑﻮﺧ ﻪﺑ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﻦﻳﺍ ﻂﺳﻮﺗ ﻖﻴﻠﻌﺗ ﻑﺍﺮﺤﻧﺍ ﻭ ﻭﺮﺳ ﻥﺎﻳﺮﺟ ﻱﺎﻬﺘﻳﺩﻭﺪﺤﻣ ﻪﻛ ﺪﻫ
ﺩﻮﺷ .
ﻝﻭﺪﺟ ) ٢ ( ﻝﺎﻤﺘﺣﺍ ﺎﺑ ﻱﺎﻫﺪﻧﺎﺑ ﻪﺴﻳﺎﻘﻣ ٩٠
%
ﻱﺍﺮﺑ ﻝﺎﻌﻓﺮﻴﻏﻭ ﻝﺎﻌﻓ ﻱﺎﻬﻤﺘﺴﻴﺳ
ﻝﺎﻤﺘﺣﺍ ﺎﺑ ﻱﺎﻫﺪﻧﺎﺑ ٩٠
%
ﺮﻈﻧ ﺩﺭﻮﻣ ﺖﻴﻤﻛ ﻝﺎﻌﻓﺮﻴﻏ
ﻝﺎﻌﻓ
ﻪﻧﺪﺑ ﺏﺎﺘﺷ (m/s)2
ﺥﺮﭼ ﻑﺍﺮﺤﻧﺍ (mm)
ﻪﻧﺪﺑ ﺖﻛﺮﺣ (mm)
ﻖﻴﻠﻌﺗ ﻑﺍﺮﺤﻧﺍ (mm)
ﻮﻟﻭ ﻭﺮﺳ ﻱﺩﻭﺭﻭ (mA)
ﺮﮕﻠﻤﻋ ﻱﻭﺮﻴﻧ
(N) ٢٨ / ٢
٥ / ٣
٣ / ٢٦
٧ / ٣٠
--- --- ٢٣
/ ٠
٥ / ٢
٤ / ٢
٤ / ٢٣
٢ / ١
٦ / ٤٩٦
0 1 2 3 4 5
-6 -4 -2 0 2 4
Body accel eration
m/s2
0 1 2 3 4 5
-0.04 -0.02 0 0.02 0.04
Body travel
m
1 2 3 4 5
-0.06 -0.04 -0.02 0 0.02 0.04 0.06
Suspension travel
Time(sec)
m
0 1 2 3 4 5
-0.01 -0.005 0 0.005 0.01
Tire deflection
T ime(sec)
m
ﻞﻜﺷ ) ٧ ( ﻪﺴﻳﺎﻘﻣ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺭﺎﺘﻓﺭ ﻝﺎﻌﻓ ﻢﺘﺴﻴﺳ
____) ( ﻝﺎﻌﻓﺮﻴﻏ ﻭ
_ _ _) (
٥ - ﻱﺮﻴﮔ ﻪﺠﻴﺘﻧ
ﻡﻭﺎﻘﻣ ﻝﺮﺘﻨﻛ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ H∞
ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻲﺳﺭﺮﺑ ﺩﺭﻮﻣ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ .
ﻢﺘﺴﻴﺳ ﻱﺯﺎﺴﻟﺪﻣ ﺎﺑ ٤
/ ١ ﺮﻈﻧ ﺭﺩ ﻭ ﻭﺭﺩﻮﺧ ﮔ
ﺭﺎﺘﻓﺭ ﻦﺘﻓﺮ
ﻠﻤﻋ ﻲﻄﺧ ﺮﻴﻏ ﮕ
ﻣ ﻚﺑﺪﻴﻓ ﺭﺎﺘﺧﺎﺳ ﺯﺍ ﺖﺴﻣﺯﻻ ﻪﻛ ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ،ﻢﺘﺴﻴﺳ ﻲﻜﻴﻟﻭﺭﺪﻴﻫ ﺮ ﺭﺩ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﻪﺑ ﻥﺪﻴﺳﺭ ﻱﺍﺮﺑ ﻱﺯﺍﻮ
ﺩﺮﺑ ﻩﺮﻬﺑ ﻢﺘﺴﻴﺳ .
ﻠﻤﻋ ﻱﻭﺮﻴﻧ ﻲﺑﺎﻳﺩﺭ ﻪﻛ ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ ﻲﻠﺧﺍﺩ ﻪﻘﻠﺣ ﺭﺩ ﻲﺒﺳﺎﻨﺗ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺯﺍ ﺭﺎﺘﺧﺎﺳ ﻦﻳﺍ ﺭﺩ ﮕ
ﻪﺠﻴﺘﻧ ﻲﺑﻮﺨﺑ ﺍﺭ ﺮ
ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻚﻳ ﺯﺍ ﻭ ﺪﻫﺪﻴﻣ H∞
ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ ﻲﺟﺭﺎﺧ ﺔﻘﻠﺣ ﺭﺩ .
ﺖﻴﺳﺎﺴﺣ ﻪﻠﺌﺴﻣ ﻞﺣ ﺎﺑ ﺖﻴﺳﺎﺴﺣ ﻲﺴﻧﺎﻛﺮﻓ ﺪﻧﺎﺑ ﻪﺑ ﻪﺟﻮﺗﻭ ﻁﻮﻠﺨﻣ
ﺭﺍﺮﻗ ﻲﺳﺭﺮﺑ ﺩﺭﻮﻣ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺭﺎﺘﻓﺭ ﻭ ﻲﺣﺍﺮﻃ ﺮﻈﻧ ﺩﺭﻮﻣ ﻝﺮﺘﻨﻛ ﻥﺎﺴﻧﺍ ﮔ
ﺖﺳﺍ ﻪﺘﻓﺮ . ﻭ ﻥﺎﻨﻴﺸﻧﺮﺳ ﻪﺑ ﻲﻟﺎﻤﻋﺍ ﺏﺎﺘﺷ ﻱﺭﺎﻣﺁ ﻲﺳﺭﺮﺑ ﺎﺑ
ﻲﻟﺮﺘﻨﻛ ﺭﺎﺘﺧﺎﺳ ﻪﻛ ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ،ﻭﺭﺩﻮﺧ ﺮﻳﺎﺗ ﻲﻳﺎﺠﺑﺎﺟ ﭘ
ﻳﺍ ﻥﺎﻨﻴﺸﻧﺮﺳ ﻱﺍﺮﺑ ﺮﺑﺍﺮﺑ ﻩﺩ ﺯﺍ ﺶﻴﺑ ﻲﺘﺣﺍﺭ ﻱﺩﺎﻬﻨﺸﻴ ﻪﻜﻴﻟﺎﺣ ﺭﺩ ﻩﺩﻮﻤﻧ ﺩﺎﺠ
ﺖﺳﺍ ﻪﺘﻓﺎﻳ ﺩﻮﺒﻬﺑ ﺰﻴﻧ ﺮﻔﺳ ﻲﻨﻤﻳﺍ .
ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻝﺎﻌﻓ ﻢﺘﺴﻴﺳ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﺪﻳﺆﻣ ﺖﻟﺎﺣ ﻦﻳﺍ ﺭﺩ ﻝﺎﻌﻓ ﺮﻴﻏ ﻭ ﻝﺎﻌﻓ ﻖﻴﻠﻌﺗ ﻢﺘﺴﻴﺳ ﺔﺴﻳﺎﻘﻣ
ﻲﻣ ﺪﺷﺎﺑ .
ﻊﺟﺍﺮﻣ
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