‫ﻃﺮﺍﺣﯽ ﻭ ﺳﺎﺧﺖ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻫﻮﺷﻤﻨﺪ ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﻪ ﺭﻭﺵ ‪PWM‬‬

‫ﺑﺎ ﺍﻟﮕﻮﺭﻳﺘﻢ ‪ PID‬ﺩﻳﺠﻴﺘﺎﻝ ﺑﺮﺍﯼ ﺍﻫﺪﺍﻑ ﺭﺑﺎﺗﻴﮏ‬

‫ﺍﺑﻮﺍﻟﻔﻀﻞ ﺩﺭﮔﺎﻫﯽ ﻣﻮﻻﻥ‬ ‫ﺍﺳﻤﺎﻋﻴﻞ ﺁﺗﺶﭘﺰ ﮔﺮﮔﺮﯼ‬

‫ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﺑﺮﻕ ﻭ ﮐﺎﻣﭙﻴﻮﺗﺮ ﺩﺍﻧﺸﮕﺎﻩ ﺗﺒﺮﻳﺰ‬ ‫ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﺑﺮﻕ ﻭ ﮐﺎﻣﭙﻴﻮﺗﺮ ﺩﺍﻧﺸﮕﺎﻩ ﺗﺒﺮﻳﺰ‬
‫‪Dargahi_a@yahoo.com‬‬ ‫‪Atashpaz_e@yahoo.com‬‬

‫ﺭﻭﺷﻬﺎﻱ ﻣﺨﺘﻠﻔﻲ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﺍﻳﻦ ﻧﻮﺷﺘﺎﺭ ﻃﺮﺍﺣﻲ ﻭ ﺳﺎﺧﺖ ﻳﻚ ﻛﻨﺘﺮﻝ ﻛﻨﻨﺪﻩ‬ ‫‪DC‬‬ ‫ﭼﻜﻴﺪﻩ‪ :‬ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ‬
‫ﺳﺮﻳﻊ ﻭ ﻫﻮﺷﻤﻨﺪ‪ ،‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ‪ PWM‬ﻛﻪ ﺩﺭ ﺍﻟﮕﻮﺭﻳﺘﻢ ‪ PID‬ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ ﻣﻲﮔﻴﺮﺩ؛ ﺑﺮﺭﺳﻲ ﻣﻲﺷﻮﺩ‪ .‬ﻛﻨﺘﺮﻝ‬
‫ﻛﻨﻨﺪﻩ ‪ PID‬ﺑﺎ ﻧﻤﻮﻧﻪﮔﻴﺮﻱ ﺍﺯ ﻣﻘﺎﺩﻳﺮ ﮔﺬﺷﺘﻪ ﻭ ﺟﺎﺭﻱ ﺧﺮﻭﺟﻲ‪ duty cycle ،‬ﭘﺎﻟﺲ ﻭﺭﻭﺩﻱ ﺑﻪ ﻣﻮﺗﻮﺭ ﺭﺍ ﺗﻐﻴﻴﺮ ﺩﺍﺩﻩ ﻭ ﺩﺭ‬
‫ﻛﻤﺘﺮﻳﻦ ﺯﻣﺎﻥ‪ ،‬ﺳﺮﻋﺖ ﺁﻥ ﺭﺍ ﺭﻭﻱ ﻣﻘﺪﺍﺭ ﻣﻮﺭﺩ ﻧﻈﺮ ‪ set‬ﻣﯽﮐﻨﺪ‪.‬‬

‫‪PWM ,PID ,set point ,duty cycle‬‬ ‫ﻭﺍﮊﮔﺎﻥ ﮐﻠﻴﺪﯼ‪:‬‬

‫‪ ‐۱‬ﻣﻘﺪﻣﻪ‬
‫ﺩﺭ ﺍﻳﻦ ﻣﻘﺎﻟﻪ ﻃﺮﺍﺣﯽ ﻭ ﺳﺎﺧﺖ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﺮﺭﺳﯽ ﻣﯽﺷﻮﺩ‪ .‬ﺩﺭ ﺍﺑﺘﺪﺍ ﺩﺭ ﺑﺨﺶ ‪ ،٢‬ﺍﻧﻮﺍﻉ ﺭﻭﺷﻬﺎﯼ‬
‫ﮐﻨﺘﺮﻝ ﺳﺮﻋﺖ ﻣﻮﺗﻮﺭ ‪ DC‬ﻣﻌﺮﻓﯽ ﻣﯽﺷﻮﻧﺪ‪ .‬ﺳﭙﺲ ﺩﺭ ﺑﺨﺶ ‪ ،٣‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﻘﺮﻳﺒﯽ ﻣﻮﺗﻮﺭ ‪ DC‬ﺭﺍ ﭘﻴﺪﺍ ﻧﻤﻮﺩﻩ ﻭ ﺩﺭ ﺑﺨﺶ‬
‫‪ ،٤‬ﺭﻭﺵ ‪ PWM‬ﺑﺮﺍﯼ ﮐﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪ DC‬ﻣﻌﺮﻓﯽ ﻣﯽﺷﻮﺩ‪ .‬ﺩﺭ ﺑﺨﺶ ‪ ،٥‬ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻟﯽ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﻣﻮﺗﻮﺭ ﺭﺍ ﻣﻌﺮﻓﯽ‬
‫ﻧﻤﻮﺩﻩ ﻭ ﺩﺭ ﺑﺨﺶ‪ ،۶‬ﮐﻨﺘﺮﻝ ﻫﻮﺷﻤﻨﺪ ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﺎ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﺩﻳﺠﻴﺘﺎﻝ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﻣﯽﺷﻮﺩ‪ .‬ﺩﺭ ﺍﻧﺘﻬﺎﯼ ﺑﺨﺶ‬
‫‪ ،٦‬ﺿﺮﺍﻳﺐ ﺑﻬﻴﻨﻪ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﺑﺮﺍﯼ ﻣﻮﺗﻮﺭ ﻣﻮﺭﺩ ﺁﺯﻣﺎﻳﺶ ﭘﻴﺪﺍ ﻣﯽ ﮐﻨﻴﻢ‪.‬‬

‫‪ ‐۲‬ﺭﻭﺵ ﻫﺎﯼ ﮐﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪DC‬‬

‫ﺷﻜﻞ ‪ ١‬ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻳﻚ ﻣﻮﺗﻮﺭ ‪ DC‬ﺭﺍ ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ ﻛﻪ ﺟﺴﻤﻲ ﺑﺎ ﻣﻤﺎﻥ ﺍﻳﻨﺮﺳﻲ ‪ I‬ﺗﻮﺳﻂ ﻳﺎﺗﺎﻗﺎﻥ ﺑﺎ ﺿﺮﻳﺐ‬
‫ﺩﻣﭙﻴﻨﮓ ‪ B‬ﺑﻪ ﺁﻥ ﻭﺻﻞ ﺍﺳﺖ‪.‬‬

‫‪DC‬‬ ‫ﺷﻜﻞ ‪ :1‬ﻣﺪل دﻳﻨﺎﻣﻴﻜﻲ ﻳﻚ ﻣﻮﺗﻮر‬

 ‫ﺑﺮﺍﯼ ﺍﻳﻦ ﻣﻮﺗﻮﺭ ﺭﻭﺍﺑﻂ ﺯﻳﺮ ﺭﺍ ﺩﺍﺭﻳﻢ‬
‫‪If = Vf / (Lf .s+ Rf) , T=Ka.3.Ia , 3=kf .If Æ Tm=ka.kf.If.Ia‬‬ ‫)‪(œ‬‬
‫)‪Tm-Td = (I.s+ B). &(s‬‬ ‫)‪(ß‬‬
‫ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪ DC‬ﺍﺳﺎﺳ ﹰﺎ ﺩﻭ ﺭﻭﺵ ﻭﺟﻮﺩ ﺩﺍﺭﺩ‪.‬‬

‫‪ ‐۱ ‐۲‬ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻣﻴﺪﺍﻥ‬

‫ﻣﻴﺪﺍﻥ‪ ،‬ﺟﺮﻳﺎﻥ ﺁﺭﻣﻴﭽﺮ ﺛﺎﺑﺖ ﺍﺳﺖ ﻭ ﺗﻨﻬﺎ ﻓﻠﻮ ﺗﻐﻴﻴﺮ ﻣﻲ‬ ‫ﺘ‬ ‫ﻨ‬ ‫ﮐ‬
 ‫‪ ‐٣‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻛﻬﻦ ﺑﺮﺍﻱ ﺷﻨﺎﺳﺎﻳﻲ ﺳﻴﺴﺘﻢ ﻣﻮﺗﻮﺭ‬
‫ﻳﻚ ﺳﻴﺴﺘﻢ ﺭﺍ ﻣﻲ ﺗﻮﺍﻥ ﺑﺎ ﺭﻭﺵ ﮐﻬﻦ ﺑﻪ ﻃﻮﺭ ﺗﻘﺮﻳﺒﻲ ﺷﻨﺎﺳﺎﻳﻲ ﮐﺮﺩﻩ ﻭ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﺗﻘﺮﻳﺒﻲ ﺁﻧﺮﺍ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩ‪.‬‬
‫ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﺪﺳﺖ ﻣﯽ ﺁﻭﺭﻳﻢ‪.‬‬

‫ﺷﻜﻞ ‪ : 4‬ﺷﻨﺎﺳﺎﻳﻲ ﺳﻴﺴﺘﻢ ﺑﺎ اﺳﺘﻔﺎده از روش ﻛﻬﻦ‬

‫ﺑﺮﺍﻱ ﻣﻮﺗﻮﺭ ﻣﻮﺭﺩ ﺁﺯﻣﺎﻳﺶ‪ ،‬ﺳﺮﻋﺖ ﺧﺮﻭﺟﯽ ﻣﻮﺗﻮﺭ‪ ،‬ﺗﻮﺳﻂ ﻳﮏ ﺍﻧﮑﺪﺭ ‪ ٥٠٠‬ﭘﺎﻟﺲ ﺑﺮ ﺩﻭﺭ‪ ،‬ﺩﺭ ﮐﺎﻣﭙﻴﻮﺗﺮ ﺫﺧﻴﺮﻩ ﺷﺪ ﻭ‬
‫ﭘﺎﺳﺦ ﭘﻠﻪ ﺑﻪ ﻭﻟﺘﺎﮊ ‪ ٥/٨‬ﻭﻟﺖ ﺑﻪ ﺻﻮﺭﺕ ﺷﮑﻞ ‪ ٥‬ﺑﺪﺳﺖ ﺁﻣﺪ‪.‬‬

‫‪DC‬‬ ‫ﺷﻜﻞ ‪ :6‬ﺳﺨﺖ اﻓﺰار ﺷﻨﺎﺳﺎﻳﻲ ﺳﻴﺴﺘﻢ ﻣﻮﺗﻮر‬

‫ﺷﻜﻞ ‪ :5‬ﭘﺎﺳﺦ ﭘﻠﻪي ﻋﻤﻠﻲ ﻳﻚ ﻣﻮﺗﻮر ‪ DC‬ﺑﻪ وﻟﺘﺎژ ‪ 5/8‬وﻟﺖ‬
‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻛﻬﻦ‪ ،‬ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻣﻮﺗﻮﺭ ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪2640‬‬
‫= )‪G(s‬‬ ‫)‪(۵‬‬
‫‪1 + 0.65 * s‬‬
‫ﺑﺎ ﺭﺳﻢ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﯽ ﺑﺮﺍﻱ ﺗﺎﺑﻊ ﺗﺒﺪﻳﻞ ﻓﻮﻕ ﻣﻲ ﺗﻮﺍﻥ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﺁﻧﺮﺍ ﻣﺤﺎﺳﺒﻪ ﻧﻤﻮﺩ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﭘﺎﺳﺦ ﻓﺮﮐﺎﻧﺴﯽ‬
‫ﺳﻴﺴﺘﻢ ﺗﻘﺮﻳﺒﯽ ﻣﻮﺗﻮﺭ‪ ،‬ﺩﺭ ﺷﮑﻞ ‪ ،۷‬ﻣﺸﺨﺺ ﻣﻲ ﺷﻮﺩ ﮐﻪ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻣﻮﺗﻮﺭ ﺩﺭ ﺣﺪﻭﺩ ‪ ١/٥٣‬ﺭﺍﺩﻳﺎﻥ ﺑﺮ ﺛﺎﻧﻴﻪ ﺍﺳﺖ ﮐﻪ ﺑﺮﺍﻱ‬
‫ﺍﮐﺜﺮ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﮐﻨﺘﺮﻟﻲ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﺧﻴﻠﻲ ﮐﻤﻲ ﺍﺳﺖ‪.‬‬

‫‪DC‬‬ ‫ﺷﻜﻞ ‪ :7‬ﭘﺎﺳﺦ ﻓﺮﻛﺎﻧﺴﻲ ﺳﻴﺴﺘﻢ ﺗﻘﺮﻳﺒﻲ ﻣﻮﺗﻮر‬

 ‫‪ ‐۴‬ﺭﻭﺵ ‪ PWM‬ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪DC‬‬

‫ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻣﻮﺗﻮﺭﻫﺎﻱ ‪ ،DC‬ﺧﺼﻮﺻ ﹰﺎ ﺯﻣﺎﻧﻲ ﮐﻪ ﻳﮏ ﺑﺎﺭ ﺯﻳﺎﺩ ﺑﻪ ﺁﻧﻬﺎ ﻭﺻﻞ ﻣﻲ ﺷﻮﺩ‪ ،‬ﮐﻢ ﺍﺳﺖ ﻭ ﻣﻮﺗﻮﺭ ﻧﻤﻲﺗﻮﺍﻧﺪ ﺑﻪ‬
‫ﺭﺍﺣﺘﻲ ﺑﻪ ﺗﻐﻴﻴﺮﺍﺕ ﻭﺭﻭﺩﻱ ﭘﺎﺳﺦ ﺩﻫﺪ‪ .‬ﺍﮔﺮ ﻭﺭﻭﺩﻱ ﻓﺮﮐﺎﻧﺲ ﺑﺎﻻ ﺑﺎﺷﺪ؛ ﻣﻮﺗﻮﺭ ﻓﻘﻂ ﻣﻘﺪﺍﺭ ﻣﺘﻮﺳﻂ ﻭﺭﻭﺩﯼ ﺭﺍ ﺩﺭﮎ ﮐﺮﺩﻩ ﻭ ﺑﻪ‬
‫ﺁﻥ ﭘﺎﺳﺦ ﺧﻮﺍﻫﺪ ﺩﺍﺩ‪ .‬ﻓﺮﺽ ﻛﻨﻴﺪ ﻭﺭﻭﺩﻱ ﺑﻪ ﺷﻜﻞ ﺯﻳﺮ ﺑﻪ ﻣﻮﺗﻮﺭ ﺍﻋﻤﺎﻝ ﻣﻲ ﺷﻮﺩ‪.‬‬

‫ﺷﻜﻞ ‪ :8‬اﻋﻤﺎل ورودي ﭘﺎﻟﺲ ﺑﻪ ﻣﻮﺗﻮر‬

‫ﺑﺎ ﺑﺴﻂ ﺷﻜﻞ ﻣﻮﺝ ﻓﻮﻕ ﺑﻪ ﺳﺮﻱ ﻓﻮﺭﻳﻪ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪.‬‬

‫∞‬
‫‪τ‬‬ ‫‪2A‬‬
‫‪Vi(t)= a0 +‬‬ ‫∑‬
‫‪n =1‬‬
‫‪(an.cos(n.ω0.t) + bn.sin(n.ω0.t)) Æ a0=2.A.‬‬
‫‪T‬‬
‫=‪, an‬‬
‫‪n.π‬‬
‫‪. Sin(n.ω0.t) , bn=0 ,‬‬

‫‪τ‬‬ ‫) ‪sin( n.ω 0 .τ‬‬

‫‪2A‬‬ ‫∞‬
‫‪2π‬‬
‫‪Vi(t)= 2.A.‬‬
‫‪T‬‬ ‫‪π n=1‬‬
‫‪+‬‬ ‫(∑‬‫‪n‬‬
‫= ‪cos( n.ω 0 .t )) , ω0‬‬
‫‪T‬‬
‫)‪(٦‬‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺳﺮﻱ ﻓﻮﺭﻳﻪﯼ ﻭﺭﻭﺩﻱ ﻭ ﺷﮑﻞ ‪ ٩‬ﺍﮔﺮ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﺳﻴﺴﺘﻢ ﺧﻴﻠﻲ ﮐﻤﺘﺮ ﺍﺯ ﻓﺮﮐﺎﻧﺲ ﺍﻭﻝ ﺷﮑﻞ ﻣﻮﺝ ﻭﺭﻭﺩﻱ‬
‫ﺑﺎﺷﺪ‪ ،‬ﺳﻴﺴﺘﻢ ﻓﻘﻂ ﻣﻘﺪﺍﺭ ‪ dc‬ﺁﻧﺮﺍ ﭘﺬﻳﺮﻓﺘﻪ ﻭ ﺑﻪ ﻋﻨﻮﺍﻥ ﻳﮏ ﻓﻴﻠﺘﺮ ﺑﻘﻴﻪ ﻓﺮﮐﺎﻧﺴﻬﺎ ﺭﺍ ﺣﺬﻑ ﻣﻲﮐﻨﺪ‪.‬‬

‫ﺷﻜﻞ ‪ :10‬ﺗﻐﻴﻴﺮ ‪ duty cycle‬ﺷﻜﻞ ﻣﻮج ورودي‬ ‫ﺷﻜﻞ ‪ : 9‬ﺿﺮاﻳﺐ ﺳﺮي ﻓﻮرﻳﻪ ورودي و ﻣﺤﻞ آﻧﻬﺎ ﻧﺴﺒﺖ ﺑﻪ‬
‫ﭘﻬﻨﺎي ﺑﺎﻧﺪ ﺳﻴﺴﺘﻢ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺭﺍﺑﻄﻪ ‪ ،۷‬ﻣﻄﺎﺑﻖ ﺷﮑﻞ ‪ ،١٠‬ﺑﺎ ﺗﻐﻴﻴﺮ ﻧﺴﺒﺖ ‪ τ/T‬ﻣﻲﺗﻮﺍﻥ ﻣﻘﺪﺍﺭ ‪ DC‬ﺳﻴﮕﻨﺎﻝ ﺭﺍ ﺗﻐﻴﻴﺮ ﺩﺍﺩ ﻭ ﺑﺪﻳﻦ ﺗﺮﺗﻴﺐ‬
‫ﺳﺮﻋﺖ ﺁﻧﺮﺍ ﮐﻨﺘﺮﻝ ﻧﻤﻮﺩ‪.‬‬
‫‪τ‬‬
‫‪T‬‬
‫‪1‬‬
‫= >)‪a0 = <Vi(t‬‬ ‫∫‬
‫‪T 0‬‬
‫)‪Vi(t )dt ∝ ( = duty cycle‬‬
‫‪T‬‬
‫)‪(٧‬‬

‫‪τ‬‬ ‫‪τ1‬‬
‫)ﺳﺮﻋﺖ ﺑﺮﺍﯼ ﻭﺭﻭﺩﯼ ‪ > ۱‬ﺳﺮﻋﺖ ﺑﺮﺍﯼ ﻭﺭﻭﺩﯼ ‪( <Vi2(t)> = 2 ) > ( <Vi1(t)> = ) Æ (۲‬‬
‫‪T‬‬ ‫‪T‬‬

‫‪ ‐٥‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻣﺪﺍﺭ ﺑﺴﺘﻪ‬

‫ﺍﺯ ﻣﻌﺎﻳﺐ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻣﺪﺍﺭﺑﺎﺯ‪ ،‬ﺣﺴﺎﺳﻴﺖ ﺑﺎﻻ ﺑﻪ ﺗﻐﻴﻴﺮ ﭘﺎﺭﺍﻣﺘﺮﻫﺎ‪ ،‬ﻧﻴﺎﺯ ﺑﻪ ﺷﻨﺎﺳﺎﻳﻲ ﺩﻗﻴﻖ ﺳﻴﺴﺘﻢ‪ ،‬ﺗﺎﺛﻴﺮ ﭘﺬﻳﺮﻱ ﺍﺯ‬
‫ﻭﻳﮋﮔﻲ ﻫﺎﻱ ﻏﻴﺮ ﺧﻄﻲ ﺳﻴﺴﺘﻢ‪ ،‬ﺍﺛﺮ ﻣﺴﺘﻘﻴﻢ ﺍﻏﺘﺸﺎﺵ ﺑﺮ ﺳﻴﺴﺘﻢ‪ ،‬ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﻣﻌﻤﻮﻻ ﮐﻢ ﻭ ﻣﺸﮑﻞ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﺭﺍ ﻣﻲﺗﻮﺍﻥ‬
‫ﻧﺎﻡ ﺑﺮﺩ‪ .‬ﺑﺮﺍﯼ ﺣﻞ ﺍﻳﻦ ﻣﺸﮑﻼﺕ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﮐﻨﺘﺮﻝ ﻣﺪﺍﺭﺑﺴﺘﻪ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺷﻜﻞ ‪ ١٢‬ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺭﺍ‬
‫ﻧﺸﺎﻥ ﻣﻲﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ ‪ :11‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮل ﻣﺪارﺑﺴﺘﻪ‬

‫)‪Output = (Input - Output).K(s).P(s‬‬

‫ﻼ ﮐﻨﺘﺮﻝ ﺩﻭﺭ ﻳﮏ ﻣﻮﺗﻮﺭ‪ DC‬ﺑﺎ ﻳﮏ ﺳﻴﺴﺘﻢ ﻓﻴﺪﺑﮏ ﺩﺍﺭ ﺭﺍ ﻣﻄﺎﺑﻖ ﺷﮑﻞ ‪ ١٢‬ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪.‬‬
‫ﻣﺜ ﹰ‬

‫‪DC‬‬ ‫ﺷﻜﻞ ‪ :12‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮل ﻣﺪارﺑﺴﺘﻪ ﺑﺮاي ﻳﻚ ﻣﻮﺗﻮر‬

‫ﻼ ﺫﮐﺮ ﺷﺪ؛ ﺭﻓﻊ ﻣﻲﮐﻨﺪ‪ .‬ﺩﺭ ﮐﻨﺘﺮﻝ‬

‫ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻣﺪﺍﺭ ﺑﺴﺘﻪ‪ ،‬ﺗﻘﺮﻳﺒ ﹰﺎ ﻫﻤﻪ ﻣﻌﺎﻳﺐ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻣﺪﺍﺭ ﺑﺎﺯ ﺭﺍ ﮐﻪ ﻗﺒ ﹰ‬
‫ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪ ،DC‬ﺍﺛﺮ ﻧﺎﻣﻄﻠﻮﺏ ﺍﻏﺘﺸﺎﺵ ﻭ ﺩﻳﻨﺎﻣﻴﮏ ﻣﺪﻝ ﻧﺸﺪﻩﻱ ﺳﻴﺴﺘﻢ ﻭ ﭘﻬﻨﺎﻱ ﺑﺎﻧﺪ ﮐﻢ‪ ،‬ﻣﻬﻤﺘﺮﻳﻦ ﻣﺸﮑﻼﺗﻲ ﻫﺴﺘﻨﺪ ﮐﻪ‬
‫ﺳﻴﺴﺘﻢ ﻓﻴﺪﺑﮏ ﺩﺍﺭ ﻭ ﺧﺼﻮﺻﺎ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ ،PID‬ﺑﻪ ﺧﻮﺑﻲ ﺍﻳﻦ ﻣﺸﮑﻼﺕ ﺭﺍ ﺣﻞ ﻣﻲﮐﻨﺪ‪ .‬ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ ،PID‬ﺑﻪ ﺻﻮﺭﺕ‬
‫ﺩﻳﺠﻴﺘﺎﻝ ﺩﺭ ﺩﺍﺧﻞ ﻳﮏ ﻣﻴﮑﺮﻭﮐﻨﺘﺮﻟﺮ ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﻣﻲﺷﻮﺩ‪.‬‬

‫‪DC‬‬ ‫ﺷﻜﻞ ‪ :13‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮل ﻫﻮﺷﻤﻨﺪ ﻣﻮﺗﻮرِ‬

‫‪ ‐٦‬ﮐﻨﺘﺮﻝ ﻫﻮﺷﻤﻨﺪ ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﺩﻳﺠﻴﺘﺎﻝ‬

‫ﺷﮑﻞ ‪ ١٤‬ﺑﻠﻮﮎ ﺩﻳﺎﮔﺮﺍﻡ ﻳﮏ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻟﻲ ﻫﻤﺮﺍﻩ ﺑﺎ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﺭﺍ ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﺪ‪.‬‬

‫ﻣﻮﺗﻮر ‪DC‬‬ ‫ﺷﻜﻞ ‪ :14‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮل ‪ PID‬ﻳﻚ‬

‫ﺑﺮﺍﻱ ﺁﻧﮑﻪ ﺳﻴﺴﺘﻢ ﻣﺪﺍﺭ ﺑﺎﺯ ﻭ ﺳﻴﺴﺘﻢ ﻣﺪﺍﺭ ﺑﺴﺘﻪ ﺑﺘﻮﺍﻧﻨﺪ ﺍﺯ ﻧﻈﺮ ﻋﻤﻠﮑﺮﺩ ﺑﻬﻴﻨﻪ ﺑﺎ ﻫﻢ ﻣﻘﺎﻳﺴﻪ ﺷﻮﻧﺪ‪ ،‬ﺑﺎﻳﺪ ﻓﺎﮐﺘﻮﺭﻫﺎﻳﻲ‬
‫ﺗﻌﺮﻳﻒ ﺷﻮﻧﺪ‪ .‬ﻣﻬﻤﺘﺮﻳﻦ ﻓﺎﮐﺘﻮﺭﻫﺎﻳﻲ ﮐﻪ ﻣﯽ ﺗﻮﺍﻧﻨﺪ ﺩﺭ ﻣﻘﺎﻳﺴﻪﻱ ﺧﺮﻭﺟﻲ ﺩﻭ ﺳﻴﺴﺘﻢ ﻣﻔﻴﺪ ﺑﺎﺷﻨﺪ ﻋﺒﺎﺭﺗﻨﺪ ﺍﺯ‪:‬‬
‫‪ ‐١‬ﺯﻣﺎﻥ ﺻﻌﻮﺩ )‪(Rise time‬‬
‫‪ ‐۲‬ﻓﺮﺍﺟﻬﺶ)‪(Over shout‬‬
 ‫‪ ‐۳‬ﺯﻣﺎﻥ ﻧﺸﺴﺖ )‪(Settling time‬‬
‫‪ ‐۴‬ﺯﻣﺎﻥ ﺭﺳﻴﺪﻥ ﺑﻪ ﺍﻭﻟﻴﻦ ﭘﻴﮏ )‪(Peak time‬‬
‫ﺑﺮﺍﻱ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﺭﺑﺎﺗﻴﮏ‪ ،‬ﺍﺯ ﻣﻴﺎﻥ ﭼﻨﺪ ﭘﺎﺭﺍﻣﺘﺮ ﻓﻮﻕ‪ ،‬ﺩﻭ ﭘﺎﺭﺍﻣﺘﺮ ﺑﻴﺸﺘﺮﻳﻦ ﺩﺭﺟﻪ ﺍﻫﻤﻴﺖ ﺭﺍ ﺩﺍﺭﻧﺪ‪ .‬ﺩﺭ ﻣﺮﺗﺒﻪ ﺍﻭﻝ‪ ،‬ﺯﻣﺎﻥ‬
‫ﻧﺸﺴﺖ ﻣﻬﻢ ﺍﺳﺖ ﻭ ﺗﺎ ﺣﺪ ﻣﻤﮑﻦ ﺑﺎﻳﺪ ﮐﻢ ﺷﻮﺩ ﺗﺎ ﺭﺑﺎﺕ ﺩﺭ ﮐﻤﺘﺮﻳﻦ ﺯﻣﺎﻥ‪ ،‬ﺩﺭ ﺳﺮﻋﺖ ﻣﺎﻧﺪﮔﺎﺭ ﻗﺮﺍﺭ ﮔﻴﺮﺩ ﻭ ﻫﻤﭽﻨﻴﻦ ﺑﺘﻮﺍﻧﺪ‬
‫ﺩﺭ ﮐﻤﺘﺮﻳﻦ ﺯﻣﺎﻥ ﺑﻪ ﺗﻐﻴﻴﺮ ﺟﻬﺖﻫﺎﻱ ﺍﺣﺘﻤﺎﻟﻲ ﭘﺎﺳﺦ ﺩﻫﺪ‪ .‬ﺩﺭ ﻣﺮﺣﻠﻪ ﺩﻭﻡ ﺍﻫﻤﻴﺖ ﻧﻴﺰ ﻓﺮﺍﺟﻬﺶ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ .‬ﻓﺮﺍﺟﻬﺶ ﻧﺒﺎﻳﺪ‬
‫ﺑﻪ ﺍﻧﺪﺍﺯﻩﺍﻱ ﺯﻳﺎﺩ ﺑﺎﺷﺪ ﮐﻪ ﺭﺑﺎﺕ ﺭﺍ ﺍﺯ ﮐﻨﺘﺮﻝ ﺧﺎﺭﺝ ﮐﻨﺪ‪ .‬ﺍﻣﺎ ﺩﺭ ﮐﺎﺭﺑﺮﺩﻫﺎﻱ ﺭﺑﺎﺗﻴﮏ‪ ،‬ﻓﺮﺍﺟﻬﺶ ﺭﺍ ﺗﺎ ﺍﻧﺪﺍﺯﻩﺍﻱ ﮐﻪ ﻣﻮﺟﺐ‬
‫ﮐﺎﻫﺶ ﺯﻣﺎﻥ ﻧﺸﺴﺖ ﺷﻮﺩ؛ ﺯﻳﺎﺩ ﻣﻲ ﮐﻨﻴﻢ‪.‬‬

‫‪ ‐۱ ‐۶‬ﻣﺰﻳﺖﻫﺎﯼ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻟﻲ ‪ PID‬ﻧﺴﺒﺖ ﺑﻪ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻟﯽ ﻣﺪﺍﺭﺑﺴﺘﻪ ﺳﺎﺩﻩ‬

‫‪ ‐١‬ﻭﺟﻮﺩ ﺳﻪ ﺩﺭﺟﻪ ﺁﺯﺍﺩﻱ‪ ،‬ﺩﺭ ﺳﻴﺴﺘﻢ ‪ PID‬ﻣﻮﺟﺐ ﻣﻲ ﺷﻮﺩ ﮐﻪ ﺑﺎ ﺍﻧﺘﺨﺎﺏ ﺍﻳﻦ ﺿﺮﺍﻳﺐ ﻭ ﺗﻐﻴﻴﺮ ﺁﻧﻬﺎ ﺑﺎ ﺁﺯﺍﺩﻱ ﺑﻴﺸﺘﺮ‬
‫ﺑﻪ ﻣﺸﺨﺼﻪ ﺑﻬﺘﺮﻱ ﺑﺮﺳﻴﻢ‪ .‬ﺩﺭ ﺣﺎﻟﻲ ﮐﻪ ﺩﺭ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﺳﺎﺩﻩ ﺍﻳﻦ ﺍﻣﮑﺎﻥ ﻭﺟﻮﺩ ﻧﺪﺍﺭﺩ‪.‬‬
‫‪ ‐٢‬ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﺳﺎﺩﻩ‪ ،‬ﮔﻴﻦ ﺳﻴﺴﺘﻢ ﺭﺍ ﺗﻨﻬﺎ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﻘﺎﺩﻳﺮ ﺟﺎﺭﻱ ﻣﺘﻐﻴﺮﻫﺎﻱ ﺳﻴﺴﺘﻢ ﺗﻐﻴﻴﺮ ﻣﻲ ﺩﻫﺪ‪ .‬ﺍﻳﻦ ﺩﺭ‬
‫ﺣﺎﻟﻲ ﺍﺳﺖ ﮐﻪ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﻫﻢ ﻣﻘﺎﺩﻳﺮ ﺟﺎﺭﻱ ﺭﺍ ﺩﺧﺎﻟﺖ ﻣﻲ ﺩﻫﺪ ﻭ ﻫﻢ ﺍﺯ ﻣﻘﺎﺩﻳﺮ ﮔﺬﺷﺘﻪ ﺳﻴﺴﺘﻢ‬
‫) ‪ (P_term ,I_term‬ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﮐﻨﺪ ﻭ ﺑﻨﺎﺑﺮﺍﻳﻦ‪ ،‬ﺩﻳﺪ ﺑﻬﺘﺮﯼ ﺑﻪ ﺳﻴﺴﺘﻢ ﺩﺍﺭﺩ ﻭ ﺑﻬﺘﺮ ﻣﯽﺗﻮﺍﻧﺪ ﺁﻥ ﺭﺍ ﮐﻨﺘﺮﻝ ﮐﻨﺪ‪.‬‬

‫‪ ‐۲‐۶‬ﻣﺘﻐﻴﺮ ﻫﺎﻱ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪PID‬‬

‫‪ ‐۱‐۲‐۶‬ﺟﻤﻠﻪ ﺧﻄﺎ )‪( Error _term‬‬

‫ﺟﻤﻠﻪ ﺧﻄﺎ ﺑﺎ ﮐﻢ ﮐﺮﺩﻥ ﻣﻘﺪﺍﺭ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ )ﺳﺮﻋﺖ ﻣﻮﺗﻮﺭ( ﺍﺯ ﺳﺮﻋﺖ ﻣﺮﺟﻊ )‪ ،(set speed‬ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬
‫‪Error_term =set speed – motor speed‬‬
‫ﻻﺯﻡ ﺑﻪ ﺫﮐﺮ ﺍﺳﺖ ﮐﻪ ﺑﺮﺍﻱ ﺍﻧﺠﺎﻡ ﭘﺮﺩﺍﺯﺵ ﺭﻭﻱ ‪ ،Error_term‬ﻧﺮﻣﺎﻟﻴﺰﺍﺳﻴﻮﻥ ﺑﻴﻦ ﺳﺮﻋﺖ ﻣﻄﻠﻮﺏ ﻭ ﺧﺮﻭﺟﻲ ﺍﻧﮑﺪﺭ‬
‫ﺿﺮﻭﺭﯼ ﺍﺳﺖ ﻭ ﺑﺎﻳﺪ ﺭﺍﺑﻄﻪ ﺑﻴﻦ ﺳﺮﻋﺖ ﻣﻄﻠﻮﺏ ﻭ ﺧﺮﻭﺟﻲ ﺍﻧﮑﺪﺭ ﻣﺸﺨﺺ ﺷﻮﺩ‪.‬‬

‫‪ ‐۲‐۲‐۶‬ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ )‪(Proportional_term‬‬

‫ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ ﺍﺯ ﺿﺮﺏ ﺿﺮﻳﺐ ﺗﻨﺎﺳﺒﻲ ﺩﺭ ﺟﻤﻠﻪ ﺧﻄﺎ ﺑﻪ ﺩﺳﺖ ﻣﻲ ﺁﻳﺪ‪.‬‬

‫‪P_term = Error_term * Kp‬‬
‫ﺑﺮﺍﻱ ﭘﺎﺳﺦ ﺩﺍﺩﻥ ﺑﻪ ﺍﻳﻨﮑﻪ ﭼﮕﻮﻧﻪ ﻭﺟﻮﺩ ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﯽ ﺑﻪ ﺑﻬﺒﻮﺩ ﭘﺎﺳﺦ ﮐﻤﮏ ﻣﯽ ﮐﻨﺪ ﺷﮑﻞ ‪ ١٥‬ﺭﺍ ﺩﺭ ﻧﻈﺮ ﻣﻲﮔﻴﺮﻳﻢ‪.‬‬
‫ﺩﺭ ﺍﻳﻦ ﺗﺤﻠﻴﻞ ﻓﺮﺽ ﻣﻲ ﺷﻮﺩ ﮐﻪ ﺟﻤﻼﺕ ﺩﻳﮕﺮ ﺻﻔﺮ ﻫﺴﺘﻨﺪ )‪ .(Kd = 0, Ki=0‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﮑﻞ ﺩﺭ ﺣﺎﻟﺖ ﺑﺪﻭﻥ ﮐﻨﺘﺮﻝ‬
‫ﮐﻨﻨﺪﻩ‪ ،‬ﺳﻴﺴﺘﻢ ﺗﺎ ﺭﺳﻴﺪﻥ ﺑﻪ ﺳﺮﻋﺖ ﻣﻄﻠﻮﺏ‪ ،‬ﺑﻪ ﺁﺭﺍﻣﯽ ﺳﺮﻋﺖ ﻣﻮﺗﻮﺭ ﺭﺍ ﺍﻓﺰﺍﻳﺶ ﻣﻲﺩﻫﺪ‪ ،‬ﺍﻣﺎ ﻭﺟﻮﺩ ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ ﻣﻮﺟﺐ‬
‫ﻣﻲ ﺷﻮﺩ ﮐﻪ ﺩﺭ ﻫﺮ ﺳﻴﮑﻞ ﻣﺤﺎﺳﺒﺎﺗﻲ‪ ،‬ﺳﺮﻋﺖ ﻧﻬﺎﻳﻲ ﺑﻪ ﺻﻮﺭﺕ ﻣﺠﺎﺯﻱ ﺗﻐﻴﻴﺮ ﮐﻨﺪ ﻭ ﺳﻴﺴﺘﻢ ﺩﺭ ﺯﻣﺎﻥ ﮐﻤﺘﺮﯼ ﺑﻪ ﺳﺮﻋﺖ‬
‫ﻣﻄﻠﻮﺏ ﻧﺰﺩﻳﮏ ﺷﻮﺩ‪ .‬ﺍﻣﺎ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﮑﻞ ﻣﺸﺨﺺ ﺍﺳﺖ ﮐﻪ ﻭﺟﻮﺩ ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ ﺑﻪ ﺗﻨﻬﺎﻳﻲ ﺑﺮﺍﻱ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﮐﺎﻓﻲ‬
‫ﻧﻴﺴﺖ‪ ،‬ﺯﻳﺮﺍ ﺗﻐﻴﻴﺮﺍﺕ ﺧﻄﺎ ﺭﺍ ﻭﺍﺭﺩ ﻣﺤﺎﺳﺒﺎﺕ ﻧﻤﯽ ﮐﻨﺪ‪ .‬ﺍﻳﻦ ﻣﺸﮑﻞ ﺭﺍ‪ ،‬ﻭﺟﻮﺩ ﺟﻤﻠﻪ ﻣﺸﺘﻘﯽ ﺭﻓﻊ ﻣﯽﮐﻨﺪ‪.‬‬

‫‪ ‐۳‐۲‐۶‬ﺟﻤﻠﻪ ﻣﺸﺘﻘﻲ )‪( Derivative_term‬‬

‫ﺟﻤﻠﻪ ﻣﺸﺘﻘﻲ‪ ،‬ﺍﺯ ﺿﺮﺏ ﮐﺮﺩﻥ ﺿﺮﻳﺐ ﻣﺸﺘﻘﻲ ﺩﺭ ﺍﺧﺘﻼﻑ ﻣﻴﺎﻥ ﺧﻄﺎﻱ ﺟﺎﺭﻱ ﻭ ﺧﻄﺎﻱ ﻗﺒﻠﻲ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪ .‬ﺑﺎ‬
‫ﺗﻮﺟﻪ ﺑﻪ ﺷﮑﻞ ‪ ،١٦‬ﺩﺭ ﺟﺎﻫﺎﻳﻲ ﮐﻪ ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ ﮐﺎﺭﺍﻳﻲ ﺧﻮﺑﻲ ﻧﺪﺍﺭﺩ‪ ،‬ﻭﺟﻮﺩ ﺟﻤﻠﻪ ﻣﺸﺘﻘﻲ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﮐﻪ ﺩﺭ ﺻﻮﺭﺕ‬
‫ﻼ ﺯﻣﺎﻧﻲ ﮐﻪ ﻳﮏ ﻓﺮﺍﺟﻬﺶ‬ ‫ﻭﺟﻮﺩ ﺍﺧﺘﻼﻓﺎﺕ ﺯﻳﺎﺩ ﺑﻴﻦ ﺧﻄﺎﻫﺎ ﻭ ﻋﻤﻠﮑﺮﺩ ﻧﺎﻣﻄﻠﻮﺏ ﺳﻴﺴﺘﻢ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﻻﺯﻡ ﺍﻳﺠﺎﺩ ﺷﻮﺩ ﻭ ﻣﺜ ﹰ‬
‫ﺍﻳﺠﺎﺩ ﻣﻲﺷﻮﺩ‪ ،‬ﺟﻤﻠﻪ ﻣﺸﺘﻘﻲ ﺍﺧﺘﻼﻑ ﺯﻳﺎﺩ ﺑﻴﻦ ﺧﻄﺎﻫﺎ ﺭﺍ ﺗﺸﺨﻴﺺ ﺩﺍﺩﻩ ﻭ ﺳﺮﻳﻌ ﹰﺎ ﺧﺮﻭﺟﻲ ﺳﻴﺴﺘﻢ ﺭﺍ ﺑﻪ ﺳﻤﺖ ‪set point‬‬
‫ﻫﺪﺍﻳﺖ ﻣﻲﮐﻨﺪ‪.‬‬
‫)‪D_term = Kd . (E - E_state‬‬

‫ﺷﻜﻞ ‪ :16‬اﺛﺮ ﺟﻤﻠﻪ ﻣﺸﺘﻘﻲ ﺑﺮ ﺧﺮوﺟﻲ‬ ‫ﺷﻜﻞ ‪ :15‬اﺛﺮ ﺟﻤﻠﻪ ﺗﻨﺎﺳﺒﻲ ﺑﺮ ﺧﺮوﺟﻲ‬

‫‪ ‐ ۴ ‐۲‐۶‬ﺟﻤﻠﻪ ﺍﻧﺘﮕﺮﺍﻟﻲ )‪(I_term‬‬

‫ﺟﻤﻠﻪ ﺍﻧﺘﮕﺮﺍﻟﻲ‪ ،‬ﺍﺯ ﺿﺮﺏ ﮐﺮﺩﻥ ﺿﺮﻳﺐ ﺍﻧﺘﮕﺮﺍﻟﯽ ﺩﺭ ﺣﺎﺻﻞ ﺟﻤﻊ ﮐﻠﻴﻪ ﺧﻄﺎﻫﺎ ﺗﺎ ﻟﺤﻈﻪ ﺟﺎﺭﻱ ﺑﻪ ﺩﺳﺖ ﻣﻲ ﺁﻳﺪ‪ .‬ﺟﻤﻠﻪ‬
‫ﺍﻧﺘﮕﺮﺍﻟﻲ ﺩﺭ ﺗﻤﺎﻡ ﭘﺮﻭﺳﻪ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻭ ﺑﺮ ﺧﻼﻑ ﺗﺮﻡ ﻣﺸﺘﻘﯽ ﻭ ﺗﻨﺎﺳﺒﯽ ﭘﺲ ﺍﺯ ﺳﺖ ﺷﺪﻥ ﺧﺮﻭﺟﻲ ﺩﺭ ﺳﺮﻋﺖ ﻣﻄﻠﻮﺏ‪ ،‬ﺍﺯ‬
‫ﺑﻴﻦ ﻧﻤﻲﺭﻭﺩ‪ .‬ﻣﻄﺎﺑﻖ ﺷﮑﻞ ‪ ،١٧‬ﺍﻳﻦ ﺟﻤﻠﻪ ﭘﺲ ﺍﺯ ﺍﺯ ﺑﻴﻦ ﺭﻓﺘﻦ ﺟﻤﻼﺕ ﻧﺴﺒﯽ ﻭ ﻣﺸﺘﻘﯽ‪ ،‬ﻋﻤﻞ ﺍﺻﻠﻲ ﺧﻮﺩ ﺭﺍ ﮐﻪ ﻫﻤﺎﻥ‬
‫ﺳﺖ ﮐﺮﺩﻥ ﺧﺮﻭﺟﻲ ﺭﻭﻱ ﻣﻘﺪﺍﺭ ﻣﻮﺭﺩ ﻧﻈﺮ ﺍﺳﺖ‪ ،‬ﺍﻧﺠﺎﻡ ﻣﻲ ﺩﻫﺪ‪.‬‬

‫ﺷﻜﻞ ‪ :17‬اﺛﺮ ﺟﻤﻠﻪ اﻧﺘﮕﺮاﻟﻲ ﺑﺮ ﺧﺮوﺟﻲ‬

‫‪ ‐٣‐٦‬ﻣﺤﺎﺳﺒﺎﺕ ﺿﺮﺍﻳﺐ ‪ Kd ,Kp ,Ki‬ﺑﻪ ﺻﻮﺭﺕ ﺑﻬﻴﻨﻪ‬

‫ﺑﺮﺍﻱ ﻣﺤﺎﺳﺒﻪ ﺿﺮﺍﻳﺐ ‪ Kd ,Kp ,Ki‬ﺭﻭﺷﻬﺎﻱ ﻣﺘﻌﺪﺩﻱ )ﻣﺜﻞ ﺗﺒﺪﻳﻞ ﻻﭘﻼﺱ ﻭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﻭ‪ (..‬ﺑﻪ ﺻﻮﺭﺕ ﺗﺤﻠﻴﻠﻲ‬
‫ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ‪ ،‬ﺍﻣﺎ ﻣﺤﺪﻭﺩ ﺑﻮﺩﻥ ﺍﻳﻦ ﺭﻭﺷﻬﺎﻱ ﺗﺤﻠﻴﻞ ﺑﻪ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺧﻄﻲ ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﮑﻪ ﺳﻴﺴﺘﻢ ﻣﻮﺗﻮﺭ‪ ،‬ﮐﺎﻣﻼ ﺧﻄﻲ‬
‫ﻧﻴﺴﺖ ﻭ ﻫﻤﭽﻨﻴﻦ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺩﻳﻨﺎﻣﻴﮏ ﻣﺪﻝ ﻧﺸﺪﻩﻱ ﮐﺎﻣﻞ ﻣﻮﺗﻮﺭ ‪ ،DC‬ﺍﻳﻦ ﺭﻭﺵﻫﺎ ﻋﻤﻠﮑﺮﺩ ﺧﻮﺩ ﺭﺍ ﺍﺯ ﺩﺳﺖ ﻣﻲﺩﻫﻨﺪ‪.‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺎﻳﺪ ﺍﺯ ﺭﻭﺵ ﺩﻳﮕﺮﻱ ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﻮﺩ‪ .‬ﺑﺪﻳﻦ ﻣﻨﻈﻮﺭ ﺑﺮﺍﻱ ‪ Kd ,Kp ,Ki‬ﻫﺎﻱ ﻣﺨﺘﻠﻒ ﭘﺎﺳﺦ ﭘﻠﻪ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺷﺪﻩ‬
‫ﻣﻮﺗﻮﺭ ﺭﺍ ﺑﻪ ﺩﺳﺖ ﺁﻭﺭﺩﻩ ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻣﺸﺨﺼﺎﺕ ﻣﻄﻠﻮﺏ ﺿﺮﺍﻳﺐ ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻣﻲﮐﻨﻴﻢ‪.‬‬
‫‪Error_term=Set_speed –Encoder_count‬‬
 ‫‪P_term=P_Gain*Error_term‬‬
‫)‪D_term=D_Gain*(Error_term-D_state‬‬
‫‪D_state=Error_term‬‬
‫‪I_state=I_state+Error_term‬‬
‫‪PWM set=PWM_set+P_term+I_term+D_term‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺁﺯﻣﺎﻳﺸﺎﺕ ﻓﻮﻕ‪ ،‬ﺑﺮﺍﯼ ﻣﻮﺗﻮﺭ ﻣﻮﺭﺩ ﺁﺯﻣﺎﻳﺶ ﺿﺮﺍﻳﺐ ﺑﻬﻴﻨﻪ ﺑﻪ ﺻﻮﺭﺕ ‪ ki=0.04 ,Kd=3 ,Kp=2.5‬ﺍﻧﺘﺨﺎﺏ‬
‫ﻣﻲﺷﻮﻧﺪ ﻭ ﺳﻴﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻧﻬﺎﻳﻲ ﺑﻪ ﺻﻮﺭﺕ ﺷﮑﻞ ‪ ١٨‬ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬

‫ﺷﻜﻞ ‪ :18‬ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮل ﻧﻬﺎﻳﻲ‬

‫‪ ‐۷‬ﻧﺘﻴﺠﻪ ﮔﻴﺮﯼ‬

‫ﻫﺪﻑ ﺍﺻﻠﯽ ﺍﺯ ﺍﻳﻦ ﻣﻘﺎﻟﻪ‪ ،‬ﺍﺭﺍﺋﻪ ﻳﮏ ﺭﻭﺵ ﺳﺮﻳﻊ ﺑﺮﺍﯼ ﮐﻨﺘﺮﻝ ﺩﻭﺭ ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﻮﺩ ﮐﻪ ﮐﺎﺭﺍﻳﯽ ﺁﻥ ﺑﺎ ﺳﺎﺧﺘﻦ ﺍﻳﻦ ﮐﻨﺘﺮﻝ‬
‫ﮐﻨﻨﺪﻩ ﺑﺮﺍﯼ ﻣﻮﺗﻮﺭ ‪ DC‬ﺭﺑﺎﺕ ﻓﻮﺗﺒﺎﻟﻴﺴﺖ ﺁﺯﻣﻮﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻋﻴﺐ ﺍﺻﻠﯽ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺛﺎﺑﺖ ﻧﺒﻮﺩﻥ ﺿﺮﺍﻳﺐ ﻣﺤﺎﺳﺒﻪ ﺷﺪﻩ‬
‫ﺑﺮﺍﯼ ﻣﻮﺗﻮﺭﻫﺎﯼ ﻣﺨﺘﻠﻒ ﺍﺳﺖ‪ .‬ﺑﺎ ﮔﺮﻓﺘﻦ ﻓﻴﺪﺑﮏﻫﺎﯼ ﭘﻴﭽﻴﺪﻩﺗﺮ ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵﻫﺎﯼ ﻫﻮﺷﻤﻨﺪﺗﺮ‪ ،‬ﻣﯽﺗﻮﺍﻥ ﺳﻴﺴﺘﻢ ﺭﺍ‬
‫ﺑﻪ ﮔﻮﻧﻪﺍﯼ ﻃﺮﺍﺣﯽ ﻧﻤﻮﺩ ﮐﻪ ﺧﻮﺩ ﺳﻴﺴﺘﻢ ﺑﺘﻮﺍﻧﺪ ﺿﺮﺍﻳﺐ ﻣﻨﺎﺳﺐ ﺭﺍ ﺑﺮﺍﯼ ﻋﻤﻠﮑﺮﺩ ﺑﻬﺘﺮ ﺑﻴﺎﺑﺪ‪ .‬ﺍﻣﺎ ﺑﺮﺍﯼ ﮐﺎﺭﺑﺮﺩﻫﺎﯼ ﺭﺑﺎﺗﻴﮏ‬
‫ﺍﻳﻦ ﮐﺎﺭ ﺑﻪ ﻋﻠﺖ ﺍﻓﺰﻭﺩﻥ ﺑﺮ ﭘﻴﭽﻴﺪﮔﯽ ﺳﻴﺴﺘﻢ ﺗﻮﺻﻴﻪ ﻧﻤﯽﺷﻮﺩ‪.‬‬

‫‪ ‐٨‬ﻣﺮﺍﺟﻊ‬
‫‪[1]R.Bickle,"DC‬‬ ‫‪motor‬‬ ‫‪control‬‬ ‫‪systems‬‬ ‫‪for‬‬ ‫‪robot‬‬ ‫‪applications",2003,‬‬
‫‪http://www.dprg.org/tutorials/2003-10a/motorcontrol.pdf‬‬
‫‪[2]E. Neary,"Mixed-Signal Control Circuits Use Microcontroller for Flexibility in‬‬
‫‪Implementing PID Algorithms", http://www.analog.com/library/analogDialogue/archives/38-‬‬
‫‪01/pid.pdf‬‬
‫‪[3]A. Kilian "Quick and Easy Motor Control",CIRCUIT CELLAR,Issue 120 July 2000‬‬