ﻪﻣﺪﻘﻣ - 1 ﻩﺪﻴﮑﭼ ِﻱﺩﺍﺯ ﺁ ﻪﺟﺭﺩ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ ﻱﺮﺗﻮﻴﭙﻣﺎﻛ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻭ ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻭ ﻲﺣﺍﺮﻃ

ﻱﺮﺗﻮﻴﭙﻣﺎﻛ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻭ ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻭ ﻲﺣﺍﺮﻃ ﻪﺟﺭﺩ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ

ِﻱﺩﺍﺯﺁ D&A401

ﺎﺿﺭﺪﻴﻤﺣ ﻭ ﻥﺍﺮﻬﻃ ﻩﺩﺍﺯﺭﺎﻤﻌﻣ ﺎﺿﺭﺪﻴﻤﺣ ،ﺩﺍﺭ ﻲﻘﺗ

ﻲﺴﻧﻮﻳ ﻱﺪﻬﻣ

ﺱﺭﺍ ﮏﻴﺗﺎﺑﻭﺭ ﻩﻭﺮﮔ

ﻲﺳﻮﻃ ﻦﻳﺪﻟﺍ ﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﻲﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ ﻲﺘﺴﭘ ﻕﻭﺪﻨﺻ ،ﻥﺍﺮﻬﺗ

-1355

16315

Email:taghirad@eetd.kntu.ac.ir

ﻩﺪﻴﮑﭼ

،ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ ﻪﺑ ﻩﺭﻮﺤﻣ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ ﻚﻳ ﻝﺮﺘﻨﻛ ﻭ ﻲﻳﺎﺳﺎﻨﺷ ﻱﺎﻬﺷﻭﺭ ،ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﺖﺧﺎﺳ ﻭ ﻲﺣﺍﺮﻃ ﻞﺣﺍﺮﻣ

ﻡﺎﻤﻀﻧﺍ

ِﺕﺎﺑﻭﺭ ﻱﻭﺭ ﺮﺑ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺞﻳﺎﺘﻧ

D&A 401

ﺖﺳﺍ ﻩﺪﺷ ﻪﺋﺍﺭﺍ .

ﺚﺤﺑ ﺩﺭﻮﻣ ﺭﺍﺰﻓﺍ ﺖﺨﺳ

ﻣ ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ ﻞﻣﺎﺷ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ

DC ﺭﻮﺗﻮ ﻚﻴﻨﻜﺗ ﺎﺑ

ﻭ ﺎﻬﺷﻭﺭ ﻪﺑ ﻪﻟﺎﻘﻣ ﻝﻭﺍ ﺶﺨﺑ ﺭﺩ ﻪﻛ ،ﺪﺷﺎﺑ ﻲﻣ ﺭﺩﻮﻜﻧﺍ ﻂﺳﺍﻭ ﺕﺭﺎﻛﻭPWM

ﺖﺳﺍ ﻩﺪﺷ ﻪﺘﺧﺍﺩﺮﭘ ﺎﻬﻧﺁ ﻲﺣﺍﺮﻃ ﺭﺩ ﻪﺘﻓﺭ ﺭﺎﻛ ﻪﺑ ﺕﺎﻈﺣﻼﻣ .

ﺎﻫﻭﺯﺎﺑ ﻲﻳﺎﺳﺎﻨﺷ ﺵﻭﺭ ﻪﻣﺍﺩﺍ ﺭﺩ ﻭ

،ﻲﻄﺧ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺖﻴﻘﻓﻮﻣ ﺖﻠﻋ

،ﺕﺎﺑﻭﺭ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻲﻄﺧ ﺮﻴﻏ ﺖﻴﻫﺎﻣ ﻢﻏﺮﻴﻠﻋ ﺢﻳﺮﺸﺗ

ﻲﻣ ﺩﺩﺮﮔ . ﻃ ﻞﺣﺍﺮﻣ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮ

Lead-Lag

ﻪﺑ

ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺞﻳﺎﺘﻧ ﻩﺍﺮﻤﻫ

ﺪﺷ ﺪﻫﺍﻮﺧ ﻪﺋﺍﺭﺍ ﺎﻬﺘﻧﺍ ﺭﺩ ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭﺯﺎﺑ ﻱﻭﺭ ﺮﺑ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ .

ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻲﻠﻤﻋ ﺞﻳﺎﺘﻧ

ﺎﻬﺘﻗﺩ ﻭ ،ﻩﺩﻮﺑ ﺎﻬﻧﺁ ﺯﺍ ﻲﺘﻌﻨﺻ ﻊﻴﺳﻭ ﻩﺩﺎﻔﺘﺳﺍ ﺖﻠﻋ ﻭ ﺎﻬﺗﺎﺑﻭﺭ ﺭﺩ ﻩﺩﺎﺳ ﺭﺎﺘﺧﺎﺳ ﺎﺑ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﺖﻴﻘﻓﻮﻣ ﺪﻳﺆﻣ ﻞﺑﺎﻗ ﻱ

ﺩﺭﻭﺁ ﻲﻣ ﺭﺩ ﺶﻳﺎﻤﻧ ﻪﺑ ﺍﺭ ﺵﻭﺭ ﻦﻳﺍ ﺎﺑ ﻲﺳﺮﺘﺳﺩ .

-1 ﻪﻣﺪﻘﻣ

ﻱﺮﻴﮔ ﻩﺮﻬﺑ ﺭﺎﻨﮐ ﺭﺩ ﺎﻬﺗﺎﺑﻭﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﻩﺯﻭﺮﻣﺍ

ﻱﺎﻬﻤﺘﺴﻴﺳ ﺯﺍ

ﮏﻤﮐ ﻪﺑ ﺪﻴﻟﻮﺗ

ﻊﻳﺎﻨﺻ ﺭﺩ ﺮﺗﻮﻴﭙﻣﺎﮐ ﻒﻠﺘﺨﻣ

ﺍﺭ ﺞﻳ

ﺪﻧﺍ ﻩﺪﻳﺩﺮﮔ .

ﻲﺘﻌﻨﺻ ﻱﺎﻫﺪﻨﻳﺁﺮﻓ ﻭ ﻊﻳﺎﻨﺻ ﺭﺩ ﺎﻬﺗﺎﺑﻭﺭ ﺯﺍ ﻱﺮﻴﮔ ﻩﺮﻬﺑ ﻦﻳﺍ ,

ﺀﺎﻘﺗﺭﺍ ﺮﺑ ﻩﻭﻼﻋ ﺖﺳﺍ ﻪﺘﺴﻧﺍﻮﺗ

ﻥﺎﻣﺪﻧﺍﺭ ﺶﻳﺍﺰﻓﺍ ﻭ ﺖﻴﻔﻴﮐ

ﺪﻫﺩ ﺶﻫﺎﮐ ﻱﺍ ﻪﻈﺣﻼﻣ ﻞﺑﺎﻗ ﻥﺍﺰﻴﻣ ﻪﺑ ﺍﺭ ﺪﻴﻟﻮﺗﺭﺩ ﻲﻧﺎﺴﻧﺍ ﻱﻭﺮﻴﻧ ﺕﻼﮑﺸﻣ ﻭ ﻞﺋﺎﺴﻣ ﺩﺩﺮﮔ ﺐﺒﺳ ﺪﻴﻟﻮﺗ .

ﻦﻓ ﺩﺎﺠﻳﺍ ﻱﺎﺘﺳﺍﺭ ﺭﺩ

ﻲﺣﺍﺮﻃ ﺮﺑ ﻲﻨﺒﻣ ﻲﺣﺮﻃ ﻲﺳﻮﻃ ﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﻩﺎﮕﺸﻧﺍﺩ ﺱﺭﺍ ﻚﻴﺗﺎﺑﻭﺭ ﻩﻭﺮﮔ ،ﮏﻴﺗﺎﺑﻭﺭ ﺮﻳﺬﭘ ﻪﻣﺎﻧﺮﺑ ﻱﺎﻬﻟﻮﻠﺳ ﺖﺧﺎﺳ ﻭ ﻲﺣﺍﺮﻃ ﻱﺭﻭﺁ

ﺗﺍ ﻝﻮﻠﺳ ﮏﻳ ﺖﺧﺎﺳ ﻭ

ﺖﻌﻨﺻ ﻝﺎﺒﻘﺘﺳﺍ ﺩﺭﻮﻣ ﺡﺮﻃ ﻦﻳﺍ ﺕﺎﻴﺋﺰﺟ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﻪﮐ ،ﺖﺳﺍ ﻩﺩﺍﺩ ﻪﺋﺍﺭﺍ ﻊﻳﺎﻨﺻ ﻪﺑ ﻪﻧﻮﻤﻧ ﮏﻴﺗﺎﺑﻭﺭ ﮏﻴﺗﺎﻣﻮ

ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ .

ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻭ ﻲﮑﻴﻧﻭﺮﺘﮑﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻭ ﻲﺣﺍﺮﻃ ﻞﺣﺍﺮﻣ ،ﺩﻮﺷ ﻲﻣ ﺢﻳﺮﺸﺗ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ ﻪﭽﻧﺁ

ﺮﺼﻨﻋ ﮏﻳ ﻥﺍﻮﻨﻋ ﻪﺑ ،ﻱﺩﺍﺯﺁ ﻪﺟﺭﺩ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ ﻚﻳ ﻱﺮﺗﻮﻴﭙﻣﺎﮐ ﺮﺑ

ﺮﻳﺬﭘ ﻪﻣﺎﻧ

ﮏﻴﺗﺎﺑﻭﺭ ﻝﻮﻠﺳ ﻦﻳﺍ ﺭﺩ ﻥﺍﻮﻨﻋ ﺎﺑ

D&A 401

ﻲﻣ ﺪﺷﺎﺑ .

ﻱﺎﻫ ﻩﺯﺍﺪﻧﺍ ﻪﺑ ﻭﺯﺎﺑ ﻪﺳ ﻱﺍﺭﺍﺩ ﺕﺎﺑﻭﺭ ﻦﻳﺍ 100،75

20ﻭ ﻉﺎﻔﺗﺭﺍ ﻪﺑ ﺭﺍﻭﺩ ﻪﻳﺎﭘ ﻚﻳ ﻱﻭﺭ ﻭ ﺮﮕﻳﺪﻜﻳ ﺩﺍﺪﺘﻣﺍ ﺭﺩ ﻪﻛﺪﺷﺎﺑ ﻲﻣ ﺮﺘﻣ ﻲﺘﻧﺎﺳ

70

ﺪﻧﺍ ﻩﺪﺷ ﺐﺼﻧ ﺮﺘﻣ ﻲﺘﻧﺎﺳ .

ﺎﻫﺭﻮﺗﻮﻣ ﺭﺎﻬﭼ DC

ﺭﺎﻬﭼ ﻮ ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭﺯﺎﺑ ﻱﺎﻫﺯﺍﺪﻧﺍ ﻩﺍﺭ ﻥﺍﻮﻨﻋ ﻪﺑ ﺭﺩﻮﻜﻧﺍ ﺖﻔﺷ

ﺰﻴﻧ

ﻥﺍﻮﻨﻋ ﻪﺑ

ﺪﻧﺍ ﻪﺘﻓﺭ ﺭﺎﻛ ﻪﺑ ﺎﻫﻭﺯﺎﺑ ﺖﻴﻌﻗﻮﻣ ﻱﺎﻫﺭﻮﺴﻨﺳ .

ﺼﺨﺸﻣ ﺎ ﻊﺟﺮﻣ ﺭﺩ ﺕﺎﺑﻭﺭ ﻦﻳﺍ ﻲﮑﻴﻧﺎﮑﻣ ﻲﺣﺍﺮﻃ ﻖﻴﻗﺩ ﺕ

ﻱﺎﻤﻧ ﻭ ﺖﺳﺍ ﻩﺪﺷ ﻪﺋﺍﺭﺍ [10]

ﻞﮑﺷ ﺭﺩ ﺕﺎﺑﻭﺭ ﻲﻠﮐ

1)

ﺩﻮﺷ ﻲﻣ ﺥﺪﻳﺩ .

ﺕﺎﻋﻼﻃﺍ ﻭ ﻦﻴﻣﺍﺮﻓ ﻝﺎﻘﺘﻧﺍ ﻭ ﻲﺘﻌﻨﺻ ﺮﺗﻮﻴﭙﻣﺎﻛ ﻩﺎﮕﺘﺳﺩ ﮏﻳ ﻪﻠﻴﺳﻭ ﻪﺑ ﺕﺎﺑﻭﺭ ﻝﺮﺘﻨﻛ

ﻛ ﻖﻳﺮﻃ ﺯﺍ ﺎﻫﺭﻮﺴﻨﺳ

ﺩﺮﻴﮔ ﻲﻣ ﺕﺭﻮﺻ ﻂﺳﺍﻭ ﻱﺎﻬﺗﺭﺎ .

ﻞﻜﺷ 2) (

ﻭ ﻥﺎﻳﺮﺟﺭﻮﻳﺍﺭﺩ ﻩﺎﮕﻳﺎﺟ ﺰﻴﻧ ﻭ ﻲﻜﻴﻧﻭﺮﺘﻜﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﻁﺎﺒﺗﺭﺍ ﻩﻮﺤﻧ

ﺪﻫﺩ ﻲﻣ ﻥﺎﺸﻧ ،ﻢﻳﺯﺍﺩﺮﭘ ﻲﻣ ﺎﻬﻧﺁ ﻪﺑ ﻪﻣﺍﺩﺍ ﺭﺩ ﻪﻛ ﺍﺭ ﺭﺩﻮﻜﻧﺍ ﺕﺭﺎﻛ .

ﺎﺳ ﻲﻄﺧ ﺪﻨﻧﺎﻣ ﻲﻄﺧ ﺮﻴﻏ ﻝﺮﺘﻨﻛ ﻱﺎﻬﺷﻭﺭ ﺯﺍ ﻥﺍﻮﺗ ﻲﻣ ،ﺖﺳﺍ ﻲﻄﺧ ﺮﻴﻏ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻱﺍﺭﺍﺩ ﺕﺎﺑﻭﺭ ﻪﻜﻨﻳﺍ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﻱﺯ

ﻚﺑﺪﻴﻓ

ﻩﺪﺷ ﻪﺒﺳﺎﺤﻣ ﻱﺎﻫﺭﻭﺎﺘﺸﮔ ،[1]

[2] Computed-Torque

ﻲﻘﻴﺒﻄﺗ ﻱﺎﻫﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ،

[5]

PID ،

ﻡﺮﺗ ﺎﺑ

Gravity

ﻭ [3]

ﻱﺎﻬﺷﻭﺭ ﻡﻭﺎﻘﻣ

[4]

ﺩﺮﻛ ﻩﺩﺎﻔﺘﺳﺍ ، .

،ﻢﻴﻈﻨﺗ ﻭ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺭﺩ ﻲﮔﺪﻴﭽﻴﭘ ﺖﻠﻋ ﻪﺑ ﻲﻄﺧ ﺮﻴﻏ ﻝﺮﺘﻨﻛ ﻱﺎﻬﺷﻭﺭ ﻪﻛ ﺖﺳﺍ ﺢﻴﺿﻮﺗ ﻪﺑ ﻡﺯﻻ

ﻲﺘﻌﻨﺻ ﻱﺎﻬﺗﺎﺑﻭﺭ ﺭﺩ ﻲﻌﻴﺳﻭ ﺩﺮﺑﺭﺎﻛ ﻞﻤﻋ ﺭﺩ ﺪﻧﺭﺍﺪﻧ

. ﺖﻴﺤﺟﺭﺍ ﻢﻴﻈﻨﺗ ﻞﺑﺎﻗ ﻭ ﻩﺪﺷ ﻪﺘﺧﺎﻨﺷ ﻭ ﻩﺩﺎﺳ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺖﻌﻨﺻ ﺭﺩ

ﺪﻧﺭﺍﺩ . ﺪﻧﻮﺷ ﻲﻣ ﻩﺩﺎﻔﺘﺳﺍ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﻪﺑ ﻲﺑﺎﻴﺘﺳﺩ ﻱﺍﺮﺑ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﻠﻤﻋ ﻱﺎﻫﺩﺮﺑﺭﺎﻛ ﺯﺍ ﻱﺭﺎﻴﺴﺑ ﺭﺩ .

ﺖﻠﻋ

ﻻﻭﺍ ﻥﺍﻮﺗ ﻲﻣ ﺍﺭ ﺎﻫ ﺕﺎﺑﻭﺭ ﺭﺩ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺖﻴﻘﻓﻮﻣ

ﺯﺎﺑ ﺭﺩ ﺲﻜﺑﺮﻴﮔ ﺩﻮﺟﻭ

ﺕﻻﺩﺎﻌﻣ ﻥﺪﺷ ﻲﻄﺧ ﻭ ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭ

ﺖﺴﻧﺍﺩ ﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﻖﻴﻗﺩ ﻲﻳﺎﺳﺎﻨﺷ ﻡﺪﻋ ﻪﺑ ﺖﺒﺴﻧ ﻥﺁ ﻥﺩﻮﺑ ﻡﻭﺎﻘﻣ ﺎﻴﻧﺎﺛ ﻭ ﻥﺁ ﻲﮑﻴﻣﺎﻨﻳﺩ .

ﺖﻴﻘﻓﻮﻣ ﻞﻳﻻﺩ ﻲﺳﺭﺮﺑ ﻪﺑ ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﻪﻣﺍﺩﺍ ﺭﺩ

ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻲﺣﺍﺮﻃ ﺭﻮﻈﻨﻣ ﻪﺑ ﻲﮑﻴﺗﺎﻤﺘﺴﻴﺳ ﺵﻭﺭ ﻭ ﻪﺘﺧﺍﺩﺮﭘ ﺎﻬﺗﺎﺑﻭﺭ ﻪﻧﻮﮔ ﻦﻳﺍ ﻱﻭﺭ ﺮﺑ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ

ﺁ ﻱﺍﺮﺑ

ﺪﺷ ﺪﻫﺍﻮﺧ ﻪﺋﺍﺭﺍ ﻥ .

ﺕﺎﺑﻭﺭ ﻱﻭﺭ ﺮﺑ ﻱﺩﺎﻬﻨﺸﻴﭘ ﺵﻭﺭ ﻝﺎﻤﻋﺍ ﺎﺑ ﻥﺎﻳﺎﭘ ﺭﺩ

D&A 401

ﺭﺍﺮﻗ ﺚﺤﺑ ﺩﺭﻮﻣ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺞﻳﺎﺘﻧ ،

ﺖﻓﺮﮔ ﺪﻫﺍﻮﺧ .

ﻞﻜﺷ 1) ( - ﻱﺩﺍﺯﺁ ﻪﺟﺭﺩ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ ﻲﻠﮐ ﻱﺎﻤﻧ D&A 401

ﻞﻜﺷ 2) ( - ﻲﮑﻴﻧﻭﺮﺘﮑﻟﺍ ﺭﺍﺰﻓﺍ ﺖﺨﺳ ﻩﺪﻨﻫﺩ ﺶﻳﺎﻤﻧ ﻡﺍﺮﮔﺎﻳﺩ ﮎﻮﻠﺑ

-2 ﺖﺨﺳ ﻲﮑﻴﻧﻭﺮﺘﮑﻟﺍ ﺭﺍﺰﻓﺍ

-2 -1 ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ

ﺮﺛﺍ ﻑﺬﺣ ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ ﻱﺮﻴﮔﺭﺎﻜﺑ ﺯﺍ ﻲﻠﺻﺍ ﻑﺪﻫ

Back-Emf

ﺭﻮﺗﻮﻣﺭﺩ

ﻖﻳﺮﻃ ﺯﺍ ﺍﺭ ﺭﻭﺎﺘﺸﮔ ﻥﺍﻮﺘﺑ ﺐﻴﺗﺮﺗ ﻦﻳﺍ ﻪﺑ ﺎﺗ ،ﺖﺳﺍ DC

ﺩﻮﻤﻧ ﻝﺮﺘﻨﻛ ﺭﻮﺗﻮﻣ ﺖﻋﺮﺳ ﺯﺍ ﻞﻘﺘﺴﻣ ﻭ ﻥﺎﻳﺮﺟ ﻝﺮﺘﻨﻛ .

ﺩﻮﺷ ﻲﻣ ﻩﺩﺎﻔﺘﺳﺍ ﻥﺎﻳﺮﺟ ﻚﺑﺪﻴﻓ ﺯﺍ ﺭﻮﻈﻨﻣ ﻦﻴﻤﻫ ﻪﺑ .

ﻱﺎﻨﻬﭘ ﻦﺘﻓﺎﻳ ﻱﺍﺮﺑ

ﻧﺎﺑ

ﻲﺳﻮﻨﻴﺳ ﻝﺎﻨﮕﻴﺳ ﻚﻳ ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ ﺐﺳﺎﻨﻣ ﺪ

ﺕﺭﺎﻛ ﻖﻳﺮﻃ ﺯﺍ ،ﺏﻮﻠﻄﻣ ﺪﻧﺎﺑ ﻱﺎﻨﻬﭘ ﻝﺩﺎﻌﻣ ﺲﻧﺎﻛﺮﻓ ﺎﺑ

ﻝﺎﻤﻋﺍ ﺭﻮﻳﺍﺭﺩ ﻪﺑ D/A

ﺩﻮﺷ ﻲﻣ .

ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺐﻳﺍﺮﺿ ﺲﭙﺳ

Lag

،ﻝﺮﺘﻨﻛ ﻪﻘﻠﺣ

ﺍﺭ ﻱﺩﻭﺭﻭ ﻝﺎﻨﮕﻴﺳ ،ﺭﻮﻳﺍﺭﺩ ﻲﺟﻭﺮﺧ ﻪﻛ ﺪﻧﻮﺷ ﻲﻣ ﻢﻴﻈﻨﺗ ﻱﺍ ﻪﻧﻮﮔ ﻪﺑ

ﺪﻨﻛ ﻝﺎﺒﻧﺩ ﺎﻄﺧ ﻥﻭﺪﺑ .

ﻥﺎﻳﺮﺟ ﮏﺑﺪﻴﻓ ﻪﻘﻠﺣ ﻦﺘﺴﺑ ﻱﺍﺮﺑ

ﺩﻭﺪﺣ ﻥﺁ ﺭﺍﺪﻘﻣ ﻪﻛ ﻻﺎﺑ ﻥﺍﻮﺗ ﺎﺑ ﺖﻣﻭﺎﻘﻣ ﮏﻳ

/02

ﺎﺗ0

/05

ﺭﺍﺪﻘﻣ 0

ﺩﻮﺷ ﻲﻣ ﻩﺩﺍﺩ ﺭﺍﺮﻗ ﺭﻮﺗﻮﻣ ﺎﺑ ﻱﺮﺳ ﺭﻮﻃ ﻪﺑ ﺪﺷﺎﺑ ﺭﻮﺗﻮﻣ ﻲﻧﻭﺭﺩ ﺖﻣﻭﺎﻘﻣ .

ﻪﺑ ﺪﺷﺎﺑ ﻲﻣ ﺭﻮﺗﻮﻣ ﻥﺎﻳﺮﺟ ﺎﺑ ﺐﺳﺎﻨﺘﻣ ﻪﮐ ﺖﻣﻭﺎﻘﻣ ﻦﻳﺍ ﮊﺎﺘﻟﻭ

ﻩﺪﺷ ﻱﺭﺍﺩﺮﺑ ﻪﻧﻮﻤﻧ ﻝﺎﻨﮕﻴﺳ ﻥﺍﻮﻨﻋ

،ﻲﺟﻭﺮﺧﺯﺍ

ﻘﻠﺣ ﺐﻴﺗﺮﺗ ﻦﻳﺪﺑ ﻭ ﻩﺪﺷ ﻪﺴﻳﺎﻘﻣ ﻱﺩﻭﺭﻭ ﮊﺎﺘﻟﻭ ﺎﺑ

ﺩﻮﺷ ﻲﻣ ﻪﺘﺴﺑ ﮏﺑﺪﻴﻓ ﻪ .

ﺭﺩ

ﻩﺩﺎﻴﭘ

ﺪﻧﻮﺷ ﺍﺪﺟ ﻥﺎﻣﺮﻓ ﻭ ﺕﺭﺪﻗ ﻝﺎﻨﮕﻴﺳ ﻦﻴﻣﺯ ﻻﻭﺍ ﺪﻳﺎﺑ ،ﮏﺑﺪﻴﻓ ﻪﻘﻠﺣ ﻲﻠﻤﻋ ﻱﺯﺎﺳ

ﺱﺎﻴﻘﻣ ﻪﺑ ﻩﺪﺷ ﻱﺮﻴﮔ ﻩﺯﺍﺪﻧﺍ ﻝﺎﻨﮕﻴﺳ ﺎﻴﻧﺎﺛ .

ﻩﺪﻣﺁﺭﺩ ﻱﺩﻭﺭﻭ ﻝﺎﻨﮕﻴﺳ (Mapping)

ﻝﺮﺘﻨﻛ ﻭ

ﺩﻮﺷ ﻝﺎﻤﻋﺍ ﻥﺁ ﻪﺑ ﺐﺳﺎﻨﻣ ﻩﺪﻨﻨﻛ .

ﺯﺍ ﺭﻮﻈﻨﻣ

Mapping

ﻪﻧﻮﻤﻧ ﮊﺎﺘﻟﻭ ﻪﻛ ﺖﺳﺍ ﻦﻳﺍ

ﻪﻛ ،ﻩﺪﺷ ﻱﺭﺍﺩﺮﺑ

ﺩﺮﻴﮕﺑ ﺭﺍﺮﻗ ﻊﺟﺮﻣ ﮊﺎﺘﻟﻭ ﺎﺑ ﺐﺳﺎﻨﺘﻣ ﺱﺎﻴﻘﻣ ﺭﺩ ﺎﺗ ﻩﺪﺷ ﺖﻳﻮﻘﺗ ،ﺪﺷﺎﺑ ﻲﻣ ﻲﻜﭼﻮﻛﺭﺍﺪﻘﻣ .

ﻝﺎﻨﮕﻴﺳ ﻪﮑﻨﻳﺍ ﺮﮕﻳﺩ ﻪﺘﮑﻧ

ﺩﻮﺷ ﺩﻭﺪﺤﻣ ﻲﺼﺨﺸﻣ ﻩﺯﺎﺑ ﺭﺩ ﺪﻳﺎﺑ ﺰﻴﻧ ﻲﻟﺮﺘﻨﮐ .

ﺮﻨﻳﺯ ﺩﻮﻳﺩ ﻭﺩ ﺯﺍ ﺭﻮﻈﻨﻣ ﻦﻴﻤﻫ ﻪﺑ

ﻞﮑﺷ ﺕﺭﻮﺻ ﻪﺑ ﻪﮐ ﺖﻟﻭ 10

3) ﻒﻟﺍ ( ﻞﺼﺘﻣ

ﺩﻮﺷ ﻲﻣ ﻩﺩﺎﻔﺘﺳﺍ ،ﺪﻧﺍ ﻩﺪﺷ .

ﺯﺍ ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ ﺖﺧﺎﺳ ﻱﺍﺮﺑ

ﻚﻴﻨﻜﺗ ﻭ PWM

ﺭﺍﺪﻣ

H-Bridge

ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺎﻔﺘﺳﺍ )

3ﻞﻜﺷ ﺏ .(

ﻦﻳﺍ ﻪﺑ

ﻭ ﻦﺷﻭﺭ ﻥﺎﻣﺯ ﻝﺮﺘﻨﻛ ﺎﺑ ﺐﻴﺗﺮﺗ

ﺩﻮﻤﻧ ﻝﺮﺘﻨﻛ ﺍﺭ ﻥﺎﻳﺮﺟ ﺮﺛﻮﻣ ﺭﺍﺪﻘﻣ ﻭ ﺖﻬﺟ ﻥﺍﻮﺗ ﻲﻣ ﺎﻬﭽﻴﺋﻮﺳ ﻥﺩﻮﺑ ﺵﻮﻣﺎﺧ .

،ﺭﺍﺪﻣ ﻦﻳﺍ ﻢﻬﻣ ﻪﺘﮑﻧ

ﺖﺳﺎﻬﻟﺎﻨﮕﻴﺳ ﻦﻴﻣﺯ ﺢﻄﺳ ﻱﺯﺎﺳﺍﺪﺟ .

ﻂﺳﻮﺗ ﻝﺎﺘﻴﺠﻳﺩ ﻱﺎﻬﻟﺎﻨﮕﻴﺳ ﺩﺭﻮﻣ ﺭﺩ ﻱﺯﺎﺳﺍﺪﺟ ﻦﻳﺍ

Optocouplar

ﺭﺩ

ﻡﺎﺠﻧﺍ ﻉﺎﺒﺷﺍ ﻪﻴﺣﺎﻧ

ﻲﻣ ﺩﻮﺷ . ﺎﻣﺍ ﺯﺍ ﺪﻳﺎﺑ ﮒﻮﻟﺎﻧﺁ ﻱﺎﻬﻟﺎﻨﮕﻴﺳ ﻦﻴﻣﺯ ﻥﺩﺮﻛ ﺍﺪﺟ ﻱﺍﺮﺑ

Optocouplar

ﺩﻮﺷ ﻩﺩﺎﻔﺘﺳﺍ ﻲﻄﺧ ﺔﻴﺣﺎﻧ ﺭﺩ .

+ -

+ -

T1 T2

T4 T3

Vcc

Motor

ﻞﮑﺷ 3) - ( ﻒﻟﺍ ( ﺍ ﺖﻬﺟ ﺮﻧﺯ ﺩﻮﻳﺩ ﻭﺩ ﻝﺎﺼﺗﺍ ﻩﻮﺤﻧ ﺏ ،ﻝﺎﻨﮕﻴﺳ ﻉﺎﺒﺷ

( ﺭﺍﺪﻣ H-BRIDGE

-2 -2 ﺭﺩﻮﻜﻧﺍ ﻂﺳﺍﻭ ﺕﺭﺎﻛ

ﺍﺮﻃ ﻪﺑ ﺕﺭﺩﺎﺒﻣ ،ﺮﺗﻮﻴﭙﻣﺎﻛ ﻪﺑ ﺎﻫﺭﺩﻮﻜﻧﺍ ﺕﺎﻋﻼﻃﺍ ﻝﺎﻘﺘﻧﺍ ﺭﻮﻈﻨﻣ ﻪﺑ ﺣ

ﻩﺪﺷ ﺭﺩﻮﻜﻧﺍ ﻂﺳﺍﻭ ﺕﺭﺎﻛ ﮏﻳ ﺖﺧﺎﺳ ﻭ ﻲ ﺖﺳﺍ

.

ﻲﻟﺍﻮﺘﻣ ﻱﺎﻬﺴﻟﺎﭘ ﺕﺭﻮﺻ ﻪﺑ ﻪﻛ ﺎﻫﺭﺩﻮﻜﻧﺍ ﻲﺟﻭﺮﺧ ﺕﺎﻋﻼﻃﺍ

ﻩﺪﻧﺭﺎﻤﺷ ﻪﺷﺍﺮﺗ ﺭﺎﻬﭼ ﻪﺑ ﺪﻨﺷﺎﺑ ﻲﻣ

(HCTL2000)

ﺳﺭﺍ ﺕﺭﺎﻛ ﻱﻭﺭ ﻝﺎ

ﺪﻨﻨﻛ ﻲﻣ ﺪﻴﻟﻮﺗ ﺕﺎﺑﻭﺭ ﻪﻳﻭﺍﺯ ﺮﻴﻴﻐﺗ ﻝﺩﺎﻌﻣ ﻲﻳﺎﻬﻴﺟﻭﺮﺧ ﺎﻫ ﻪﺷﺍﺮﺗ ﻦﻳﺍ ﻭ ﺪﻧﻮﺷ ﻲﻣ

ﺱﺎﺑ ﻖﻳﺮﻃ ﺯﺍ ﻭ

ﺭﺎﻴﺘﺧﺍ ﺭﺩ ISA

ﺭﺍﺮﻗ CPU

ﻲﻣ ﺪﻨﻫﺩ . ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﻲﮔﺩﺎﺳ ﻱﺍﺮﺑ ﺱﺭﺩﺁ ﻢﻴﻈﻨﺗ ﺖﻴﻠﺑﺎﻗ ﻪﺑ ﻥﺍﻮﺗ ﻲﻣ ﺕﺭﺎﻛ ﻦﻳﺍ ﻢﻬﻣ ﻱﺎﻬﻴﮔﮋﻳﻭ ﺯﺍ ﺁ

ﻥﺎﻜﻣﺍ ، ﺎﻬﺗﺭﺎﻛ ﺮﻳﺎﺳ ﺭﺎﻨﻛ ﺭﺩ ﻥ

Reset

ﺲﻟﺎﭘ ﻖﻳﺮﻃ ﺯﺍ ﻱﺭﺍﺰﻓﺍ ﺖﺨﺳ

Index

ﻭ ،ﺭﺩﻮﻜﻧﺍ

Reset

ﺩﻮﻤﻧ ﻩﺭﺎﺷﺍ ﺕﺎﺑﻭﺭ ﻲﻟﺮﺘﻨﻛ ﺭﺍﺰﻓﺍ ﻡﺮﻧ ﻥﻭﺭﺩ ﺯﺍ ﺮﺑﺭﺎﻛ ﻂﺳﻮﺗ ﻱﺭﺍﺰﻓﺍ ﻡﺮﻧ .

-3 ﺕﺎﺑﻭﺭ ﻲﺋﺎﺳﺎﻨﺷ ﻭ ﻱﺯﺎﺴﻟﺪﻣ

-3 -1 ﺕﺎﺑﻭﺭ ﻱﻭﺯﺎﺑ ﮏﻳ ﻲﮑﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻲﺳﺭﺮﺑ

ﺭﻮﺗﻮﻣ ﺮﺑ ﻢﮐﺎﺣ ﺕﻻﺩﺎﻌﻣ

ﻪﺑ ﻥﺎﻳﺮﺟ ﺭﻮﻳﺍﺭﺩ ﺩﻮﺟﻭ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ،ﺪﺷﺎﺑ ﻲﻣ ﻲﮑﻴﻧﺎﮑﻣﻭﺮﺘﮑﻟﺍ ﻢﺘﺴﻴﺳ ﮏﻳ ﻪﮐ ﻭﺯﺎﺑ ﻭ ﺮﻳﺯ ﺕﺭﻮﺻ

ﺪﻳﺁ ﻲﻣ ﺖﺳﺪﺑ

[1]

:

1) (

m Bm m Jm e

m τ θ θ

τ − = && + &

2) i (

k_m

m = τ

ﻪﻟﺩﺎﻌﻣ ﺭﺩ ﻪﮐ 2)

(

،ﺭﻮﺗﻮﻣ ﺯﺍ ﻪﺘﻓﺎﻳﺭﻮﺒﻋ ﻥﺎﻳﺮﺟ

τ

،ﺭﻮﺗﻮﻣ ﻂﺳﻮﺗ ﻩﺪﺷ ﺪﻴﻟﻮﺗ ﺭﻭﺎﺘﺸﮔ

ﻱﻭﺭﺮﺑ ﺭﺎﺑ ﻑﺮﻃ ﺯﺍ ﻲﻟﺎﻤﻋﺍ ﺭﻭﺎﺘﺸﮔ τ

،ﺭﻮﺗﻮﻣ ﺖﻔﺷ ﻭ

ﺲﮑﺑﺮﻴﮔ ﮎﺎﮑﻄﺻﺍ ﻭ ﺭﻮﺗﻮﻣ ﺖﻔﺷ ﻲﺳﺮﻨﻳﺍ ﻥﺎﻤﻣ ﺐﻴﺗﺮﺗ ﻪﺑ

،

ﺭﻮﺗﻮﻣ ﺭﻭﺎﺘﺸﮔ ﺖﺑﺎﺛ ﻭ

ﺭﻮﺗﻮﻣ ﻪﻳﻭﺍﺯθ

ﺪﻨﺷﺎﺑ ﻲﻣ .

ﻲﻓﺮﻃ ﺯﺍ

m i

e

m

Bm

m k_m J

ﺍﺬﻟ θ

: L = N1θm

BL L

L

(3) ﻪﻟﺩﺎﻌﻣ ﺭﺩ 3)

N(

، ﺭﻮﺗﻮﻣ ﺲﮑﺑﺮﻴﮔ ﺐﻳﺮﺿ ،

، ﻭﺯﺎﺑ ﻞﺼﻔﻣ ﮎﺎﮑﻄﺻﺍ ﻭ ﻭﺯﺎﺑ ﻲﺳﺮﻨﻳﺍ ﻥﺎﻤﻣ ﺐﻴﺗﺮﺗ ﻪﺑ ،

ﻲﻟﺎﻤﻋﺍ ﺭﻭﺎﺘﺸﮔ τ

، ﻭﺯﺎﺑ ﻪﺑ ﻭﺍﺯ θ

ﻳ ﺪﻨﺷﺎﺑ ﻲﻣ ﺲﮑﺑﺮﻴﮔ ﻲﺟﻭﺮﺧ ﻪ .

ﻢﻳﺭﺍﺩ ﻕﻮﻓ ﺕﻻﺩﺎﻌﻣ ﺭﺩ ﻱﺭﺍﺬﮕﻳﺎﺟ ﺎﺑ :

JL L

L L L L

e J B

Nτ −τ = θ&& + θ&

4)

M (

L M L L

e N

B J N

Nτ τ θ&& θ&

+

=

−

5) ( N

B J N

B J

N(τ_M − _Mθ&&_M − _Mθ&_M)−τ_L = _Lθ&&^M + ^L

ﻪﻟﺩﺎﻌﻣ 5) ﺮﺑ ﺍﺭ (

ﻢﻴﻨﮐ ﻢﻴﺴﻘﺗ N

ﺪﺷﺎﺑ ﻲﻣ ﻭﺯﺎﺑ ﻭ ﺭﻮﺗﻮﻣ ﻲﮑﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻪﻄﺑﺍﺭ ، ﻪﻟﺩﺎﻌﻣ ﻦﻳﺍ ﻪﮐ ﻢﻴﺳﺭ ﻲﻣ ﺮﻳﺯ ﻪﻄﺑﺍﺭ ﻪﺑ .

6) (

ﻲﻣ ﻭﺯﺎﺑ ﺭﺩ ﺏﺎﺘﺷ ﺩﺎﺠﻳﺍ ﺐﺒﺳ ﻂﻘﻓ ﻭﺯﺎﺑ ﻪﺑ ﻲﻟﺎﻤﻋﺍ ﺭﻭﺎﺘﺸﮔ ﻭ ﻩﺪﺷ ﻥﺍﺮﺒﺟ ﺎﻫﻭﺯﺎﺑ ﺯﺍ ﻚﻳﺮﻫ ﻥﺯﻭ ﻪﻛ ﺖﺳﺍ ﺮﻛﺫ ﻪﺑ ﻡﺯﻻ ﺩﻮﺷ

.

ﻳﺎﻬﻨﺗ ﻪﺑ ﺭﻮﺗﻮﻣ ﮏﻴﻣﺎﻨﻳﺩ ،ﺩﺩﺮﮔ ﻲﻣ ﻩﺪﻫﺎﺸﻣ ﺕﻻﺩﺎﻌﻣ ﻦﻳﺍ ﺯﺍ ﻪﮐ ﻪﻧﻮﮕﻧﺎﻤﻫ

ﺪﺷﺎﺑ ﻲﻣ ﺮﺗ ﻲﻄﺧ ﻭﺯﺎﺑ ﺕﻻﺩﺎﻌﻣ ﻪﺑ ﺖﺒﺴﻧ ﻲ .

ﻝﺎﻤﻋﺍ ﺎﺑ

ﻩﺪﻧﺩ ﻪﺒﻌﺟ ﺐﻳﺮﺿ

ﺐﻳﺮﺿ ﺎﺑ ﺭﺎﺑ ﻲﻄﺧ ﺮﻴﻏ ﺕﻻﺩﺎﻌﻣ ﺮﻴﺛﺎﺗ

ﺩﺭﻮﻣ ﺭﺩ ﻲﺳﺮﻨﻳﺍ ﻥﺎﻤﻣ ﻱﺎﻬﻣﺮﺗ

ﻲﮐﺎﮑﻄﺻﺍ ﻱﺎﻬﻣﺮﺗ ﻭ

ﺐﻳﺮﺿ ﺎﺑ ﻭ

ﻲﺷﺎﺸﺘﻏﺍ ﻱﺎﻫﺭﻭﺎﺘﺸﮔ ﺭﺩ τ

ﺩﺩﺮﮔ ﻲﻣ ﻒﻴﻌﻀﺗ .

ﻪﮑﻴﺗﺭﻮﺻ ﺭﺩ

ﺩﻮﺷ ﺽﺮﻓ ﮒﺭﺰﺑ N

) ﺕﺎﺑﻭﺭ ﻱﺎﻫ ﺲﮑﺑﺮﻴﮔ ﺐﻳﺮﺿ

ﻦﻴﺑ ﺭﻮﮐﺬﻣ ﺎﺗ 40

70 ﺪﻨﺷﺎﺑ ﻲﻣ (

ﺩﻮﻤﻧ ﺮﻈﻧ ﻑﺮﺻ ﻲﻠﮐ ﻪﺑ ﺕﺎﺑﻭﺭ ﻲﻄﺧ ﺮﻴﻏ ﺕﻻﺩﺎﻌﻣﺯﺍ ﻥﺍﻮﺗ ﻲﻣ ،

ﺕﻻﺩﺎﻌﻣ ﺭﺩ ﺍﺭ ﺎﻬﻧﺁ ﺮﻴﺛﺎﺗ ﺎﻳ ﻭ

ﺖﺴﻧﺍﺩ ﻲﺋﺰﺟ ﺭﻮﺗﻮﻣ ﺖﮐﺮﺣ .

ﺭﺩ

ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﻭ ﻲﻌﻗﺍﻭ ﻢﺘﺴﻴﺳ ﻱﻭﺭ ﺮﺑ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﺕﺎﺸﻳﺎﻣﺯﺁ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻥﺍﻮﺗ ﻲﻣ ﺖﻟﺎﺣ ﻦﻳﺍ

ﺩﺭﻭﺁ ﺖﺳﺩ ﻪﺑ ﻥﺁ ﻱﺎﻬﻛﺮﺤﻣ ﻭ ﺕﺎﺑﻭﺭ ﻢﺘﺴﻴﺳ ﺯﺍ ﻲﻄﺧ ﻝﺪﻣ ،ﻲﻄﺧ ﻲﺋﺎﺳﺎﻨﺷ ﻱﺎﻫﺪﺘﻣ .

N

N ^{M L M M L M}

L

M J B B

J N θ θ

τ τ ₂ && 1_{2 )}&

( 1 )

( + + +

+

=

2 N

L N

L J B

L N

3 2- - ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭﺯﺎﺑ ﻲﻄﺧ ﻲﻳﺎﺳﺎﻨﺷ

ﻮﺷ ﻦﻴﻴﻌﺗ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﻝﺪﻣ ﺪﻳﺎﺑ ﺍﺪﺘﺑﺍ ﺎﻬﺗﺎﺑﻭﺭ ﺭﺩ ﻲﻄﺧ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ ﻱﺍﺮﺑ ﻝﺮﺘﻨﻛ ﻝﺪﻣ ﻥﺁ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﺲﭙﺳ ،ﺩ

ﺩﺩﺮﮔ ﻲﺣﺍﺮﻃ ﻢﺘﺴﻴﺳ ﻱﺍﺮﺑ ﺐﺳﺎﻨﻣ ﻩﺪﻨﻨﻛ .

ﻂﺳﻮﺗ ﻢﺘﺴﻴﺳ ﻲﻄﺧ ﺮﻴﻏ ﺭﺎﺘﻓﺭ ﺶﻫﺎﮐ ﻪﺑ ﻪﺟﻮﺗ ﺎﺑ ﺕﺎﺑﻭﺭ ﺯﺍ ﻲﻄﺧ ﻝﺪﻣ ﻦﻴﻴﻌﺗ ﺭﻮﻈﻨﻣ ﻪﺑ

ﺩﺩﺮﮔ ﻩﺩﺎﻔﺘﺳﺍ ﻲﺟﻭﺮﺧ ﻭ ﻱﺩﻭﺭﻭ ﺕﺎﺸﻳﺎﻣﺯﺁ ﻂﺳﻮﺗ ﻲﻄﺧ ﻲﻳﺎﺳﺎﻨﺷ ﻱﺎﻬﺷﻭﺭ ﺯﺍ ﻢﻴﻨﮐ ﻲﻣ ﺩﺎﻬﻨﺸﻴﭘ ،ﻩﺪﻧﺩ ﻪﺒﻌﺟ

.[9]

ﻪﺑ ﻪﺘﺴﺑ

ﺍ ،ﻢﺘﺴﻴﺳ ﺖﻴﺳﺎﺴﺣ

ﻪﭼﺮﻫ ﺪﻨﮐ ﻥﺎﻴﺑ ﻲﺑﻮﺧ ﻪﺑ ﺍﺭ ﻪﻋﻮﻤﺠﻣ ﺕﺎﻴﺻﻮﺼﺧ ﻪﻛ ﻲﻠﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻥﺩﺭﻭﺁ ﺖﺳﺪﺑ ﺭﺩ ﺖﻗﺩ ﻭ ﻱﺭﺍﺪﻳﺎﭘ ﻅﺎﺤﻟ ﺯ

ﻖﻴﻗﺩ ﻝﺪﻣ ﺩﻮﺷ ﺮﺘﺸﻴﺑ ﻝﺪﻣ ﻱﺎﻫﺮﺘﻣﺍﺭﺎﭘ ﺩﺍﺪﻌﺗ

ﻲﻣ ﺖﺳﺪﺑ ﻢﺘﺴﻴﺳ ﺯﺍ ﻱﺮﺗ ﺪﻳﺁ

.

ﺎﺑ ﻭ ﺕﺎﺑﻭﺭ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻪﺟﺭﺩ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ

ﺠﻣ ﻲﻳﺎﺳﺎﻨﺷ ﺭﻮﻈﻨﻣ ﻪﺑ ، ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﺕﻻﺩﺎﻌﻣ ﻡﺮﻓ ﻪﺑ ﻪﺟﻮﺗ ﻲﻣ ﺩﺎﻬﻨﺸﻴﭘ ﻪﻋﻮﻤ

ﺩﻮﺷ ﺮﻳﺯ ﺕﺭﻮﺻ ﻪﺑ ﻲﺋﺰﺟ ﻭﺩ ﻝﺪﻣ ﺯﺍ ﺩﻮﺷ .

) 1 ) (

1( = +

s T s s K G

ar

S (7)

ﻞﺣﺍﺮﻣ ﻪﺋﺍﺭﺍ ﻥﺩﻮﻤﻧ ﺮﺼﺘﺨﻣ ﺭﻮﻈﻨﻣ ﻪﺑ ﺷ

ﻭ ﻩﺪﺷ ﻥﺎﻴﺑ ﻪﻧﻮﻤﻧ ﻱﻭﺯﺎﺑ ﮏﻳ ﻱﺍﺮﺑ ﻲﻳﺎﺳﺎﻨﺷ ﺕﺎﻴﻠﻤﻋ ﻡﺎﺠﻧﺍ ﻞﺣﺍﺮﻣ ﺶﺨﺑ ﻦﻳﺍ ﺭﺩ ﻲﺋﺎﺳﺎﻨ

ﺩﻮﺷ ﻲﻣ ﻩﺪﻨﺴﺑ ﺞﻳﺎﺘﻧ ﺮﮐﺫ ﻪﺑ ﻱﺎﻫ ﻭﺯﺎﺑ ﺮﻳﺎﺳ ﺩﺭﻮﻣ ﺭﺩ .

ﻪﺣﺭﺩ ﻲﻳﺎﺳﺎﻨﺷ ﺭﻮﻈﻨﻣ ﻪﺑ

ﻝﻭﺍ

ﭘ ،ﺕﺎﺑﻭﺭ ﺖﮐﺮﺣ ﻪﻳﺎ

BASE )

ﻦﻳﺪﻨﭼ (

ﻞﮑﺷ ﺭﺩ ﻲﻳﺎﺳﺎﻨﺷ ﺶﻳﺎﻣﺯﺁ ﻪﺳ ﺭﺩ ﻭﺯﺎﺑ ﺖﻋﺮﺳ ﻱﺎﻫﺭﺍﺩﻮﻤﻧ ﻭ ﺖﺳﺍ ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﻥﺁ ﻱﻭﺭ ﺮﺑ ﺶﻳﺎﻣﺯﺁ 4)

( ﺖﺳﺍ ﻩﺪﻣﺁ .

Tim e (s ec .)

Velocity(rad/sec)

S tep Res pons e

0 5 10 15 20 25

0 0.2 0.4 0.6 0.8 1 1.2

1.4 From: U(1)

To: Y(1)

ﻞﮑﺷ 4) : ( ﺶﻳﺎﻣﺯﺁ ﻪﺳ ﺭﺩ ﻪﻳﺎﭘ ﺖﻋﺮﺳ ﺭﺍﺩﻮﻤﻧ

ﻝﻭﺍﺪﺘﻣ ﻲﺋﺎﺳﺎﻨﺷ ﻱﺎﻬﺷﻭﺭ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ [7]

ﻲﻨﺤﻨﻣ ﻦﻳﺍ ﺯﺍ ﮏﻳ ﺮﻫ ﻱﺍﺮﺑ ﻪﮐ ﺩﻮﺷ ﻲﻣ ﻪﺒﺳﺎﺤﻣ ﻲﻠﻳﺪﺒﺗ ﻊﺑﺎﺗ ﺎﻫ

ﻝﻭﺪﺟ ﺭﺩ ﻊﺑﺍﻮﺗ ﻦﻳﺍ

ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺭﻭﺁ ﺮﻳﺯ

.

ﻝﻭﺪﺟ 1) :(

ﻲﻳﺎﺳﺎﻨﺷ ﺶﻳﺎﻣﺯﺁ ﻪﺳ ﺯﺍ ﻩﺪﻣﺁ ﺖﺳﺩ ﻪﺑ ﻱﺎﻬﻠﻳﺪﺒﺗ ﻊﺑﺎﺗ

ﺎﻬﻧﺁ ﻦﻴﮕﻧﺎﻴﻣ ﻪﺒﺳﺎﺤﻣ ﻭ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻊﺑﺍﻮﺗﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ

ﻪﻳﺎﭘ ﻱﺍﺮﺑ ﺮﻳﺯ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ،[6]

ﺩﻮﺷ ﻲﻣ ﻪﺒﺳﺎﺤﻣ Base

.

) 1 92 . 3 (

07 . ) 1

( = +

S S S

G_S (8)

ﻩﺪﺷ ﻡﺎﺠﻧﺍ ﺕﺎﺸﻳﺎﻣﺯﺁ ﻂﺳﻮﺗ ﻪﺑﺎﺸﻣ ﺵﻭﺭ ﻪﺑ ﺭ ﺮﮕﻳﺩ ﻱﺎﻫﻭﺯﺎﺑ ﻱﻭﺭ ﺮﺑ

ﻭ ﺖﺳﺍ ﺭﺍﺮﻗ ﻦﻳﺍ ﺯﺍ ﺮﮕﻳﺩ ﻱﺎﻫﻭﺯﺎﺑ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ،ﺕﺎﺑ .

ﻝﻭﺪﺟ 2) :(

ﺎﻫﻭﺯﺎﺑ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ

-3 -3 ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻲﺣﺍﺮﻃ

ﻪﺑ ﻥﺪﻴﺳﺭ ﺖﻬﺟ ﺍﺭ ﺐﺳﺎﻨﻣ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻭ ﻩﺩﺮﮐ ﺏﺎﺨﺘﻧﺍ ﺍﺭ ﺎﻫﻭﺯﺎﺑ ﺯﺍ ﻲﮑﻳ ﻲﻳﺎﺳﺎﻨﺷ ﺖﻤﺴﻗ ﺪﻨﻧﺎﻤﻫ ﺶﺨﺑ ﻦﻳﺍ ﺭﺩ

ﺩﺭﻮﻣ ﻲﻟﺮﺘﻨﮐ ﻂﻳﺍﺮﺷ

ﻢﻴﻨﮐ ﻲﻣ ﻩﺪﻨﺴﺑ ﺞﻳﺎﺘﻧ ﺮﮐﺫ ﻪﺑ ﻱﺎﻫ ﻭﺯﺎﺑ ﺮﻳﺎﺳ ﻱﺍﺮﺑ ﻭ ﻢﻴﻨﮐ ﻲﻣ ﻲﺣﺍﺮﻃ ﺮﻈﻧ .

ﻪﻳﺎﭘﺭﻮﻈﻨﻣ ﻦﻳﺍ ﻱﺍﺮﺑ Base)

( ﺍﺭ

،ﺖﻓﺮﮔ ﺭﺍﺮﻗ ﻲﺳﺭﺮﺑ ﺩﺭﻮﻣ ﻲﻳﺎﺳﺎﻨﺷ ﺖﻤﺴﻗ ﺭﺩ ﻪﮐ ﻢﻴﻨﮐ ﻲﻣ ﺏﺎﺨﺘﻧﺍ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻲﺣﺍﺮﻃ ﻱﺍﺮﺑ

.

ﺖﺳﺍ ﻩﺪﻳﺩﺮﮔ ﻅﺎﺤﻟ ﺮﻳﺯ ﻑﺍﺪﻫﺍ ﺎﻫ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻲﺣﺍﺮﻃ ﺭﺩ .

-1 ﻪﻴﺷﺎﺣ ﻱﺍﺭﺍﺩ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ ﺪﺷﺎﺑ ﺐﺳﺎﻨﻣ ﻱﺭﺍﺪﻳﺎﭘ

.

2 - ﺐﻴﺷ ﻱﺩﻭﺭﻭ ﻪﺑ ﻲﺒﺳﺎﻨﻣ ﺭﺎﮔﺪﻧﺎﻣ ﻱﺎﻄﺧ ﻱﺍﺭﺍﺩ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ )

ﺏﻮﻠﻄﻣ ﺖﻋﺮﺳ (

ﺪﺷﺎﺑ .

-3 ﺪﺷﺎﺑ ﺐﺳﺎﻨﻣ ﺖﻋﺮﺳ ﺎﺑ ﻲﺨﺳﺎﭘ ﻱﺍﺭﺍﺩ ﻪﺘﺴﺑ ﻪﻘﻠﺣ ﻢﺘﺴﻴﺳ .

ﻲﻄﺧ ﻱﺮﺘﻣﺍﺭﺎﭘ ﻪﺳ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻂﺳﻮﺗ ﻥﺍﻮﺗ ﻲﻣ ﺍﺭ ﻲﻟﺮﺘﻨﮐ ﻑﺪﻫ ﻪﺳ ﻦﻳﺍ

Lead-Lag

ﺖﺧﺎﺳ ﺭﺍﺮﻗﺮﺑ .

ﺎﺑ ﻲﺳﺭﺮﺑ ﺭﺍﺩﻮﻤﻧ

Bode

ﺑﺎﺗ ﻊ ﻞﻳﺪﺒﺗ ﻢﻳﺯﺍﺩﺮﭘ ﻲﻣ ﻭﺯﺎﺑ ﻦﻳﺍ ﻲﻤﮐ ﺮﻳﺩﺎﻘﻣ ﻲﺳﺭﺮﺑ ﻪﺑBase

.

-1 ﻱﺎﻨﻬﭘ ﻱﺍﺭﺍﺩ ﺯﺎﺑ ﺭﺍﺪﻣ ﻢﺘﺴﻴﺳ

rad/sec)ﺪﻧﺎﺑ

5( 0/ τ =

1

= ﻱﺎﻨﻬﭘ ﺍﺬﻟ ، ﺖﺴﻴﻧ ﺏﻮﻠﻄﻣ ﺦﺳﺎﭘ ﺖﻋﺮﺳ ﻪﺠﻴﺘﻧﺭﺩ ﻪﮐ ﺪﺷﺎﺑ ﻲﻣ

ﻢﻴﻫﺩ ﻲﻣ ﺶﻳﺍﺰﻓﺍ ﺮﺑﺍﺮﺑ ﺖﺸﻫ ﺍﺭ ﻪﺘﺴﺑ ﺭﺍﺪﻣ ﺪﻧﺎﺑ

(rad/sec) ω 4

.

-2 ﺩﻭﺪﺣ ﺭﺩ ﺯﺎﻓ ﻪﻴﺷﺎﺣ

ﻞﻗﺍﺪﺣ ﻪﺑ ﺍﺮﻧﺁ ﻪﮐ ﺪﺷﺎﺑ ﻲﻣ ﻪﺟﺭﺩ 27

ﻢﻴﻧﺎﺳﺭ ﻲﻣ ﻪﺟﺭﺩ 35 .

3 - ﺩﻭﺪﺣ ﺭﺩ ﺐﻴﺷ ﻱﻭﺭﻭ ﻪﺑ ﺯﺎﺑ ﺭﺍﺪﻣ ﻢﺘﺴﻴﺳ ﻱﺎﻄﺧ 93

0/ ﺯﺍ ﺮﺘﻤﮐ ﻥﺍﺰﻴﻣ ﻪﺑ ﺍﺮﻧﺁ ﻪﮐ ﺪﺷﺎﺑ ﻲﻣ 005

0/ ﻢﻴﻫﺩ ﻲﻣ ﺶﻫﺎﮐ .

ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻪﮐ ﻢﺘﺴﻴﺳ ﻲﻳﺎﻬﻧ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻞﮑﺷ

Lead-Lag

ﺪﺷﺎﺑ ﻲﻣ ﺮﻳﺯ ﺕﺭﻮﺻ ﻪﺑ ﺪﺷﺎﺑ ﻲﻣ :

1 . 1

1 ) 1

(

2 2 1

1

+ + +

= +

s T

s T s

T s k T s

C α β

α _{> β1, <1} (9) ﻦﻴﺑ ﻻﻮﻤﻌﻣ ﺍﺭ ﺯﺎﻓ ﻪﻴﺷﺎﺣ ﻲﻟﺮﺘﻨﻛ ﻱﺎﻬﻤﺘﺴﻴﺳﺭﺩ 30

ﻭ 60 ﻦﻴﺑ ﺍﺭ ﻩﺮﻬﺑ ﻪﻴﺷﺎﺣ ﻭ ﻪﺟﺭﺩ

db

-20

ﻝﺪﻣ ﺭﺩ ﺖﻴﻌﻄﻗ ﻡﺪﻋ ﻪﺑ ﻪﺟﻮﺗﺎﺑ 6

ﺪﻨﻨﮐ ﻲﻣ ﻦﻴﻴﻌﺗ ﻢﺘﺴﻴﺳ .

ﺩﺭﺍﺪﻧ ﺩﻮﺟﻭ ﻩﺮﻬﺑ ﻪﻴﺷﺎﺣ ﻭﺯﺎﺑ ﻦﻳﺍ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﺭﺩ ﻪﮐ ﺖﺳﺍ ﺮﮐﺫ ﻪﺑ ﻡﺯﻻ .

ﻲﺘﻳﺩﻭﺪﺤﻣ ﻪﻧﻮﮕﭽﻴﻫ ﻦﻳﺍﺮﺑﺎﻨﺑ

ﻦﻴﮔ ﺎﺑ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻝﺎﻤﻋﺍ ﻱﺍﺮﺑ

ﺩﺭﺍﺪﻧ ﺩﻮﺟﻭ ﻻﺎﺑ ﻱﺎﻫ .

ﺪﺷﺎﺑ ﻲﻤﻧ ﻦﻴﻤﻀﺗ ﻞﺑﺎﻗ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻅﺎﺤﻟ ﺯﺍ ﻲﻳﺎﻬﺿﺮﻓ ﻦﻴﻨﭼ ﻪﺘﺒﻟﺍ .

ﺍﺮﻳﺯ

ﻭ ﺎﻬﮐﺮﺤﻣ ﻉﺎﺒﺷﺍ ﻱﺎﻬﺘﻳﺩﻭﺪﺤﻣ ﻞﻤﻋ ﺭﺩ

. . .

ﺩﻮﺷ ﻲﻣ ﻢﺘﺴﻴﺳ ﺩﺮﮑﻠﻤﻋ ﺶﻫﺎﮐ ﺚﻋﺎﺑ .

ﺖﻋﺮﺳ ﻥﺍﻮﺘﺑ ﻪﮑﻨﻳﺍ ﻱﺍﺮﺑ ﻝﺎﺜﻣ ﻥﺍﻮﻨﻋ ﻪﺑ

ﺝﺎﻴﺘﺣﺍ ﺩﺍﺩ ﺶﻫﺎﮐ ﺭﺎﻴﺴﺑ ﺍﺭ ﺎﻄﺧ ﻭ ﻩﺩﺮﺑ ﻻﺎﺑ ﺍﺭ ﺎﻫﻭﺯﺎﺑ ﺯﺍ ﻲﮑﻳ ﺖﮐﺮﺣ ﺮﻣﺍ ﻦﻳﺍ ﻪﮐ ﺩﻮﺷ ﻝﺎﻤﻋﺍ ﻭﺯﺎﺑ ﻪﺑ ﺩﺎﻳﺯ ﺭﺎﻴﺴﺑ ﻱﺭﻭﺎﺘﺸﮔ ﻪﮐ ﺖﺳﺍ

ﺪﺷﺎﺑ ﻲﻤﻧ ﺮﻳﺬﭘ ﻥﺎﮑﻣﺍ ﻩﺪﺷ ﺮﮐﺫ ﻱﺎﻬﺘﻳﺩﻭﺪﺤﻣ ﺖﻠﻋ ﻪﺑ .

ﻧ ﻩﺪﻨﻨﻛ ﻝﺪﻣ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﻱﻭﺭ ﺮﺑ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻝﺎﻤﻋﺍ ﻪﺠﻴﺘ

ﻲﻣ ﺎﺿﺭﺍ ﺍﺭ ﺮﻈﻧ ﺩﺭﻮﻣ ﻑﺍﺪﻫﺍ ﻪﻛ ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﺶﻳﺎﻤﻧ ﺮﻳﺯ ﺭﺩ ﺕﺎﺑﻭﺭ Base

ﺪﻨﻛ :.

T im e (s e c . )

Amplitude

S t e p R e s p o n s e

0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0

0 0 .2 0 .4 0 .6 0 .8 1 1 .2

1 .4 F r o m : U ( 1 )

To: Y(1)

ﻞﮑﺷ 5) ( ﻪﻠﭘ ﺦﺳﺎﭘ ﻩﺪﺷ ﻥﺍﺮﺒﺟ ﻢﺘﺴﻴﺳ

ﺩﺮﮐ ﻞﻳﺪﺒﺗ ﻪﺘﺴﺴﮔ ﻡﺮﻓ ﻪﺑ ﺍﺭ ﺎﻬﻧﺁ ﺪﻳﺎﺑ ،ﺪﻧﻮﺷ ﻲﻣ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺮﺗﻮﻴﭙﻣﺎﮐﺭﺩ ﻲﺣﺍﺮﻃ ﺯﺍ ﺲﭘ ﺕﺎﺑﻭﺭ ﻱﺎﻫ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻪﮐ ﻲﻳﺎﺠﻧﺁ ﺯﺍ .

ﺪﺷﺎﺑ ﻲﻣ ﻢﮐ ﺭﺎﻴﺴﺑ ﻢﺘﺴﻴﺳ ﻦﻳﺍ ﺭﺩ ﻱﺭﺍﺩﺮﺑ ﻪﻧﻮﻤﻧ ﻥﺎﻣﺯ ﻪﮑﻧﺁ ﺖﻠﻋ ﻪﺑ ﺰﻴﭼﺎﻧ ﺭﺎﻴﺴﺑ ﻱﺯﺎﺳ ﻪﺘﺴﺴﮔ ﺮﻴﺛﺎﺗ ﺖﻔﮔ ﻥﺍﻮﺗ ﻲﻣ

.ﺖﺳﺍ ﻩﺯﻮﺣ ﻞﻳﺪﺒﺗ ﺖﻬﺟ ﻪﮐ ﻲﻔﻠﺘﺨﻣ ﻱﺎﻬﺷﻭﺭ ﻦﻴﺑ ﺯﺍ ﻪﺑ S

ﻞﻳﺪﺒﺗ ،Z

Tustin

ﻱﺭﺍﺪﻳﺎﭘ ﻆﻔﺣ ﻭ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺭﺩ ﻲﮔﺩﺎﺳ ﺖﻠﻋ ﻪﺑ

ﺖﺳﺍ ﻪﺘﻓﺮﮔ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ﻢﺘﺴﻴﺳ .

ﺪﻫﺩ ﻲﻣ ﻥﺎﺸﻧ ﺍﺭ ﻭﺯﺎﺑ ﺮﻫ ﻱﺍﺮﺑ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺮﻳﺯ ﻝﻭﺪﺟ .

sec) 5 ( m

ﻝﻭﺪﺟ 3) ( ﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻞﻳﺪﺒﺗ ﻊﺑﺎﺗ ﺎ

-3 -4 ﺎﻫ ﻩﺪﻨﻨﮐ ﻝﺮﺘﻨﮐ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺞﻳﺎﺘﻧ :

ﻲﺑﻮﻠﻄﻣ ﺞﻳﺎﺘﻧ ﻱﺭﻮﺌﺗ ﺭﺩ ﻪﻜﻧﺁ ﺎﺑ ﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻪﻛ ﺩﻮﺷ ﻲﻣ ﻩﺪﻳﺩ ،ﺕﺎﺑﻭﺭ ﻱﻭﺭﺮﺑ ﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺯﺍ ﺲﭘ

ﺩﻮﺷ ﻲﻤﻧ ﻞﺻﺎﺣ ﺮﻈﻧ ﺩﺭﻮﻣ ﺞﻳﺎﺘﻧ ﻞﻤﻋ ﺭﺩ ﺎﻣﺍ ،ﺪﻧﺭﺍﺩ .

ﺖﺴﻧﺍﺩ ﺮﻳﺯ ﻞﻳﻻﺩ ﻪﺑ ﻥﺍﻮﺗ ﻲﻣ ﺍﺭ ﺏﻮﻠﻄﻣ ﻂﻳﺍﺮﺷ ﻝﻮﺼﺣ ﻡﺪﻋ ﺩﻮﺟﻭ .

ﻜﻄﺻﺍ

،ﻢﺘﺴﻴﺳﺭﺩ ﻲﻘﻟ ﻭ ﻙﺎ

،ﻢﺘﺴﻴﺳ ﻖﻴﻗﺩ ﺮﻴﻏ ﻱﺯﺎﺳ ﻝﺪﻣ ﻲﻧﺯﻭ ﻱﺎﻫﻭﺮﻴﻧ ﺢﻴﺤﺻ ﻱﺯﺎﺴﻧﺍﺮﺒﺟ ﻡﺪﻋ

. ﻥﺍﺮﺒﺟ ﻱﺎﻬﺷﻭﺭ ﻱﺮﻴﮔ ﺭﺎﻜﺑ ﺎﺑ

ﻙﺎﻜﻄﺻﺍ ﻱﺯﺎﺳ

Frictioncompensation)

[8](

ﻚﻳ ﻒﻳﺮﻌﺗ ﻭ ﺎﻫﻭﺯﺎﺑ ﻥﺯﻭ ﻱﺯﺎﺴﻧﺍﺮﺒﺟ ﺢﻴﺤﺼﺗ ﺖﻬﺟ ﻝﺩﺎﻌﻣ ﻥﺎﻳﺮﺟ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ،

ﺖﻛﺮﺣ ﻥﺍﻮﺗ ﻲﻣ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻝﺪﻣ ﺢﻴﺤﺼﺗ ﺖﻬﺟ ﺢﻴﺤﺼﺗ ﺐﻳﺮﺿ

ﺪﻧﺎﺳﺭ ﺏﻮﻠﻄﻣ ﻂﻳﺍﺮﺷ ﻪﺑ ﺍﺭ ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭﺯﺎﺑ

Base. ﻪﻜﻨﻳﺍ ﺖﻠﻋ ﻪﺑ

ﺪﺳﺮﺑ ﺏﻮﻠﻄﻣ ﻂﻳﺍﺮﺷ ﻲﮔﺩﺎﺳ ﻪﺑ ﺪﻧﺍﻮﺗ ﻲﻣ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻝﺎﻤﻋﺍ ﺎﺑ ،ﺩﺭﺍﺪﻧ ﺩﻮﺟﻭ ﺶﺘﻛﺮﺣ ﺖﻬﺟ ﺭﺩ ﻲﻧﺯﻭ ﻒﻟﺎﺨﻣ ﻱﻭﺮﻴﻧ )

ﻞﻜﺷ 6) .((

ﻔﺘﺳﺍ ﺎﺑ ،ﻥﺯﻭ ﻖﻴﻗﺩ ﺮﻴﻏ ﻱﺯﺎﺴﻧﺍﺮﺒﺟ ﻦﻴﻨﭽﻤﻫ ﻭ ﻻﺎﺑ ﻙﺎﻜﻄﺻﺍ ﺎﺑ ﻲﺴﻜﺑﺮﻴﮔ ﻥﺩﻮﺑ ﺍﺭﺍﺩ ﻢﻏﺮﻴﻠﻋ ﻝﻭﺍ ﻱﻭﺯﺎﺑ

ﻥﺍﺮﺒﺟ ﻱﺎﻬﻜﻴﻨﻜﺗ ﺯﺍ ﻩﺩﺎ

ﻙﺎﻜﻄﺻﺍ ﻱﺯﺎﺳ

[8]

،

ﺖﺳﺍ ﻩﺪﺷ ﻝﺮﺘﻨﻛ ﺎﻄﺧ ﻞﻗﺍﺪﺣ ﺎﺑ )

ﻞﻜﺷ 7) .((

ﻭ ﻥﺯﻭ ﻱﺯﺎﺳ ﻥﺍﺮﺒﺟ ﻡﺪﻋ ﺖﻠﻋ ﻪﺑ ﺍﺪﺘﺑﺍ ﺭﺩ ﻪﻛ ﻡﻭﺩ ﻱﻭﺯﺎﺑ

ﺩﻮﺟﻭ

Back-Drive

ﻲﻤﻧ ﺭﺩﺎﻗ ، ﻥﺁ ﺲﻜﺑﺮﻴﮔ

ﻲﻣ ﻩﺍﺮﻤﻫ ﻱﺩﺎﻳﺯ ﻱﺎﻄﺧ ﺎﺑ ﻩﺭﺍﻮﻤﻫ ﻭ ﺪﻨﻛ ﻲﻃ ﺍﺭ ﺮﻈﻧ ﺩﺭﻮﻣ ﻪﻳﻭﺍﺯ ﺪﺷﺎﺑ .ﺩﻮﺑ

ﺎﺑ

ﺗ ﻥﺯﻭ ﻱﺯﺎﺳ ﻥﺍﺮﺒﺟ ﺢﻴﺤﺼﺗ

ﺖﺳﺍ ﻩﺪﻴﺳﺭ ﺏﻮﻠﻄﻣ ﻂﻳﺍﺮﺷ ﻪﺑ ﻩﺪﺷ ﺮﻛﺫ ﻱﺎﻬﺷﻭﺭ ﻂﺳﻮ )

ﻞﻜﺷ 8) .((

ﻲﻘﻟ ﺩﻮﺟﻭ ﺖﻠﻋ ﻪﺑ ﻡﻮﺳ ﻱﻭﺯﺎﺑ

ﻥﺁ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻦﻴﮔ ﺶﻫﺎﻛ ﻭ ﺢﻴﺤﺼﺗ ﺐﻳﺮﺿ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﻪﻛ ﺪﻳﺁ ﻲﻣ ﺭﺩ ﻥﺎﺳﻮﻧ ﻪﺑ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻝﺎﻤﻋﺍ ﺎﺑ ﻥﺁﺭﺩ ﻥﺍﻭﺍﺮﻓ

ﺩﻮﺷ ﻲﻣ ﻭﺯﺎﺑ ﻦﻳﺍ ﺭﺩ ﺎﻄﺧ ﺶﻳﺍﺰﻓﺍ ﺐﺒﺳ ﺮﻣﺍ ﻦﻳﺍ ﺎﻣﺍ ﺪﺑﺎﻳ ﻲﻣ ﺶﻫﺎﻛ ﻥﺁ ﺕﺎﻧﺎﺳﻮﻧ ﻥﺍﻮﺗ ﻲﻣ ،ﺎﻄﺧ ﻦﻳﺍ ﻥﺩﻮﺑ ﺮﻳﺬﭘ ﺭﺍﺮﻜﺗ ﺖﻠﻋ ﻪﺑ ﻪﻛ

ﺪﻧﺎﺳﺭ ﻲﺑﻮﻠﻄﻣ ﺭﺍﺪﻘﻣ ﻪﺑ ﻭﺯﺎﺑ ﻦﻳﺍ ﻲﺘﻛﺮﺣ ﺮﻴﺴﻣ ﻝﻮﻃﺭﺩ ﺍﺭ ﺎﻄﺧ ) .

ﻞﻜﺷ 9) ((

30

0 5 10 15 20 25 30

-40 -20 0 20

theta (degree)

0 5 10 15 20 25 30

-2 -1 0 1

2 c ontrol ac tion

Amper

ﻞﻜﺷ 6) ( ﻪﻳﺎﭘ ﻲﻟﺮﺘﻨﻛ ﻝﺎﻨﮕﻴﺳ ﻭ ﺖﻛﺮﺣ ﺭﺍﺩﻮﻤﻧ

0 5 10 15 20 25 30

-20 -10 0 10 20 30

theta (degree)

0 5 10 15 20 25

-4 -2 0 2

control action

Amper

ﻞﻜﺷ 8) ( ﻡﻭﺩ ﻱﻭﺯﺎﺑ ﻲﻟﺮﺘﻨﻛ ﻝﺎﻨﮕﻴﺳ ﻭ ﺖﻛﺮﺣ ﺭﺍﺩﻮﻤﻧ

0 5 10 15 20 25 30

-10 0 10 20 30

theta (degree)

0 5 10 15 20 25 30

-6 -4 -2 0

2 c ontrol ac tion

Amper

1 2 3 4 5 6 7 8 9

25 30 35 40 45 50

theta refrenc e & theta des ire

theta (degree)

1 2 3 4 5 6 7 8 9

-0.5 0 0.5 1 1.5 2

c ontrol action

Amper

ﻞﻜﺷ 9) ( ﻡﻮﺳ ﻱﻭﺯﺎﺑ ﻲﻟﺮﺘﻨﻛ ﻝﺎﻨﮕﻴﺳ ﻭ ﺖﻛﺮﺣ ﺭﺍﺩﻮﻤﻧ

ﻞﻜﺷ 7) ( ﻝﻭﺍ ﻱﻭﺯﺎﺑ ﻲﻟﺮﺘﻨﻛ ﻝﺎﻨﮕﻴﺳ ﻭ ﺖﻛﺮﺣ ﺭﺍﺩﻮﻤﻧ

-4 ﻱﺮﻴﮔ ﻪﺠﻴﺘﻧ :

ﺯﺍ ﻥﺍﻮﺗ ﻲﻣ ﺏﻮﻠﻄﻣ ﺩﺮﻜﻠﻤﻋ ﻪﺑ ﻲﺑﺎﻴﺘﺳﺩ ﺭﻮﻈﻨﻣ ﻪﺑ ﻭ ﺖﺳﺍ ﺭﺍﺩﺭﻮﺧﺮﺑ ﻲﻄﺧ ﺮﻴﻏ ﺖﻴﻫﺎﻣ ﺯﺍ ﺕﺎﺑﻭﺭ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ

ﺪﻨﻧﺎﻣ ﻲﻄﺧ ﺮﻴﻏ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ

PID : ﻡﺮﺗ ﺎﺑ

Gravity

،

Computed-Torque

ﺩﺮﻛ ﻩﺩﺎﻔﺘﺳﺍ ﻩﺮﻴﻏ ﻭ ﻲﺷﺰﻐﻟ ﺪﻣ ﻝﺮﺘﻨﻛ ، .

ﻪﺑ ﺎﻣﺍ

ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘﺳﺍ ﺩﺭﻮﻣ ﺖﻌﻨﺻ ﺭﺩ ﺎﻬﺷﻭﺭ ﻦﻳﺁ ﺯﺍ ﻱﺭﺎﻴﺴﺑ ،ﻢﺘﺴﻴﺳ ﻝﺪﻣ ﻪﺑ ﻥﺁ ﻲﮕﺘﺴﺑ ﻦﻴﻨﭽﻤﻫ ﻭ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻲﮔﺪﻴﭽﻴﭘ ﺖﻠﻋ

ﻲﻤﻧ ﺪﻧﺮﻴﮔ .

ﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺖﻌﻨﺻ ﺭﺩ

،ﻩﺩﺎﺳ ﻱ

ﺪﻧﺮﻴﮔ ﻲﻣ ﺭﺍﺮﻗ ﻪﺟﻮﺗ ﺩﺭﻮﻣ ﺮﺘﺸﻴﺑ ﻢﻴﻈﻨﺗ ﻞﺑﺎﻗ ﻭ ﻩﺪﺷ ﻪﺘﺧﺎﻨﺷ .

ﺎﺑ

،ﺕﺎﺑﻭﺭ ﻲﻜﻴﻣﺎﻨﻳﺩ ﺕﻻﺩﺎﻌﻣ ﻥﺪﺷ ﺮﺗ ﻲﻄﺧ ﺭﺩ ﻥﺁ ﺮﻴﺛﺎﺗ ﻭ ﺕﺎﺑﻭﺭ ﻱﺎﻫﻭﺯﺎﺑ ﺯﺍ ﻚﻳﺮﻫ ﺭﺩ ﺲﻜﺑﺮﻴﮔ ﺩﻮﺟﻭ ﻪﺑ ﻪﺟﻮﺗ

ﻪﻛ ﻪﻧﻮﮕﻧﺎﻤﻫ

ﺭﺩ

ﺳﺍ ﺩﺭﻮﻣ ﺪﻨﻧﺍﻮﺗ ﻲﻣ ﻲﺑﻮﻠﻄﻣ ﺕﺭﻮﺻ ﻪﺑ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ،ﺖﺳﺍ ﻩﺪﺷ ﻩﺩﺍﺩ ﻥﺎﺸﻧ ﻪﻟﺎﻘﻣ ﻦﻳﺍ

ﺪﻧﺮﻴﮔ ﺭﺍﺮﻗ ﻩﺩﺎﻔﺘ .

،ﻪﻟﺎﻘﻣ ﻦﻳﺍ ﺭﺩ

ﻡﺎﺠﻧﺍ ﻩﺪﻣﺁ ﺖﺳﺪﺑ ﻲﻄﺧ ﻲﻳﺎﺳﺎﻨﺷ ﺵﻭﺭ ﺯﺍ ﻪﻛ ﻲﻟﺪﻣ ﺯﺍ ﻩﺩﺎﻔﺘﺳﺍ ﺎﺑ ﺎﻫ ﻭﺯﺎﺑ ﺯﺍ ﻚﻳ ﺮﻫ ﻱﺍﺮﺑ ﻲﻄﺧ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻲﺣﺍﺮﻃ

ﺖﺳﺍ ﻪﺘﻓﺮﮔ .

ﺩﻮﺟﻭ ﺖﻠﻋ ﻪﺑ ﻞﻤﻋ ﺭﺩ ،ﺏﻮﻠﻄﻣ ﻱﺭﻮﺌﺗ ﺞﻳﺎﺘﻧ ﻢﻏﺮﻴﻠﻋ ،ﺕﺎﺑﻭﺭ ﻱﻭﺭ ﺮﺑ ﻩﺪﺷ ﻲﺣﺍﺮﻃ ﻱﺎﻫ ﻩﺪﻨﻨﻛ ﻝﺮﺘﻨﻛ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺎﺑ

ﺭﺩ ﻙﺎﻜﻄﺻﺍ

ﻪﻨﻴﻬﺑ ﻞﺑﺎﻗ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﻪﻴﻟﻭﺍ ﺞﻳﺎﺘﻧ ﺎﻬﻧﺁ ﻥﺩﻮﺒﻧ ﺐﻠﺻ ﻦﻴﻨﭽﻤﻫ ﻭ ﺖﻛﺮﺣ ﻡﺎﮕﻨﻫ ﺭﺩ ﺮﮕﻳﺪﻜﻳ ﺮﺑ ﺎﻫﻭﺯﺎﺑ ﺮﻴﺛﺎﺗ ،ﺎﻫﻭﺯﺎﺑ

ﺪﻨﺷﺎﺑ ﻲﻣ ﻙﺎﻜﻄﺻﺍ ﻱﺯﺎﺳ ﻥﺍﺮﺒﺟ ﺵﻭﺭ ﻂﺳﻮﺗ ﻱﺯﺎﺳ .

ﺩﺮﻜﻠﻤﻋ ﻥﺍﻮﺗ ﻲﻣ ،ﻱﺩﺎﻬﻨﺸﻴﭘ ﺵﻭﺭ ﻦﻳﺍ ﻡﺍﻮﺗ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ ﺎﺑ ﺐﻴﺗﺮﺗ ﻦﻳﺪﺑ

ﺪﻴﺸﺨﺑ ﺩﻮﺒﻬﺑ ﻲﻌﻗﺍﻭ ﻞﻣﺍﻮﻋ ﺭﻮﻀﺣ ﺭﺩ ﺍﺭ ﺕﺎﺑﻭﺭ .

ﺞﻳﺎﺘﻧ

ﻭ ﺎﻬﺘﻋﺮﺳ ﻪﺑ ﻥﺪﻴﺳﺭ ﺭﺩ ﻱﺩﺎﻬﻨﺸﻴﭘ ﺵﻭﺭ ﺖﻴﻘﻓﻮﻣ ﻲﻠﻤﻋ ﻱﺯﺎﺳ ﻩﺩﺎﻴﭘ

ﺩﺭﺍﺬﮔ ﻲﻣ ﺶﻳﺎﻤﻧ ﻪﺑ ﻞﻣﺎﮐ ﺕﺭﻮﺻ ﻪﺑ ﺍﺭ ﺯﺎﻴﻧ ﺩﺭﻮﻣ ﻱﺎﻬﺘﻗﺩ .

-5 ﻊﺟﺍﺮﻣ

[1] J.F.Engelberger, Robotics in Practice, NewYork, Americam Management Association,1980.

[2] Y.S.luh, Conventional controller design for industrial robot, A tutorial, IEEE Trans.،System Man and Cybernetics,Vol.SMC-13, No.3, pp 298-316, May/June 1983.

[3] T.J.Tran, A.K.BEJCZY, A.Isidori and Y.Chen, Nonlinear Feedback in Robot Arm Control, Proc..IEEE Conf.on Decision and control, Dec .1994, pp .736-751.

[4] C.Abdollah, D.Dawson, P.Dorato and M.Jamshidi, Survey of Robust Control for rigid robots, IEEE Control System Magazine, Vol.11, No.2, pp24-30, Feb 1991.

[5] R.Ortega and M.W.Spong, Adaptive Motion Control of rigid robots::A tutorial, Proc.IEEE Conf. Decision and Control, pp.1575-1584, 1988

[6] H.D.Taghirad and P.R.Belanger، An Experimental Study on Modelling and identification of Harmonic Drive Systems, 35^th IEEE Conf.on Decision and control, pp 1345-1350, Dec 1996

[7] K.J. Astrom and T. Haggland, PID Controllr:Theory, Design and tuning, 2^nd Edition, Instrument Society of America, Research Triangle Park North Carolina, 1995.

[8] H.D.Taghirad and P.R.Belanger، Robust friction compensation for harmonic drive transmission, IEEE Conference on control application. pp 786-791, 1998

[9] H.D.Taghirad and S.Afshar, Linear Identification and PID Controller design and implementation on a SCARA robot, Proc. of International Confrence on Electrical Engineering, pp 658-663, May 1999, Isfahan.

ﻱﺩﺍﺯﺁ ﻪﺟﺭﺩ ﺭﺎﻬﭼ ﺕﺎﺑﻭﺭ ﮏﻳ ﺖﺧﺎﺳ ﻭ ﻲﺣﺍﺮﻃ ،ﻲﻔﺴﻠﻓ ﻦﻴﺴﺣ ﺪﻤﺤﻣ ،ﻱﺪﻤﺤﻣ ﮏﻠﻣ ﺪﻣﺎﺣ [10]

D&A401

ﺎﻳﺎﭘ ، ،ﻲﺳﺎﻨﺷﺭﺎﮐ ﻪﻣﺎﻧ ﻥ

،ﻲﺳﻮﻃ ﻦﻳﺪﻟﺍﺮﻴﺼﻧ ﻪﺟﺍﻮﺧ ﻲﺘﻌﻨﺻ ﻩﺎﮕﺸﻧﺍﺩ ،ﮏﻴﻧﺎﮑﻣ ﻩﺪﮑﺸﻧﺍﺩ 1380

.