‫ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬

‫ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺑﺮ ﭘﺎﻳﻪ ﺭﻭﺵ ﻛﻨﺘﺮﻝ ﻣﺪ‬

‫ﻟﻐﺰﺷﻲ ﺗﻄﺒﻴﻘﻲ‬
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‫ﺍﻣﻴﺮﺣﺴﻴﻦ ﺗﻘﻮﻱ‪ ،*1‬ﺍﺣﻤﺪ ﺳﻠﻴﻤﺎﻧﻲ‪ 2‬ﻭ ‪...‬‬
‫‪-1‬ﺩﺍﻧﺸﻜﺪﻩ ﻣﻬﻨﺪﺳﻲ ﻣﻜﺎﻧﻴﻚ‪ ،‬ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺷﺮﻳﻒ‬
‫‪ -2‬ﺩﺍﻧﺸﻜﺪﻩ ﻣﻬﻨﺪﺳﻲ ﻫﻮﺍﻓﻀﺎ‪ ،‬ﺩﺍﻧﺸﮕﺎﻩ ﺷﻬﻴﺪ ﺑﻬﺸﺘﻲ‬
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‫*ﺗﻬﺮﺍﻥ‪ ،‬ﺥ ﺁﺯﺍﺩﻱ‪ ،‬ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﻲ ﺷﺮﻳﻒ‬
‫‪Amir.tagahvai@yahoo.com‬‬

‫ﺍﺧﻴﺮﺍ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺟﺪﻳﺪﻱ ﺑﻪ ﻧﺎﻡ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﭘﻴﺸﻨﻬﺎﺩ ﺷﺪﻩ‬
‫ﺍﺳﺖ‪ .‬ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ ﻧﺴﺒﺖ ﺑﻪ ﺩﻳﮕﺮ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺫﺧﻴﺮﻩﺳﺎﺯ ﻣﻮﻣﻨﺘﻮﻡ ﻣﺜﻞ ﭼﺮﺥﻫﺎﻱ ﻋﻜﺲﺍﻟﻌﻤﻠﻲ ﻭ ‪CMG‬ﻫﺎ‪،‬‬
‫ﺩﺍﺭﺍﻱ ﻧﺴﺒﺖ ﮔﺸﺘﺎﻭﺭ ﺍﻋﻤﺎﻟﻲ ﺑﻪ ﻭﺯﻥ ﺑﺎﻻﺗﺮﻱ‪ ،‬ﺟﺎﻧﻤﺎﻳﻲ ﻭ ﻣﻮﻧﺘﺎژ ﺭﺍﺣﺖ ﺗﺮ‪ ،‬ﺍﺭﺗﻌﺎﺵ ﺍﻧﺘﻘﺎﻟﻲ ﻛﻤﺘﺮ ﻭ ‪ ...‬ﻣﻲﺑﺎﺷﻨﺪ‪.‬‬
‫ﺍﻣﺎ ﻳﻜﻲ ﺍﺯ ﻣﺸﻜﻼﺕ ﭘﻴﺎﺩﻩﺳﺎﺯﻱ ﭼﻨﻴﻦ ﺳﻴﺴﺘﻢﻫﺎﻳﻲ ﺩﺭ ﻋﻤﻞ‪ ،‬ﭘﻴﭽﻴﺪﮔﻲ ﺩﺭ ﻣﺪﻝﺳﺎﺯﻱ ﺭﻳﺎﺿﻲ ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﺍﻳﻦ ﺍﻣﺮ ﺑﺎﻋﺚ ﺷﺪﻩ ﺍﺳﺖ ﻛﻪ ﺍﻛﺜﺮ ﻣﺤﻘﻘﺎﻥ ﺍﺯ ﻳﻚ ﻣﺪﻝ ﺳﺎﺩﻩ ﺷﺪﻩ‪ ،‬ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﻛﻨﻨﺪ‪ ،‬ﺑﺪﻭﻥ ﺁﻧﻜﻪ ﻋﺪﻡ ﻗﻄﻌﻴﺖﻫﺎ ﺩﺭ ﻣﺪﻝ ﺳﺎﺩﻩ ﺷﺪﻩ ﺭﺍ ﺩﺭ ﻧﻈﺮ ﺑﮕﻴﺮﻧﺪ‪ .‬ﺑﺮﺍﻱ ﺭﻓﻊ ﺍﻳﻦ ﻣﺸﻜﻞ ﺍﺯ ﻳﻚ‬
‫ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﻣﺪ ﻟﻐﺰﺷﻲ ﺗﻄﺒﻴﻘﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻛﻪ ﺩﺭ ﺑﺮﺍﺑﺮ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖﻫﺎ ﺩﺭ ﻣﺪﻝ ﻣﻘﺎﻭﻡ ﺍﺳﺖ ﻭ‬
‫ﻫﻤﭽﻨﻴﻦ ﻣﻲﺗﻮﺍﻧﺪ ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖﻫﺎ ﺭﺍ ﺗﺨﻤﻴﻦ ﺑﺰﻧﺪ ﺑﺪﻭﻥ ﺁﻧﻜﻪ ﻧﻴﺎﺯ ﺑﺎﺷﺪ ﺗﺎ ﺍﺯ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺑﺰﺭﮔﺘﺮ‬
‫ﺑﺮﺍﻱ ﺍﻃﻤﻴﻨﺎﻥ ﺍﺯ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻧﺘﺎﻳﺞ ﺷﺒﻴﻪﺳﺎﺯﻱ‪ ،‬ﻣﻲﺗﻮﺍﻥ ﻣﺸﺎﻫﺪﻩ ﻛﺮﺩ ﻛﻪ ﺳﻴﺴﺘﻢ‬
‫ﻛﻨﺘﺮﻟﻲ ﻣﻮﺭﺩ ﻃﺮﺍﺣﻲ ﻗﺎﺩﺭ ﺍﺳﺖ ﻛﻪ ﻣﺎﻫﻮﺍﺭﻩ ﺭﺍ ﺩﺭ ﻛﻤﺘﺮﻳﻦ ﺯﻣﺎﻥ ﻣﻤﻜﻦ ﻭ ﺑﺪﻭﻥ ﻓﺮﺍﺟﻬﺶ ﺑﻪ ﻭﺿﻌﻴﺖ ﻣﻄﻠﻮﺏ‬
‫ﺑﺮﺳﺎﻧﺪ‪.‬‬

‫ﻭﺍژﻩﻫﺎﻱ ﻛﻠﻴﺪﻱ‪ :‬ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ‪،‬ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ‪ ،‬ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ‪ ،‬ﻛﻨﺘﺮﻝ ﺗﻄﺒﻴﻘﻲ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ‬
‫ﻟﻴﺎﭘﺎﻧﻮﻑ‬

‫𝑠𝜔‬ ‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺳﻴﺎﻝ ﻧﺴﺒﺖ ﺑﻪ ﺭﻳﻨﮓ‬ ‫ﻋﻼﻳﻢ ﻭ ﺍﺧﺘﺼﺎﺭﺍﺕ‬

‫𝑟‬ ‫ﻗﻄﺮ ﺳﻄﺢ ﻣﻘﻄﻊ ﺭﻳﻨﮓ‬
‫𝜇‬ ‫ﻭﻳﺴﻜﻮﺯﻳﺘﻪ ﺳﻴﺎﻝ‬ ‫𝜌‬ ‫ﭼﮕﺎﻟﻲ ﺳﻴﺎﻝ‬
‫𝜏‬ ‫ﺗﻨﺶ ﺑﺮﺷﻲ ﺳﻴﺎﻝ‬ ‫𝑓‬ ‫ﺿﺮﻳﺐ ﺍﺻﻄﻜﺎﻙ‬
‫𝑣‬ ‫ﺳﺮﻋﺖ ﺟﺮﻳﺎﻥ‬ ‫𝑟‬ ‫ﺷﻌﺎﻉ ﺭﻳﻨﮓ‬
‫ﻋﻤﻠﮕﺮﻫﺎ ﻗﺎﺑﻠﻴﺖ ﺍﺳﺘﻔﺎﺩﻩ ﺑﺼﻮﺭﺕ ﻏﻴﺮﻓﻌﺎﻝ ﺭﺍ ﻧﻴﺰ ﺩﺍﺭﻧﺪ ﻭ ﺩﺭ ﺻﻮﺭﺕ‬ ‫�‬
‫𝒒‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‬
‫ﺧﺮﺍﺑﻲ ﺩﺭ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺑﺎﺯ ﻫﻢ ﺗﻮﺍﻧﺎﻳﻲ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﻣﺎﻫﻮﺍﺭﻩ ﺭﺍ ﺩﺍﺭﻧﺪ‪.‬‬ ‫𝒒‬ ‫ﻣﻮﻟﻔﻪ ﺑﺮﺩﺍﺭﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‬
‫‪FMC‬ﻫﺎ ﺍﺭﺗﻌﺎﺵ ﻛﻤﺘﺮﻱ ﺭﺍ ﺑﻪ ﺳﺎﺯﻩ ﺍﻧﺘﻘﺎﻝ ﻣﻲﺩﻫﻨﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺍﺯ‬ ‫‪𝑞4‬‬ ‫ﻣﻮﻟﻔﻪ ﺍﺳﻜﺎﻟﺮ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‬
‫ﮔﺮﺩﺵ ﺳﻴﺎﻝ ﺩﺍﺧﻞ ﺗﻴﻮﭘﻬﺎ ﻣﻲﺗﻮﺍﻥ ﺑﻌﻨﻮﺍﻥ ﺧﻨﻚ ﻛﺎﺭﻱ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪ .‬ﺑﺎ‬ ‫𝒅𝒒‬ ‫ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﻣﺴﻴﺮ ﻣﺮﺟﻊ‬
‫𝒒𝜹‬‫�‬ ‫ﺧﻄﺎﻱ ﺗﻌﻘﻴﺐ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‬
‫ﺍﻳﻦ ﺣﺎﻝ ﺑﻌﻀﻲ ﻣﺸﻜﻼﺕ ﺩﺭ ﭘﻴﺎﺩﻩ ﺳﺎﺯﻱ ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻛﻪ‬
‫𝝎‬ ‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ‬
‫ﺍﺯ ﺁﻥ ﺟﻤﻠﻪ ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻣﺪﻟﺴﺎﺯﻱ ﭘﻴﭽﻴﺪﻩ ﺟﺮﻳﺎﻥ ﺳﻴﺎﻝ ﺩﺍﺧﻞ ﺗﻴﻮپ‬
‫𝒅𝝎‬ ‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﺴﻴﺮ ﻣﺮﺟﻊ‬
‫ﻫﺎﻱ ﭼﺮﺧﺎﻥ‪ ،‬ﻧﺸﺖ ﻭ ﻣﺴﺎﻳﻞ ﺁﺏ ﺑﻨﺪﻱ ﻭ ﺍﻗﺪﺍﻣﺎﺕ ﭘﻴﺸﮕﻴﺮﺍﻧﻪ ﺣﺮﺍﺭﺗﻲ‬
‫𝑱‬ ‫ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ﻛﻞ ﻣﺎﻫﻮﺍﺭﻩ‬
‫ﺍﺷﺎﺭﻩ ﻛﺮﺩ]‪.[2‬‬ ‫𝒓𝑱‬ ‫ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ﺫﺧﻴﺮﻩ ﺳﺎﺯ ﻣﻮﻣﻨﺘﻮﻡ‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺍﺯ ﺍﻭﻟﻴﻦ ﻛﺎﺭﻫﺎ ﺩﺭ ﺯﻣﻴﻨﻪ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﻣﻮﻧﺘﻮﻡ ﺳﻴﺎﻟﻲ‬ ‫𝛀‬ ‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺫﺧﻴﺮﻩ ﺳﺎﺯ ﻣﻮﻣﻨﺘﻮﻡ‬
‫ﻛﺎﺭﻫﺎﻱ ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺗﻮﺳﻂ ‪ Maynard‬ﺩﺭ ﺳﺎﻝ ‪ 1988‬ﻣﻲ ﺑﺎﺷﺪ‪،‬‬ ‫𝑉‬ ‫ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ‬
‫ﺍﺩﺑﻴﺎﺕ ﺩﺭ ﺍﻳﻦ ﺯﻣﻴﻨﻪ ﻣﺤﺪﻭﺩ ﺍﺳﺖ‪ Mynard .‬ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ‬ ‫𝒄𝑻‬ ‫ﮔﺸﺘﺎﻭﺭ ﻛﻨﺘﺮﻟﻲ‬
‫ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺭﺍ ﺑﺮﺍﻱ ﺧﻨﺜﻲ ﺳﺎﺯﻱ ﮔﺸﺘﺎﻭﺭﺩﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﺍﻋﻤﺎﻟﻲ‬ ‫𝒅𝑻‬ ‫ﮔﺸﺘﺎﻭﺭ ﺍﻏﺘﺸﺎﺷﻲ‬
‫ﺭﻭﻱ ﻣﺎﻫﻮﺍﺭﻩﻫﺎ‪ ،‬ﻛﺸﺘﻲﻫﺎﻱ ﺍﻗﻴﺎﻧﻮﺱ ﭘﻴﻤﺎ ﻭ ﺩﻳﮕﺮ ﺳﻴﺴﺘﻢﻫﺎﻱ ﺁﻭﻳﺰﺍﻥ‬ ‫𝒇𝑻‬ ‫ﮔﺸﺘﺎﻭﺭ ﺍﺻﻄﻜﺎﻛﻲ‬
‫𝒔‬ ‫ﺳﻄﻮﺡ ﻟﻐﺰﺵ‬
‫ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ ]‪ .[3‬ﺍﻳﻦ ﺗﺤﻘﻴﻖ ﺑﻮﺳﻴﻠﻪ ‪ Lurie‬ﻭ‪ Schier‬ﺑﺮﺍﻱ ﻛﻨﺘﺮﻝ‬
‫𝑹‬ ‫ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ‬
‫ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺗﻮﺳﻌﻪ ﺩﺍﺩﻩ ﺷﺪ‪ .‬ﺁﻥﻫﺎ ﻧﺸﺎﻥ ﺩﺍﺩﻧﺪ ﻛﻪ ﻟﻮپ ﻫﺎﻱ‬
‫ﺳﻴﺎﻟﻲ‪ ،‬ﻛﻪ ﻳﻚ ﻧﻮﻉ ﻋﻤﻠﮕﺮ ﺳﻴﺎﻟﻲ ﻫﺴﺘﻨﺪ‪ ،‬ﻣﻲﺗﻮﺍﻧﻨﺪ ﻫﺮ ﻧﻮﻉ ﺷﻜﻠﻲ‬
‫ﻣﻘﺪﻣﻪ‬
‫ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ ﺗﺎ ﺑﺘﻮﺍﻧﻨﺪ ﺑﻪ ﺭﺍﺣﺘﻲ ﺩﺭ ﻓﻀﺎﻱ ﻗﺎﺑﻞ ﺩﺳﺘﺮﺱ ﺩﺭ ﻳﻚ‬
‫ﻣﺎﻫﻮﺍﺭﻩ ﺟﺎﺳﺎﺯﻱ ﺷﻮﻧﺪ ]‪ Laughlin .[4‬ﻳﻚ ﺳﻴﺴﺘﻢ ﺩﻭ ﻛﺎﺭﺑﺮﻱ ﺭﺍ‬ ‫ﺟﻬﺎﻥ ﺍﻣﺮﻭﺯ ﺑﺨﺶ ﻋﻤﺪﻩﺍﻱ ﺍﺯ ﺧﺪﻣﺎﺕ ﻭ ﻓﻨﺎﻭﺭﻱ ﺧﻮﺩ ﺭﺍ ﻣﺮﻫﻮﻥ‬
‫ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ ﻛﻪ ﻫﻢ ﻭﺿﻌﻴﺖ ﺭﺍ ﺍﻧﺪﺍﺯﻩﮔﻴﺮﻱ ﻣﻲﻛﺮﺩ ﻭ ﻫﻢ ﮔﺸﺘﺎﻭﺭ ﺍﻋﻤﺎﻝ‬ ‫ﻣﺎﻫﻮﺍﺭﻩﻫﺎﻱ ﺗﺠﺎﺭﻱ‪ ،‬ﻣﺨﺎﺑﺮﺍﺗﻲ‪ ،‬ﻧﻈﺎﻣﻲ ﻭ ﭘﮋﻭﻫﺸﻲ ﺍﺳﺖ‪ .‬ﺍﺯ ﺟﻤﻠﻪ ﺍﻳﻦ‬
‫ﻣﻲ ﻛﺮﺩ ]‪ .[5‬ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺷﺎﻣﻞ ﻳﻚ ﺁﻫﻦ ﺭﺑﺎﻱ ﺩﺍﺋﻢ ﻭ ﻳﻚ ﻟﻮپ‬ ‫ﺧﺪﻣﺎﺕ ﻣﻲﺗﻮﺍﻥ ﻋﻜﺲﻫﺎﻱ ﻫﻮﺍﻳﻲ‪ ،‬ﺍﺭﺗﺒﺎﻃﺎﺕ ﻭ ﺭﺻﺪ ﻫﺎﻱ ﻓﻀﺎﻳﻲ ﺭﺍ‬
‫ﺳﻴﺎﻟﻲ ﭘﺮ ﺷﺪﻩ ﺑﺎ ﻳﻚ ﺳﻴﺎﻝ ﺭﺳﺎﻧﺎﻱ ﺟﺮﻳﺎﻥ ﺍﻟﻜﺘﺮﻳﻜﻲ ﺑﻮﺩ‪ .‬ﺣﺮﻛﺖ‬ ‫ﻧﺎﻡ ﺑﺮﺩ‪ .‬ﺑﻪ ﻣﻨﻈﻮﺭ ﺍﺭﺍﻳﻪ ﺍﻳﻦ ﺧﺪﻣﺎﺕ‪ ،‬ﺑﺎﻳﺴﺘﻲ ﻣﺎﻫﻮﺍﺭﻩ ﻭﺿﻌﻴﺖ ﺧﻮﺩ ﺭﺍ ﺑﺮ‬
‫ﺯﺍﻭﻳﻪﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ ﺑﺎﻋﺚ ﭼﺮﺧﺶ ﺳﻴﺎﻝ ﺩﺭﻭﻥ ﺍﻳﻦ ﻟﻮپ ﻣﻲﺷﺪ‪ .‬ﺍﺯ ﺁﻧﺠﺎﻳﻲ‬ ‫ﺭﻭﻱ ﻣﺪﺍﺭ ﺗﺜﺒﻴﺖ ﻧﻤﺎﻳﺪ ﻭ ﻋﻠﻲ ﺭﻏﻢ ﺍﻏﺘﺸﺎﺵ ﻫﺎﻱ ﺧﺎﺭﺟﻲ ﻭ ﻧﺎﻣﻌﻴﻨﻲ ﺩﺭ‬
‫ﻛﻪ ﺍﻳﻦ ﺳﻴﺎﻝ ﺭﺳﺎﻧﺎ ﺑﻮﺩ ﻭ ﺩﺭ ﻣﻌﺮﺽ ﻣﻴﺪﺍﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ ﻗﺮﺍﺭ ﺩﺍﺷﺖ‪،‬‬ ‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻳﺶ‪ ،‬ﺳﻤﺖ ﮔﻴﺮﻱ ﺩﻗﻴﻘﻲ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﻧﻴﻞ ﺑﻪ ﺍﻳﻦ‬
‫ﻭﻟﺘﺎژ ﺍﻟﻘﺎﻳﻲ ﻣﻲﺗﻮﺍﻧﺴﺖ ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺍﺳﺘﻔﺎﺩﻩ ﺷﻮﺩ‪ .‬ﺍﺯ‬ ‫ﻫﺪﻑ‪ ،‬ﻣﺎﻫﻮﺍﺭﻩ ﻧﻴﺎﺯﻣﻨﺪ ﻳﻚ ﺯﻳﺮ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻣﻲ ﺑﺎﺷﺪ ]‪.[1‬‬
‫ﺳﻮﻱ ﺩﻳﮕﺮ‪ ،‬ﺑﺎ ﺍﻋﻤﺎﻝ ﻳﻚ ﻭﻟﺘﺎژ ﺑﻪ ﺳﻴﺎﻝ‪ ،‬ﻳﻚ ﻣﻴﺪﺍﻥ ﺍﻟﻜﺘﺮﻳﻜﻲ ﺗﻮﻟﻴﺪ‬ ‫ﺭﻭﺵ ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻓﻌﺎﻝ ﺑﺴﻴﺎﺭﻱ ﻭﺟﻮﺩ ﺩﺍﺭﺩ ﻛﻪ ﺍﺯ ﻣﻮﻟﻔﻪ ﻫﺎﻳﻲ ﻫﻤﭽﻮﻥ‬
‫ﻣﻲﺷﻮﺩ ﻛﻪ ﺩﺭ ﻭﺍﻛﻨﺶ ﺑﻪ ﻳﻚ ﻣﻴﺪﺍﻥ ﻣﻐﻨﺎﻃﻴﺴﻲ‪ ،‬ﺳﺒﺐ ﺗﻮﻟﻴﺪ ﮔﺸﺘﺎﻭﺭ‬ ‫ﺗﺮﺍﺳﺘﺮﻫﺎ‪ ،‬ﭼﺮﺥ ﻫﺎﻱ ﻋﻜﺲ ﺍﻟﻌﻤﻠﻲ‪/‬ﻣﻮﻣﻨﺘﻮﻡ ﻭ ژﺍﻳﺮﻭﻫﺎﻱ ﻛﻨﺘﺮﻝ ﻣﻤﺎﻥ‬
‫ﻣﻲ ﺷﻮﺩ‪ .‬ﺍﻳﻦ ﺍﻣﺮ ﻣﻲﺗﻮﺍﻧﺪ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﻛﻨﻨﺪ‪ .‬ﺑﻄﻮﺭ ﻛﻠﻲ‪ ،‬ﺍﻛﺜﺮ ﺍﻳﻦ ﺭﻭﺵ ﻫﺎ ﺍﺻﻮﻝ ﻛﻠﻲ ﺑﻘﺎﻱ‬
‫ﺷﻮﺩ‪ Iskenderian .‬ﻳﻚ ﺭﻳﻨﮓ ﻋﻜﺲ ﺍﻟﻌﻤﻠﻲ ﺳﻴﺎﻟﻲ ﺭﺍ ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ‬ ‫ﻣﻮﻣﻨﺘﻮﻡ ﺯﺍﻭﻳﻪﺍﻱ ﺭﺍ ﺑﺮﺍﻱ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﻣﺎﻫﻮﺍﺭﻩ ﺩﺭ ﻣﻘﺎﺑﻞ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ‬
‫ﻛﻪ ﻣﻲ ﺗﻮﺍﻧﺴﺖ ﻭﺿﻌﻴﺖ ﻳﻚ ﻓﻀﺎﭘﻴﻤﺎ ﺭﺍ ﺑﺎ ﻭﺍﻛﻨﺶ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﺑﻪ‬ ‫ﺍﻏﺘﺸﺎﺷﻲ ﭘﻴﺎﺩﻩ ﺳﺎﺯﻱ ﻣﻲﻛﻨﻨﺪ‪ .‬ﺍﻣﺎ ﺍﺧﻴﺮﺍ ﻋﻤﻠﮕﺮﻫﺎﻳﻲ ﭘﻴﺸﻨﻬﺎﺩ ﺷﺪﻩ‬
‫ﺣﺮﻛﺖ ﺳﻴﺎﻝ ﺩﺭﻭﻥ ﺭﻳﻨﮓ‪ ،‬ﻛﻨﺘﺮﻝ ﻛﻨﺪ ]‪ Varatharajoo .[6‬ﺑﺮﺍﻱ‬ ‫ﺍﺳﺖ ﻛﻪ ﺩﺭ ﺁﻥ ﺑﺠﺎﻱ ﭼﺮﺧﺎﻧﺪﻥ ﻳﻚ ﺟﺴﻢ ﺻﻠﺐ‪ ،‬ﺍﺯ ﭼﺮﺧﺎﻧﺪﻥ ﻳﻚ‬
‫ﻛﺎﻫﺶ ﻭﺯﻥ ﻭ ﻫﻤﭽﻨﻴﻦ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﮔﺮﻣﺎﻱ ﺍﺿﺎﻓﻲ ﺩﺭﻭﻥ ﻓﻀﺎﭘﻴﻤﺎ‪ ،‬ﻳﻚ‬ ‫ﺳﻴﺎﻝ ﺩﺭﻭﻥ ﻳﻚ ﺗﻴﻮپ ﺩﺍﻳﺮﻭﻱ ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﻣﻤﺎﻥ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﺷﻮﺩ‪ .‬ﺍﻳﻦ‬
‫ﺳﻴﺴﺘﻢ ﻣﺮﻛﺐ ﺍﺯ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ﻭ ﻛﻨﺘﺮﻝ ﺣﺮﺍﺭﺕ ﺭﺍ ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ‪ .‬ﻃﺮﺡ‬ ‫ﻋﻤﻠﮕﺮﻫﺎ ﻋﻤﻮﻣﺎ ﺑﻪ ﻧﺎﻡ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ )‪ (FMC‬ﺷﻨﺎﺧﺘﻪ ﻣﻲ‬
‫ﻛﻠﻲ ﺍﻳﻦ ﺳﻴﺴﺘﻢ ﺑﺮ ﺍﺳﺎﺱ ﭼﺮﺧﺶ ﻳﻚ ﺳﻴﺎﻝ ﻫﺎﺩﻱ ﺟﺮﻳﺎﻥ ﺍﻟﻜﺘﺮﻳﻜﻲ‬ ‫ﺷﻮﻧﺪ‪ .‬ﺩﺭ ‪FMC‬ﻫﺎ ﺑﺪﻟﻴﻞ ﺁﻧﻜﻪ ﺍﻛﺜﺮ ﺟﺮﻡ ﺁﻥ ﺩﺭ ﺑﻴﺸﺘﺮﻳﻦ ﻓﺎﺻﻠﻪ ﺍﺯ‬
‫ﺑﻮﺩ‪ .‬ﺍﻳﻦ ﺟﺮﻳﺎﻥ ﺍﻟﻜﺘﺮﻳﻜﻲ ﻧﻴﺰ ﺑﻮﺳﻴﻠﻪ ﺩﺍﻛﺖ ﻋﺒﻮﺭﻱ ﺳﻴﺎﻝ ﻛﻪ ﺩﺭ‬ ‫ﻣﺤﻮﺭ ﺩﻭﺭﺍﻥ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ ،‬ﻣﻤﺎﻥ ﺍﻳﻨﺮﺳﻲ ﺁﻥ ﻧﺴﺒﺖ ﺑﻪ ﻳﻚ ﭼﺮﺥ ﻋﻜﺲ‬
‫ﻣﻌﺮﺽ ﮔﺮﺍﺩﻳﺎﻥ ﺣﺮﺍﺭﺗﻲ ﺑﻮﺩ‪ ،‬ﺗﻮﻟﻴﺪ ﻣﻲ ﺷﺪ ]‪ .[7‬ﺍﻭ ﺳﭙﺲ ﺑﺮ ﺍﺳﺎﺱ ﺍﻳﻦ‬ ‫ﺍﻟﻌﻤﻠﻲ ﺑﺎ ﻫﻤﺎﻥ ﺍﻧﺪﺍﺯﻩ ﻭ ﻫﻤﺎﻥ ﻭﺯﻥ ﺑﺴﻴﺎﺭ ﺑﻴﺸﺘﺮ ﺍﺳﺖ‪ .‬ﺩﺭ ﻧﺘﻴﺠﻪ ﻧﺴﺒﺖ‬
‫ﻃﺮﺡ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻝ ‪ 3‬ﻣﺤﻮﺭﻩ ﻣﺎﻫﻮﺍﺭﻩ ﺭﺍ ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ ﻛﻪ ﺑﺮ ﻣﺒﻨﺎﻱ‬ ‫ﮔﺸﺘﺎﻭﺭ ﺍﻋﻤﺎﻟﻲ ﺑﻪ ﻭﺯﻥ ﻳﺎ ﺣﺠﻢ ﺁﻥ ﺍﻓﺰﺍﻳﺶ ﭘﻴﺪﺍ ﻛﺮﺩﻩ ﻛﻪ ﺍﻳﻦ ﻣﻮﺿﻮﻉ‬
‫ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ‪ 𝐻2‬ﻭ ∞𝐻 ﺑﻮﺩ ]‪ ،Kelly .[8‬ﻋﻤﻠﻜﺮﺩ ﻳﻚ ﻛﻨﺘﺮﻟﺮ‬ ‫ﺁﻥﻫﺎ ﺭﺍ ﺑﺮﺍﻱ ﺍﺳﺘﻔﺎﺩﻩ ﺩﺭ ﻣﻴﻜﺮﻭ ﻣﺎﻫﻮﺍﺭﻩﻫﺎ ﻣﻨﺎﺳﺐﺗﺮ ﻣﻲﻛﻨﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ‬
‫ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺭﺍ ﺩﺭ ﻳﻚ ﺁﺯﻣﺎﻳﺶ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺩﻭ ﻟﻮپ ﺳﻴﺎﻟﻲ ﻛﻪ‬ ‫ﺩﺭ ﺻﻮﺭﺕ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﭘﻤﭗﻫﺎﻱ ﺍﻟﻜﺘﺮﻭﻣﻐﻨﺎﻃﻴﺴﻲ ﻳﺎ ﭘﻤﭗﻫﺎﻱ ﺍﻟﻜﺘﺮﻭ‪-‬‬
‫ﻣﺤﻮﺭﻫﺎﻱ ﺗﻘﺎﺭﻥ ﺁﻥﻫﺎ ﺩﺭ ﻳﻚ ﺟﻬﺖ ﺑﻮﺩ‪ ،‬ﺗﺴﺖ ﻛﺮﺩ ]‪ .[2‬ﺩﺭ ﺍﻳﻦ‬ ‫ﺣﺮﺍﺭﺗﻲ ﺩﻳﮕﺮ ﻧﻴﺎﺯﻱ ﺑﻪ ﻣﻮﺗﻮﺭﻫﺎﻱ ﺍﻟﻜﺘﺮﻳﻜﻲ ﻧﺒﻮﺩﻩ ﻭ ﺍﻳﻦ ﺍﻣﺮ ﺟﺎﺳﺎﺯﻱ‬
‫ﺁﺯﻣﺎﻳﺶ‪ ،‬ﺍﺯ ﺩﻭ ﭘﻤﭗ ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﺟﺮﻳﺎﻥ ﺩﻭ ﺟﻬﺘﻪ ﺩﺭ ﻫﺮ ﻟﻮپ ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﺍﻳﻦ ﻋﻤﻠﮕﺮ ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﺩﻳﮕﺮ ﻋﻤﻠﮕﺮﻫﺎ ﺁﺳﺎﻧﺘﺮ ﻣﻲ ﻛﻨﺪ‪ .‬ﻫﻤﭽﻨﻴﻦ ﺍﻳﻦ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺌﻮﺭﻱ ﭘﺎﻳﺪﺍﺭﻱ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺍﺛﺒﺎﺕ ﺷﺪ‪ Crassidis .‬ﻭ ‪Markley‬‬
‫ﺍﺯ ﻧﺨﺴﺘﻴﻦ ﻣﺤﻘﻘﺎﻧﻲ ﺑﻮﺩﻧﺪ ﻛﻪ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺍﺻﻼﺡ ﺷﺪﻩ ﺭﻭﺩﺭﻳﮕﺰ ﺭﺍ ﺩﺭ‬
‫ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻣﺪ ﻟﻐﺰﺷﻲ ﺑﻪ ﻣﻨﻈﻮﺭ ﻛﻨﺘﺮﻝ ﻓﻀﺎﭘﻴﻤﺎ ﺑﻪ ﻛﺎﺭ‬
‫ﺑﺮﺩﻧﺪ ]‪ Robinett .[14‬ﻭ ‪ Parker‬ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ ﺭﺍ ﺑﺮﺍﻱ ﻣﺎﻧﻮﺭ‬
‫ﺗﻌﻘﻴﺐ ﻭﺿﻌﻴﺖ ﻳﻚ ﻓﻀﺎﭘﻴﻤﺎﻱ ﻣﺠﻬﺰ ﺑﻪ ﭼﺮﺥﻫﺎﻱ ﻋﻜﺲﺍﻟﻌﻤﻠﻲ ﺑﻜﺎﺭ‬
‫ﺑﺮﺩﻧﺪ ]‪ Hu .[15‬ﺩﺭ ]‪ ،[16‬ﺩﻳﻨﺎﻣﻴﻚ ﭼﺮﺥ ﻫﺎﻱ ﻋﻜﺲ ﺍﻟﻌﻤﻠﻲ ﺭﺍ ﻧﻴﺰ ﺩﺭ‬
‫ﻧﻈﺮ ﻣﻲﮔﻴﺮﺩ‪ .‬ﺍﻳﻦ ﻋﻤﻞ ﺑﺎﻋﺚ ﻣﻲﺷﻮﺩ ﺗﺎ ﺩﻗﺖ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺍﻓﺰﺍﻳﺶ‬
‫ﻳﺎﺑﺪ‪.‬‬
‫ﺍﻭﻟﻴﻦ ﻣﻄﺎﻟﻌﻪ ﺑﺮ ﺭﻭﻱ ﻣﺎﻧﻮﺭ ﻭﺿﻌﻴﺖ ﻓﻀﺎﭘﻴﻤﺎ ﺑﺮ ﺍﺳﺎﺱ ﻛﻨﺘﺮﻝ ﺗﻄﺒﻴﻘﻲ‬
‫ﻣﺴﺘﻘﻴﻢ ﺑﻮﺳﻴﻠﻪ ‪ Slotine‬ﻭ ‪ Dibenedetto‬ﺍﻧﺠﺎﻡ ﮔﺮﻓﺖ]‪.[17‬‬
‫‪ Boussalis‬ﻭ ‪ Cristi‬ﻧﻴﺰ ﻣﺴﺎﻟﻪ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ ﺍﻳﻨﺮﺳﻲ ﻣﺎﻫﻮﺍﺭﻩ ﺭﺍ ﺑﺎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻛﻨﺘﺮﻝ ﺗﻄﺒﻴﻘﻲ ﻣﺴﺘﻘﻴﻢ ﺩﺭﻧﻈﺮ ﮔﺮﻓﺘﻨﺪ] ‪ ،Dando .[18‬ﻳﻚ‬
‫ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﺗﻄﺒﻴﻘﻲ ﺑﺮﺍﻱ ﻓﻀﺎﭘﻴﻤﺎﻫﺎﻳﻲ ﻛﻪ ﺩﺍﺭﺍﻱ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ‬
‫ﺍﻳﻨﺮﺳﻲ ﻫﺴﺘﻨﺪ‪ ،‬ﺭﺍ ﺍﺭﺍﻳﻪ ﻣﻲﺩﻫﺪ ]‪ .[19‬ﺩﺭﺣﺎﻟﻴﻜﻪ ﻛﻨﺘﺮﻟﺮﻫﺎﻱ ﺗﻄﺒﻴﻘﻲ‬
‫ﺳﻨﺘﻲ ﺑﺪﻧﺒﺎﻝ ﺍﺣﺘﺴﺎﺏ ﻣﺴﺘﻘﻴﻢ ﻋﺪﻡ ﻗﻄﻌﻴﺖﻫﺎﻱ ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺑﺎ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻗﺎﻧﻮﻥ ﺑﺮﻭﺯﺭﺳﺎﻧﻲ ﭘﺎﺭﺍﻣﺘﺮﻫﺎ ﻳﺎ ﺍﻟﮕﻮﺭﻳﺘﻢﻫﺎﻱ ﺗﺨﻤﻴﻦ ﭘﺎﺭﺍﻣﺘﺮ‬
‫ﻫﺴﺘﻨﺪ‪ ،‬ﺭﻭﺵﻫﺎﻱ ﺟﺪﻳﺪ ﺑﺪﻧﺒﺎﻝ ﻛﻨﺘﺮﻝ ﻓﻴﺪﺑﻚ ﻣﺴﺘﻘﻞ ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ‬
‫ﺍﻳﻨﺮﺳﻲ ﻓﻀﺎﭘﻴﻤﺎ ﻫﺴﺘﻨﺪ‪ .‬ﺩﺭﻭﺍﻗﻊ ﺩﺭ ﺍﻳﻦ ﺭﻭﺷﻬﺎ ﺍﺯ ﻣﻘﺎﻭﻡ ﺑﻮﺩﻥ ﻣﺎﻧﻮﺭ‬
‫ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺑﺮﺍﻱ ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻧﺎﻗﺺ ﺍﻃﻤﻴﻨﺎﻥ ﺣﺎﺻﻞ ﻣﻲﺷﻮﺩ‪.‬‬
‫ﺣﺎﻝ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖﻫﺎ ﻧﺎﺷﻲ ﺍﺯ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ ﺍﻳﻨﺮﺳﻲ ﺑﺎﺷﺪ‪ ،‬ﺩﺭ‬
‫ﺍﻏﺘﺸﺎﺷﺎﺕ ﺧﺎﺭﺟﻲ ﺑﺎﺷﺪ ﻳﺎ ﻫﺮ ﮔﻮﻧﻪ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ‬
‫ﻣﻮﺭﺩﻧﻈﺮ ﺑﺎﺷﺪ‪ .‬ﺍﺯ ﻛﺎﺭﻫﺎﻱ ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺩﺭ ﺍﺭﺗﺒﺎﻁ ﺑﺎ ﺍﻳﻦ ﻣﻮﺿﻮﻉ‬
‫ﻣﻲﺗﻮﺍﻥ ﺑﻪ ﻛﺎﺭ ‪ Rao‬ﺍﺷﺎﺭﻩ ﻛﺮﺩ ]‪ .[20‬ﺍﻭ ﻛﻞ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ )ﻋﺪﻡ‬
‫ﻗﻄﻌﻴﺖ ﺩﺭ ﺍﻳﻨﺮﺳﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺧﺎﺭﺟﻲ( ﺭﺍ ﺑﺼﻮﺭﺕ ﻳﻚ ﻋﺪﻡ ﻗﻄﻌﻴﺖ‬
‫ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪ .‬ﺳﭙﺲ ﻳﻚ ﻗﺎﻧﻮﻥ ﺗﻄﺒﻴﻘﻲ ﺍﺭﺍﻳﻪ ﻧﻤﻮﺩ ﻛﻪ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻝ‬
‫ﻟﻐﺰﺷﻲ ﺭﺍ ﺗﺨﻤﻴﻦ ﻣﻲﺯﺩ‪ .‬ﺍﻭ ﺳﭙﺲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺌﻮﺭﻱ ﭘﺎﻳﺪﺍﺭﻱ‬
‫ﻟﻴﺎﭘﺎﻧﻮﻑ‪ ،‬ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺭﺍ ﺍﺛﺒﺎﺕ ﻛﺮﺩ‪ ،Binglong .‬ﺑﺮﺍﻱ ﺟﻠﻮﮔﻴﺮﻱ ﺍﺯ‬
‫ﺗﺨﻤﻴﻦ ﺑﻴﺶ ﺍﺯ ﺣﺪ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻝ ﻟﻐﺰﺷﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻗﺎﻧﻮﻥ ﺗﻄﺒﻴﻖ‪،‬‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﻣﺘﻐﻴﺮ ﺑﺎ ﺯﻣﺎﻥ ﺭﺍ ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩ ]‪.[21‬‬
‫ﺍﺑﺘﺪﺍ ﺗﻮﺳﻂ ‪ vadali‬ﺑﺮﺍﻱ ﻳﻚ ﻓﻀﺎﭘﻴﻤﺎﻱ ﺻﻠﺐ ﻛﻪ ﻣﺠﻬﺰ ﺑﻪ ﺳﻴﺴﺘﻢ‬
‫ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻣﺎﻫﻮﺍﺭﻩ‬
‫ﻣﺪﻝ ﭘﻴﺸﻨﻬﺎﺩﻱ ﺑﺮﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ ﻣﻮﺭﺩ ﻧﻈﺮ‪ ،‬ﺷﺎﻣﻞ ‪ 3‬ﻋﻤﻠﮕﺮ ﻣﻮﻣﻨﺘﻮﻡ‬
‫ﺳﻴﺎﻟﻲ ﺍﺳﺖ ﻛﻪ ﺩﺭ ‪ 3‬ﺟﻬﺖ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﻫﺮ ﻋﻤﻠﮕﺮ ﺷﺎﻣﻞ ﻳﻚ‬
‫ﺭﻳﻨﮓ ﭘﺮ ﺷﺪﻩ ﺍﺯ ﺳﻴﺎﻝ ﻭ ﻳﻚ ﭘﻤﭗ ﺍﺳﺖ ﻛﻪ ﺟﺮﻳﺎﻥ ﺳﻴﺎﻝ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﺍﺯ ﺍﻳﺠﺎﺩ ﺍﺧﺘﻼﻑ ﻓﺸﺎﺭ ﺩﺭﻭﻥ ﺭﻳﻨﮓ ﺗﻨﻈﻴﻢ ﻣﻲ ﻛﻨﺪ‪ .‬ﺑﺨﺎﻃﺮ ﻭﺟﻮﺩ ﺗﻨﺶ‬
‫ﺑﺮﺷﻲ ﺭﻭﻱ ﺩﻳﻮﺍﺭﻩﻫﺎﻱ ﺭﻳﻨﮓ‪ ،‬ﺣﺮﻛﺖ ﺳﻴﺎﻝ ﺩﺭﻭﻥ ﺭﻳﻨﮓ ﻫﺎﻱ ﺑﺴﺘﻪ‪،‬‬
‫ﺳﺒﺐ ﺍﺗﻼﻑ ﺍﻧﺮژﻱ ﻣﻲ ﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﭘﻤﭗ ﻫﺎ ﻭﻇﻴﻔﻪ ﺩﺍﺭﻧﺪ ﺗﺎ ﺍﺧﺘﻼﻑ‬
‫ﻓﺸﺎﺭﻱ ﺩﺭﻭﻥ ﺳﻴﺎﻝ ﺑﻮﺟﻮﺩ ﺑﻴﺎﻭﺭﻧﺪ ﺗﺎ ﺩﺭ ﺻﻮﺭﺕ ﻧﻴﺎﺯ ﺑﻪ ﺍﻋﻤﺎﻝ ﮔﺸﺘﺎﻭﺭ‬
‫ﺭﻭﻱ ﻣﺎﻫﻮﺍﺭﻩ ﺑﻪ ﺳﻴﺎﻝ ﺷﺘﺎﺏ ﺩﻫﻨﺪ ﻳﺎ ﺩﺭ ﻏﻴﺮ ﺍﻳﻨﺼﻮﺭﺕ ﻓﺸﺎﺭﻱ ﺑﺮﺍﺑﺮ ﺑﺎ‬
‫ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﻭ ﺳﺮﻋﺖ ﻫﺎﻱ ﺯﺍﻭﻳﻪﺍﻱ ﺍﺳﺖ‪ ،‬ﺍﻣﺎ ﺩﺭ ﻣﺮﺟﻊ ]‪ [13‬ﺍﻳﻦ ﺍﻣﺮ ﺑﺎ‬
‫ﺷﺪ‪ Kumar .‬ﻧﻴﺰ ﻳﻚ ﻛﻨﺘﺮﻝ ﻭﺿﻌﻴﺖ ‪ 3‬ﺟﻬﺘﻪ ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ 3‬ﻟﻮپ‬
‫ﺳﻴﺎﻟﻲ ﻋﻤﻮﺩ ﺑﺮ ﻫﻢ ﺑﺮﺭﺳﻲ ﻛﺮﺩ ]‪ .[9‬ﺍﻭ ﺣﺮﻛﺖ ﺯﺍﻭﻳﻪﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ ﻣﺠﻬﺰ‬
‫ﺑﻪ ‪ 3‬ﺭﻳﻨﮓ ﺳﻴﺎﻟﻲ ﺭﺍ ﺩﺭ ﻳﻚ ﻣﺪﺍﺭ ﺑﻴﻀﻮﻱ ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﺩﺍﺩ‪ .‬ﺍﻣﺎ‬
‫ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺗﻮﺳﻌﻪ ﻳﺎﻓﺘﻪ ﺩﺭ ﺁﻥ‪ ،‬ﺷﺎﻣﻞ ﻫﻤﻪ ﻣﻤﺎﻥﻫﺎﻱ ﻋﻜﺲﺍﻟﻌﻤﻠﻲ‬
‫ﺍﻧﺘﻘﺎﻝ ﻳﺎﻓﺘﻪ ﺑﻴﻦ ﻣﺎﻫﻮﺍﺭﻩ ﻭ ﺭﻳﻨﮓﻫﺎﻱ ﺳﻴﺎﻟﻲ ﻧﺒﻮﺩ‪ .‬ﺍﺧﻴﺮﺍً ‪ Nobari‬ﻭ‬
‫‪ ،Misra‬ﻣﺪﻝ ‪ Kumar‬ﺭﺍ ﺑﺎ ﺗﻮﺳﻌﻪ ﻳﻚ ﻧﺴﺨﻪ ﻛﺎﻣﻠﺘﺮ ﺑﻬﺒﻮﺩ ﺑﺨﺸﻴﺪﻧﺪ‪.‬‬
‫ﺁﻥﻫﺎ ﻳﻚ ﺳﻴﺴﺘﻢ ‪ fault tolerant‬ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ 4‬ﺭﻳﻨﮓ ﺳﻴﺎﻟﻲ ﻛﻪ‬
‫ﺩﺭ ﻳﻚ ﭘﻴﻜﺮﺑﻨﺪﻱ ﻫﺮﻣﻲ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺑﻮﺩﻧﺪ ﺭﺍ ﺗﻮﺳﻌﻪ ﺩﺍﺩﻧﺪ ]‪.[10‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺍﺷﺎﺭﻩ ﺷﺪ‪ ،‬ﻳﻜﻲ ﺍﺯ ﻣﺸﻜﻼﺕ ﭘﻴﺎﺩﻩ ﺳﺎﺯﻱ ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ‪،‬‬
‫ﻣﺪﻟﺴﺎﺯﻱ ﭘﻴﭽﻴﺪﻩ ﺟﺮﻳﺎﻥ ﺳﻴﺎﻝ ﺩﺍﺧﻞ ﺗﻴﻮپ ﺍﺳﺖ‪ .‬ﺑﻪ ﻫﻤﻴﻦ ﺩﻟﻴﻞ ﺩﺭ‬
‫ﻛﺎﺭﻫﺎﻱ ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺗﺎﻛﻨﻮﻥ‪ ،‬ﺍﺯ ﻣﺪﻝ ﻫﺎﻱ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺳﺎﺩﻩ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﺷﺪﻩ ﺍﺳﺖ ﻭ ﺳﻴﺴﺘﻢ ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻧﻴﺰ ﺑﺮ ﺍﺳﺎﺱ ﻫﻤﻴﻦ ﻣﺪﻝ ﻫﺎﻱ ﺳﺎﺩﻩ‬
‫ﺑﻨﺎ ﺷﺪﻩﺍﻧﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻧﻤﻲ ﺗﻮﺍﻥ ﺍﻃﻤﻴﻨﺎﻥ ﺩﺍﺷﺖ ﻛﻪ ﺩﺭ ﻋﻤﻞ ﻧﻴﺰ ﺍﻳﻦ‬
‫ﺳﻴﺴﺘﻢ ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﺑﺨﻮﺑﻲ ﺑﺘﻮﺍﻧﻨﺪ ﺳﻴﺴﺘﻢ ﺭﺍ ﭘﺎﻳﺪﺍﺭ ﻧﻤﺎﻳﻨﺪ‪ .‬ﺑﻪ ﻫﻤﻴﻦ‬
‫ﻣﻨﻈﻮﺭ ﺩﺭ ﺍﻳﻦ ﭘﮋﻭﻫﺶ ﺳﻌﻲ ﺷﺪﻩ ﺍﺳﺖ ﺗﺎ ﺍﺯ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻣﺪ‬
‫ﻟﻐﺰﺷﻲ ﺗﻄﺒﻴﻘﻲ ﺍﺳﺘﻔﺎﺩﻩ ﺷﻮﺩ‪ .‬ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﻣﺪ ﻟﻐﺰﺷﻲ ﺩﺭ ﺑﺮﺍﺑﺮ ﻋﺪﻡ‬
‫ﻗﻄﻌﻴﺖ ﻫﺎ ﺩﺭ ﻣﺪﻝ ﻣﻘﺎﻭﻡ ﺑﻮﺩﻩ ﻭ ﻣﻲ ﺗﻮﺍﻧﺪ ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺑﺮﺍﺑﺮ‬
‫ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺵ ﺧﺎﺭﺟﻲ ﻧﻴﺰ ﭘﺎﻳﺪﺍﺭ ﻧﻤﺎﻳﺪ‪ .‬ﺍﻣﺎ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺩﺭ‬
‫ﺍﻳﻦ ﺭﻭﺵ‪ ،‬ﺩﺍﻧﺴﺘﻦ ﻣﺤﺪﻭﺩﻩ ﺍﻏﺘﺸﺎﺷﺎﺕ ﻭ ﻣﺤﺪﻭﺩﻩ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ‬
‫ﻣﻮﺭﺩ ﻧﻴﺎﺯ ﺍﺳﺖ ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺑﻌﻀﻲ ﺍﺯ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﻏﻴﺮ‬
‫ﭘﻴﺶ ﺑﻴﻨﻲ ﻧﺸﺪﻩ ﻭﺟﻮﺩ ﺩﺍﺭﻧﺪ‪ ،‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻳﺎ ﺑﺎﻳﺪ ﺩﺍﻣﻨﻪ ﺍﻳﻦ ﺍﻏﺘﺸﺎﺷﺎﺕ ﺭﺍ‬
‫ﺁﻧﻘﺪﺭ ﺑﺰﺭگ ﻓﺮﺽ ﻛﺮﺩ ﺗﺎ ﻣﻄﻤﺌﻦ ﺑﺎﺷﻴﻢ ﻛﻪ ﺩﺍﻣﻨﻪ ﺍﻏﺘﺸﺎﺷﺎﺕ ﻭﺍﻗﻌﻲ ﺍﺯ‬
‫ﺍﻳﻦ ﺣﺪ ﻛﻤﺘﺮ ﺍﺳﺖ‪ ،‬ﻳﺎ ﺑﺎ ﺭﻭﺷﻲ ﺩﺍﻣﻨﻪ ﺁﻥ ﺭﺍ ﺗﺨﻤﻴﻦ ﺑﺰﻧﻴﻢ‪ .‬ﺍﻣﺎ ﻫﺮ ﭼﻪ‬
‫ﺩﺍﻣﻨﻪ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ ﺑﺰﺭگ ﻓﺮﺽ ﻛﻨﻴﻢ‪ ،‬ﻣﻴﺰﺍﻥ ﻫﺰﻳﻨﻪ ﻛﻨﺘﺮﻟﻲ‬
‫ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ ﻭ ﻧﻴﺎﺯ ﺑﻪ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺑﺰﺭﮔﺘﺮ ﻭ ﺣﺠﻴﻢ ﺗﺮ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﻳﻚ ﺭﻭﺵ ﺗﻄﺒﻴﻘﻲ ﻧﻴﺰ ﺗﻮﺳﻌﻪ ﺩﺍﺩﻩ ﻣﻲﺷﻮﺩ ﺗﺎ ﺳﻴﺴﺘﻢ ﺑﺘﻮﺍﻧﺪ‬
‫ﺑﻄﻮﺭ ﺧﻮﺩﻛﺎﺭ ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﺍﻏﺘﺸﺎﺷﺎﺕ ﺭﺍ ﺗﺨﻤﻴﻦ ﺑﺰﻧﺪ ﻭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬
‫ﺁﻥ ﻧﻴﺰ ﺿﺮﺍﻳﺐ ﺑﻬﺮﻩ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﻣﺪ ﻟﻐﺰﺷﻲ ﺭﺍ ﺗﻌﻴﻴﻦ ﻛﻨﺪ‪.‬‬
‫ﻃﺮﺍﺣﻲ ﻣﺎﻧﻮﺭ ﻭﺿﻌﻴﺖ ﻓﻀﺎﭘﻴﻤﺎ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ‪،‬‬
‫ﻛﻨﺘﺮﻟﻲ ‪ 3‬ﺟﻬﺘﻪ ﺑﻮﺩ‪ ،‬ﻣﻮﺭﺩ ﺑﺮﺭﺳﻲ ﻗﺮﺍﺭ ﮔﺮﻓﺖ]‪ .[11‬ﺍﻳﻦ ﻛﺎﺭ‪ ،‬ﻳﻚ ﺭﻭﺵ‬
‫ﺟﺪﻳﺪ ﺑﺮﺍﻱ ﻃﺮﺍﺣﻲ ﺻﻔﺤﻪ ﻫﺎﻱ ﻟﻐﺰﺷﻲ ﺑﺼﻮﺭﺕ ﺗﺤﻠﻴﻠﻲ ﭘﻴﺸﻨﻬﺎﺩ‬
‫ﻣﻲﺩﺍﺩ ﻛﻪ ﺑﺮ ﺍﺳﺎﺱ ﺑﻪ ﺣﺪﺍﻗﻞ ﺭﺳﺎﻧﺪﻥ ﻳﻚ ﺍﻧﺪﻳﺲ ﻋﻤﻠﻜﺮﺩﻱ ﺩﺭﺟﻪ‬
‫ﺩﻭﻡ ﺍﺯ ﺳﺮﻋﺖ ﻫﺎﻱ ﺯﺍﻭﻳﻪﺍﻱ ﻓﻀﺎﭘﻴﻤﺎ ﻭ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺑﻮﺩ‪.‬‬
‫‪ Dwyer‬ﻭ ‪ Sira-Ramirez‬ﺑﺎ ﺍﻟﻬﺎﻡ ﺍﺯ ﻣﺮﺟﻊ ]‪ [11‬ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ‬
‫ﻣﺪ ﻟﻐﺰﺷﻲ ﺑﺮ ﺍﺳﺎﺱ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﻏﻴﺮ ﺧﻄﻲ ﻭ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﺑﺮﺩﺍﺭ‬
‫‪ Gibbs‬ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ‪ ،‬ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩﻧﺪ ]‪ .[12‬ﺍﮔﺮﭼﻪ ‪ vadali‬ﺑﺼﻮﺭﺕ‬
‫ﻏﻴﺮ ﻣﺴﺘﻘﻴﻢ ﻭ ﺗﻨﻬﺎ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﻤﺎﺗﻴﻜﻲ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ‬
‫ﺣﺮﻛﺖ ﺍﻳﺪﻩﺁﻝ ﺭﻭﻱ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﻣﻌﺎﺩﻝ ﺑﺎ ﺧﻄﺎﻱ ﺻﻔﺮ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ‬
‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑣 ﺳﺮﻋﺖ ﺟﺮﻳﺎﻥ‪ d ،‬ﻗﻄﺮ ﻣﺘﻮﺳﻂ ﺭﻳﻨﮓ ﻭ 𝜇 ﻭﻳﺴﻜﻮﺯﻳﺘﻪ‬ ‫ﺗﻨﺶ ﺑﺮﺷﻲ ﺍﺻﻄﻜﺎﻛﻲ ﺍﻳﺠﺎﺩ ﻛﻨﻨﺪ ﺗﺎ ﺍﺯ ﻛﺎﻫﺶ ﺳﺮﻋﺖ ﺳﻴﺎﻝ ﻭ ﺍﻳﺠﺎﺩ‬
‫ﺳﻴﺎﻝ ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﺟﺮﻳﺎﻧﻬﺎﻱ ﻣﻐﺘﺸﺶ‪ ،‬ﺿﺮﻳﺐ ﺍﺻﻄﻜﺎﻙ ﺍﺯ ﺭﺍﺑﻄﻪ‬ ‫ﮔﺸﺘﺎﻭﺭ ﺭﻭﻱ ﻣﺎﻫﻮﺍﺭﻩ ﺟﻠﻮﮔﻴﺮﻱ ﻛﻨﻨﺪ‪ .‬ﺑﻪ ﻣﻨﻈﻮﺭ ﺟﺎﻧﻤﺎﻳﻲ ﺑﻬﺘﺮ ﻭ ﺍﻓﺰﺍﻳﺶ‬
‫ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪(𝑅𝑛 > 2300) :‬‬ ‫ﺭﺍﻧﺪﻣﺎﻥ ﻣﻲﺗﻮﺍﻥ ﺍﺯ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭﻣﻐﻨﺎﻃﻴﺲ ﻳﺎ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭ‪-‬‬
‫=𝑓‬
‫‪0.3164‬‬ ‫)‪(4‬‬ ‫ﺣﺮﺍﺭﺗﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻛﺮﺩ‪ .‬ﺍﻳﻦ ﭘﻤﭗ ﻫﺎ ﺑﺮ ﺍﺳﺎﺱ ﻗﺎﻧﻮﻥ ﻟﺮﻧﺰ ﻛﺎﺭ ﻣﻲ ﻛﻨﻨﺪ‪.‬‬
‫‪𝑅𝑛0.25‬‬
‫ﺑﻪ ﺍﻳﻦ ﺗﺮﺗﻴﺐ ﻛﻪ ﺑﺎ ﺍﻳﺠﺎﺩ ﻳﻚ ﻣﻴﺪﺍﻥ ﻣﻐﻨﺎﻃﺴﻴﻲ ﻭ ﺍﻳﺠﺎﺩ ﺟﺮﻳﺎﻥ‬
‫ﺑﺎ ﺿﺮﺏ ﻛﺮﺩﻥ ﺗﻨﺶ ﺑﺮﺷﻲ ﺩﺭ ﺷﻌﺎﻉ ﻋﻤﻞ )‪ (r‬ﻭ ﺍﻧﺘﮕﺮﺍﻝ ﮔﺮﻓﺘﻦ ﺍﻳﻦ‬
‫ﺍﻟﻜﺘﺮﻳﻜﻲ ﺩﺭﻭﻥ ﺳﻴﺎﻝ‪ ،‬ﻳﻚ ﻧﻴﺮﻭﻱ ﺍﻟﻘﺎﻳﻲ ﺑﻪ ﺳﻴﺎﻝ ﻭﺍﺭﺩ ﻣﻲ ﻛﻨﻨﺪ‪.‬‬
‫ﺍﻟﻤﺎﻥ ﻣﻤﺎﻥ ﺭﻭﻱ ﺳﻄﺢ ﺧﻴﺲ ﺷﺪﻩ‪ ،‬ﮔﺸﺘﺎﻭﺭ ﺍﺻﻄﻜﺎﻛﻲ ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ‬
‫ﺗﻔﺎﻭﺕ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭ‪-‬ﺣﺮﺍﺭﺗﻲ ﺑﺎ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭﻣﻐﻨﺎﻃﻴﺲ ﺩﺭ ﺍﻳﻦ‬
‫ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪:‬‬
‫ﺍﺳﺖ ﻛﻪ ﺩﺭ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭ‪-‬ﺣﺮﺍﺭﺗﻲ ﺍﺯ ﮔﺮﻣﺎﻱ ﺑﻮﺟﻮﺩ ﺁﻣﺪﻩ ﺩﺭ‬
‫‪2‬‬
‫𝑟 𝑟𝜏 𝜋‪𝑇𝑓 = 𝑠𝑖𝑔𝑛(𝜔𝑠 )2‬‬ ‫‪2‬‬
‫)‪(5‬‬
‫ﺳﻴﺴﺘﻢ ﺑﺮﺍﻱ ﺗﻮﻟﻴﺪ ﺟﺮﻳﺎﻥ ﺍﻟﻜﺘﺮﻳﻜﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﺷﻮﺩ‪ .‬ﺷﻤﺎﺗﻴﻚ ﻣﺪﻝ‬
‫ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﻓﺮﺽ ﺷﺪﻩ ﺍﺳﺖ ﻛﻪ ‪ r>>d‬ﺍﺳﺖ‪.‬‬
‫ﭘﻴﺸﻨﻬﺎﺩﻱ ﻭ ﺷﻤﺎﺗﻴﻚ ﭘﻤﭗ ﻫﺎﻱ ﺍﻟﻜﺘﺮﻭﻣﻐﻨﺎﻃﻴﺲ ﺩﺭ ﺷﻜﻞ )‪ (1‬ﻧﺸﺎﻥ‬
‫ﺑﺮﺍﻱ ﺗﻌﻴﻴﻦ ﻭﺿﻌﻴﺖ ﻳﻚ ﻣﺎﻫﻮﺍﺭﻩ ﻧﻴﺎﺯ ﺑﻪ ‪ 3‬ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﻲﺑﺎﺷﺪ‪.‬‬
‫ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺍﻭﻟﻴﻦ ﺩﺳﺘﮕﺎﻩ‪ ،‬ﺩﺳﺘﮕﺎﻩ ﺍﻳﻨﺮﺳﻴﺎﻝ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭ ﻣﺮﻛﺰ ﺯﻣﻴﻦ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ‬
‫ﺍﺳﺖ‪ .‬ﻧﺤﻮﻩ ﺗﻌﺮﻳﻒ ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﺩﺭ ﺑﺎﻻ ﺗﻮﺿﻴﺢ ﺩﺍﺩﻩ ﺷﺪ‪ .‬ﺩﺳﺘﮕﺎﻩ ﺩﻭﻡ‪،‬‬
‫ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻣﺪﺍﺭﻱ ‪ 1‬ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﺮﻛﺰ ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﺭﻭﻱ ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫‪F0‬‬

‫ﻣﺎﻫﻮﺍﺭﻩ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﺟﻬﺖ 𝑅𝑍 ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﺑﻪ ﺳﻤﺖ ﻣﺮﻛﺰ ﺟﺮﻡ‬
‫ﺯﻣﻴﻦ ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﺤﻮﺭ 𝑅𝑋 ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﺩﺭ ﺻﻔﺤﻪ ﻣﺪﺍﺭﻱ ﻗﺮﺍﺭ ﺩﺍﺭﺩ ﻛﻪ‬
‫ﻋﻤﻮﺩ ﺑﻪ ﻣﺤﻮﺭ 𝑅𝑍 ﺑﻮﺩﻩ ﻭ ﺟﻬﺖ ﺁﻥ ﺑﻪ ﺳﻤﺖ ﺑﺮﺩﺍﺭ ﺳﺮﻋﺖ ﻣﺎﻫﻮﺍﺭﻩ‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﻣﺤﻮﺭ 𝑅𝑌 ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﻋﻤﻮﺩ ﺑﻪ ﺻﻔﺤﻪ ﻣﺪﺍﺭﻱ ﺑﻮﺩﻩ ﻭ ﺟﻬﺖ‬
‫ﺁﻥ ﺑﮕﻮﻧﻪﺍﻱ ﺗﻌﻴﻴﻦ ﻣﻲﺷﻮﺩ ﻛﻪ ﺗﺸﻜﻴﻞ ﻳﻚ ﺳﻴﺴﺘﻢ ﻣﺘﻌﺎﻣﺪ ﻳﻜﻪ‬
‫ﺭﺍﺳﺘﮕﺮﺩ ﺭﺍ ﺩﻫﺪ‪ .‬ﻭﺍژﻩ 𝐼𝑅‪ ω‬ﻧﺸﺎﻥ ﺩﻫﻨﺪﻩ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ‬
‫ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﺍﻳﻨﺮﺳﻴﺎﻝ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭﻭﻥ ﺩﺳﺘﮕﺎﻩ ﺍﻳﻨﺮﺳﻴﺎﻝ ﻧﻮﺷﺘﻪ‬
‫ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺳﻮﻣﻴﻦ ﺩﺳﺘﮕﺎﻩ‪ ،‬ﺩﺳﺘﮕﺎﻩ ﺑﺪﻧﻪ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺑﻪ ﺑﺪﻧﻪ ﻣﺎﻫﻮﺍﺭﻩ ﻣﺘﺼﻞ ﺷﺪﻩ‬
‫ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺳﻬﻮﻟﺖ‪ ،‬ﻋﻤﻮﻣﺎ ﻣﺤﻮﺭﻫﺎﻱ ﺍﻳﻦ ﺩﺳﺘﮕﺎﻩ ﺑﺎ ﻣﺤﻮﺭﻫﺎﻱ ﺍﺻﻠﻲ‬
‫ﻣﺎﻫﻮﺍﺭﻩ ﻳﻜﻲ ﻣﻲﺑﺎﺷﺪ ﻭ ﺑﻄﻮﺭ ﺍﺳﻤﻲ ﺑﺎ ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻣﺪﺍﺭﻱ ﻣﻨﻄﺒﻖ‬
‫ﻣﻲﺑﺎﺷﺪ‪ .‬ﻧﻤﺎﻳﺶ ﺑﺼﺮﻱ ﺍﻳﻦ ‪ 3‬ﺩﺳﺘﮕﺎﻩ ﺩﺭ ﺷﻜﻞ )‪ (2‬ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﺷﺪﻩ‬
‫ﺍﺳﺖ‪.‬‬

‫ﺷﻜﻞ ‪ -1‬ﺷﻤﺎﺗﻴﻚ ﻣﺪﻝ ﭘﻴﺸﻨﻬﺎﺩﻱ‬

‫ﻣﻴﺰﺍﻥ ﺗﻨﺶ ﺑﺮﺷﻲ ﺑﻮﺟﻮﺩ ﺁﻣﺪﻩ ﺭﻭﻱ ﺩﻳﻮﺍﺭﻩﻫﺎﻱ ﺭﻳﻨﮓ ﺑﺮ ﺍﺛﺮ ﺣﺮﻛﺖ‬
‫ﺳﻴﺎﻝ‪ ،‬ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲ ﺁﻳﺪ‪:‬‬
‫‪1‬‬ ‫‪1‬‬
‫‪𝜏 = 𝑓𝜌𝑣 2 = 𝑓𝜌𝑟 2 𝜔2‬‬ ‫)‪(1‬‬
‫𝑠‬
‫‪8‬‬ ‫‪8‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ 𝜌 ﭼﮕﺎﻟﻲ ﺳﻴﺎﻝ‪ r ،‬ﺷﻌﺎﻉ ﺭﻳﻨﮓ‪ 𝜔𝑠 ،‬ﺳﺮﻋﺖ ﺳﻴﺎﻝ ﻧﺴﺒﺖ ﺑﻪ‬
‫ﺭﻳﻨﮓ ﻭ 𝑓 ﺿﺮﻳﺐ ﺍﺻﻄﻜﺎﻙ ﻣﻲﺑﺎﺷﺪ‪ .‬ﺑﺮﺍﻱ ﺟﺮﻳﺎﻥ ﻫﺎﻱ ﺁﺭﺍﻡ‪ ،‬ﺿﺮﻳﺐ‬
‫ﺍﺻﻄﻜﺎﻙ ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲ ﺁﻳﺪ‪(𝑅𝑛 < 2300) :‬‬
‫=𝑓‬
‫‪64‬‬ ‫)‪(2‬‬
‫𝑛𝑅‬
‫ﺷﻜﻞ ‪ -2‬ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﻘﺪﻣﺎﺗﻲ‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑛𝑅 ﻋﺪﺩ ﺭﻳﻨﻮﻟﺪﺯ ﻣﻲ ﺑﺎﺷﺪ ﻭ ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺑﻪ ﺩﺳﺖ ﻣﻲ ﺁﻳﺪ‪:‬‬
‫= 𝑅‬
‫𝑟𝑣𝜌‬ ‫)‪(3‬‬
‫𝑛‬
‫𝜇‬
‫‪1‬‬
‫‪Orbit reference frame‬‬
‫ﻣﺪﻝ‪ ،‬ﺳﻴﺴﺘﻢ ﺭﺍ ﺩﺭ ﺑﺮﺍﺑﺮ ﺍﻏﺘﺸﺎﺷﺎﺕ ﻣﺤﺪﻭﺩ ﻣﻘﺎﻭﻡ ﻧﻤﺎﻳﺪ‪ .‬ﭘﺎﺳﺦ ﺳﺮﻳﻊ ﻭ‬ ‫ﻣﻌﺎﺩﻻﺕ ﺳﻴﻨﻤﺎﺗﻴﻜﻲ ﻳﻚ ﻣﺎﻫﻮﺍﺭﻩ ﺻﻠﺐ ﺑﺮ ﺍﺳﺎﺱ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ‬
‫ﻋﻤﻠﻜﺮﺩ ﮔﺬﺭﺍ ﻣﻄﻠﻮﺏ‪ ،‬ﻣﻘﺎﻭﻣﺖ ﺩﺭ ﺑﺮﺍﺑﺮ ﻳﻚ ﮔﺮﻭﻩ ﺑﺰﺭگ ﺍﺯ ﺍﻏﺘﺸﺎﺷﺎﺕ‬ ‫ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺭﺍ ﻣﻲ ﺗﻮﺍﻥ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻧﻮﺷﺖ‪:‬‬
‫ﻳﺎ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ ﻭ ﺗﻮﺍﻧﺎﻳﻲ ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ ﺳﻴﺴﺘﻢ ﻫﺎﻱ ﻏﻴﺮﺧﻄﻲ ﭘﻴﭽﻴﺪﻩ‬ ‫‪1‬‬
‫𝒒) 𝝎(𝛀 = ̇�‬
‫𝒒‬
‫‪1‬‬
‫𝒒(𝑬 = �‬ ‫𝝎)�‬ ‫)‪(6‬‬
‫𝑹𝑩‬ ‫𝑹𝑩‬
‫‪2‬‬ ‫‪2‬‬
‫ﺍﺯ ﻣﺰﺍﻳﺎﻱ ﺍﻳﻦ ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﻣﺤﺴﻮﺏ ﻣﻲ ﺷﻮﺩ‪ .‬ﻃﺮﺍﺣﻲ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ‬
‫ﺭﻭﺵ ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ ﺍﺯ ﺩﻭ ﻣﺮﺣﻠﻪ‪ (1 :‬ﺗﻌﺮﻳﻒ ﺑﺮﺩﺍﺭ ﺳﻄﻮﺡ ﻟﻐﺰﺷﻲ ﻭ‬ ‫𝑩𝑰𝑹𝝎 ‪𝝎𝑩𝑰 = 𝝎𝑩𝑹 +‬‬ ‫)‪(7‬‬
‫‪ (2‬ﺗﻌﻴﻴﻦ ﺳﻴﮕﻨﺎﻝ ﻛﻨﺘﺮﻝ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺑﻪ ﺳﻄﻮﺡ ﻟﻐﺰﺵ ﺗﺸﻜﻴﻞ ﺷﺪﻩ‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑇] ‪ 𝒒� = [𝒒𝑻 𝑞4‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺍﺳﺖ‪ 𝝎𝑩𝑰 .‬ﺳﺮﻋﺖ‬
‫ﺍﺳﺖ‪ .‬ﺩﺭ ﺑﺨﺶ ﺍﻭﻝ‪ ،‬ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺵ ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻣﺨﺘﻠﻒ ﻫﻤﺎﻧﻨﺪ‬ ‫ﺯﺍﻭﻳﻪﺍﻱ ﺩﺳﺘﮕﺎﻩ ﺑﺪﻧﻪ ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﺍﻳﻨﺮﺳﻴﺎﻝ‪ 𝝎𝑩𝑹 ،‬ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ‪-‬‬
‫ﭘﺎﻳﺪﺍﺭﺳﺎﺯﻱ‪ ،‬ﺟﺎﮔﺬﺍﺭﻱ ﻗﻄﺐ ﻫﺎ ﻳﺎ ﺑﻬﻴﻨﻪ ﺳﺎﺯﻱ ﺩﻳﻨﺎﻣﻴﻜﻲ‪ ،‬ﺑﺮﺩﺍﺭ ﺳﻄﻮﺡ‬ ‫ﺍﻱ ﺩﺳﺘﮕﺎﻩ ﺑﺪﻧﻪ ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻭ 𝑩𝑰𝑹𝝎 ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ‬
‫ﻟﻐﺰﺷﻲ ﺑﮕﻮﻧﻪ ﺍﻱ ﻃﺮﺍﺣﻲ ﻣﻲ ﺷﻮﻧﺪ ﺗﺎ ﺍﻫﺪﺍﻑ ﻣﻮﺭﺩ ﻧﻈﺮ ﺗﺎﻣﻴﻦ ﺷﻮﻧﺪ‪ .‬ﺩﺭ‬ ‫ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﺍﻳﻨﺮﺳﻴﺎﻝ ﻣﻲﺑﺎﺷﺪ ﻛﻪ ﺩﺭ ﺩﺳﺘﮕﺎﻩ ﺑﺪﻧﻪ‬
‫ﻣﺮﺣﻠﻪ ﺩﻭﻡ ﻣﻲ ﺑﺎﻳﺴﺘﻲ ﻳﻚ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﻃﺮﺍﺣﻲ ﻧﻤﻮﺩ ﺗﺎ ﺳﻴﺴﺘﻢ ﺭﺍ‬ ‫ﻧﻮﺷﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺳﺮﻋﺖ ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ‬
‫ﻣﺠﺒﻮﺭ ﺑﻪ ﺣﺮﻛﺖ ﺑﻪ ﺳﻤﺖ ﺍﻳﻦ ﺳﻄﻮﺡ ﻟﻐﺰﺷﻲ ﻧﻤﺎﻳﻴﻢ‪.‬‬ ‫ﺍﻳﻨﺮﺳﻴﺎﻝ ﺑﺴﺘﮕﻲ ﺑﻪ ﻣﺪﺍﺭ ﻣﺎﻫﻮﺍﺭﻩ ﺩﺍﺭﺩ‪ .‬ﻣﻲﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ ﺍﻳﻦ‬
‫ﺩﺭ ﻣﺎﻧﻮﺭ ﺗﻌﻘﻴﺐ ﻭﺿﻌﻴﺖ‪ ،‬ﻣﺎﻫﻮﺍﺭﻩ ﻳﺎ ﻓﻀﺎﭘﻴﻤﺎ ﺑﺎﻳﺪ ﻳﻚ ﻣﺴﻴﺮ ﻣﺮﺟﻊ‬ ‫𝑻‬
‫ﺳﺮﻋﺖ ﺑﺮﺍﻱ ﻣﺪﺍﺭﻫﺎﻱ ﺩﺍﻳﺮﻭﻱ ﺑﺼﻮﺭﺕ �‪0‬‬
‫𝜇‬
‫�‪𝝎𝑹𝑰 = �0 −‬‬
‫ﻣﻄﻠﻮﺏ ﺭﺍ ﻛﻪ ﺑﻮﺳﻴﻠﻪ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﻣﺮﺟﻊ 𝒅�𝒒 ﻭ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻣﺮﺟﻊ‬ ‫𝑅‬

‫𝒅𝝎 ﺗﻌﺮﻳﻒ ﻣﻲﺷﻮﻧﺪ ﺭﺍ ﺗﻌﻘﻴﺐ ﻧﻤﺎﻳﻨﺪ‪ .‬ﺩﺭ ﺣﻘﻴﻘﺖ‪ ،‬ﺣﺮﻛﺖ ﻣﺮﺟﻊ ﺑﻮﺳﻴﻠﻪ‬ ‫ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﻣﺎﺗﺮﻳﺲ ﻫﺎﻱ )�𝒒(𝑬 ﻭ )𝝎(𝛀 ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ‬
‫ﺟﻬﺖﮔﻴﺮﻱ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﻮﺭﺩ ﻧﻈﺮ }‪ {T‬ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ‬ ‫ﺷﻮﻧﺪ‪:‬‬
‫ﻣﺨﺘﺼﺎﺕ ﻣﺮﺟﻊ }‪ {R‬ﻳﺎ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﺍﻳﻨﺮﺳﻴﺎﻝ }‪ {I‬ﻛﻪ ﺑﻮﺳﻴﻠﻪ‬ ‫� = )�‬
‫𝒒(𝑬‬
‫𝐈 ‪𝐪× + q4‬‬
‫�‬ ‫)‪(8‬‬
‫𝐓𝐪‪−‬‬
‫𝒅�𝒒 ﺑﻴﺎﻥ ﻣﻲﺷﻮﻧﺪ ﻭ ﻫﻤﭽﻨﻴﻦ ﻣﻮﻟﻔﻪﻫﺎﻱ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺩﺳﺘﮕﺎﻩ‬
‫𝑻 𝝎‪𝛀(𝝎) = �−‬‬
‫×‬
‫�𝝎‬ ‫)‪(9‬‬
‫ﻣﺨﺘﺼﺎﺕ ﺑﺪﻧﻪ }‪ {B‬ﻧﺴﺒﺖ ﺑﻪ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﺍﻳﻨﺮﺳﻴﺎﻝ }‪ {I‬ﻛﻪ‬ ‫𝝎‪−‬‬ ‫𝟎‬
‫ﺑﻮﺳﻴﻠﻪ 𝒅𝝎 ﺑﻴﺎﻥ ﻣﻲ ﺷﻮﻧﺪ‪ ،‬ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﻧﺪ‪ 𝝎𝒅 .‬ﺩﺭ ﺑﻴﺸﺘﺮ ﻛﺎﺭﺑﺮﺩﻫﺎ‬ ‫ﻣﻌﺎﺩﻟﻪ ﺩﻳﻨﺎﻣﻴﻜﻲ ﺳﺎﺩﻩ ﺷﺪﻩ ﻳﻚ ﻣﺎﻫﻮﺍﺭﻩ ﺻﻠﺐ ﻛﻪ ﻣﺠﻬﺰ ﺑﻪ‬
‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﺩ‪:‬‬ ‫ﻋﻤﻠﮕﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺍﺳﺖ ﺭﺍ ﻣﻲ ﺗﻮﺍﻥ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭﻭﺍﺑﻂ ﺍﻭﻟﺮ‬
‫𝑹𝑹 = 𝒅𝝎‬ ‫𝝎)𝒒𝜹( 𝑩‬
‫�‬ ‫�‬ ‫𝒅‬ ‫)‪(13‬‬ ‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻧﻮﺷﺖ‪:‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑹𝑩𝑹 ﻣﺎﺗﺮﻳﺲ ﺩﻭﺭﺍﻥ ﺍﺯ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﺮﺟﻊ ﺑﻪ ﺩﺳﺘﮕﺎﻩ‬
‫×‬ ‫×‬ ‫̇‬
‫𝒈𝒈𝑻 ‪𝑱𝝎̇ = −𝝎 𝑱𝝎 − 𝝎 𝑱𝒓 𝛀 − 𝑱𝒓 𝛀 + 𝑻𝒅 +‬‬ ‫)‪(10‬‬
‫𝝎 ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺩﺳﺘﮕﺎﻩ ﻣﺮﺟﻊ ﻭ �𝒒𝜹 ﺧﻄﺎﻱ‬ ‫ﺑﺪﻧﻪ ﻣﻲ ﺑﺎﺷﺪ‪� 𝒅 .‬‬
‫̇‬ ‫×‬
‫𝒇𝑻 ‪𝑱𝒓 �𝛀 + 𝝎̇� + 𝝎 𝑱𝒓 𝛀 = 𝑻𝒄 −‬‬ ‫)‪(11‬‬
‫ﺗﻌﻘﻴﺐ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺍﺳﺖ ﻛﻪ ﺍﺯ ﺭﺍﺑﻄﻪ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ‪:‬‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑱 ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ﻣﺎﻫﻮﺍﺭﻩ ﻫﻤﺮﺍﻩ ﺑﺎ ﻋﻤﻠﮕﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ‬
‫𝒒𝛿‬‫𝒒=�‬ ‫𝒒⊗�‬ ‫𝒅�‬‫𝟏‪−‬‬
‫)‪(14‬‬ ‫ﺳﻴﺎﻟﻲ‪ 𝑱𝒓 ،‬ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ﻋﻤﻠﮕﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ‪ 𝛀 ،‬ﺳﺮﻋﺖ‬
‫ﻛﻪ ﺩﺭ ﺁﻥ ⊗ ﻋﻤﻠﮕﺮ ﺿﺮﺏ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﻭ 𝒅�𝒒 ﻣﺰﺩﻭﺝ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺍﺳﺖ‬
‫𝟏‪−‬‬ ‫ﺯﺍﻭﻳﻪﺍﻱ ﻣﺘﻮﺳﻂ ﺳﻴﺎﻝ ﺩﺭﻭﻥ ﻋﻤﻠﮕﺮﻫﺎﻱ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﻧﺴﺒﺖ ﺑﻪ ﺑﺪﻧﻪ‬
‫ﻛﻪ ﺗﻮﺻﻴﻒ ﻛﻨﻨﺪﻩ ﺟﻬﺖ ﮔﻴﺮﻱ ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﺍﻳﻨﺮﺳﻴﺎﻝ ﻧﺴﺒﺖ ﺑﻪ‬ ‫ﻣﺎﻫﻮﺍﺭﻩ‪ 𝑻𝒅 ،‬ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﻧﺎﺷﻲ ﺍﺯ ﻋﺪﻡ‬
‫ﺩﺳﺘﮕﺎﻩ ﻣﺨﺘﺼﺎﺕ ﻣﻮﺭﺩﻧﻈﺮ }‪ {T‬ﺍﺳﺖ‪ .‬ﻣﺰﺩﻭﺝ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﺑﺼﻮﺭﺕ ﺯﻳﺮ‬ ‫ﻗﻄﻌﻴﺖ ﺩﺭ ﻣﺪﻝ‪ 𝑻𝒈𝒈 ،‬ﮔﺸﺘﺎﻭﺭ ﮔﺮﺍﺩﻳﺎﻥ ﺟﺎﺫﺑﻪ‪ 𝑻𝒄 ،‬ﮔﺸﺘﺎﻭﺭ ﻛﻨﺘﺮﻟﻲ ﻭ‬
‫ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﺩ‪:‬‬ ‫𝒇𝑻 ﮔﺸﺘﺎﻭﺭ ﺍﺻﻄﻜﺎﻛﻲ ﺍﺳﺖ‪.‬‬
‫𝑻‬
‫)‪(15‬‬ ‫ﮔﺸﺘﺎﻭﺭ ﮔﺮﺍﺩﻳﺎﻥ ﺟﺎﺫﺑﻪ 𝑮𝑮𝑻‪ ،‬ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲﺁﻳﺪ‪:‬‬
‫𝟏‪�−‬‬
‫𝒒‬ ‫𝑻‬
‫� ‪𝒅 = �−𝒒𝒅 𝑞𝑑4‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻌﺎﺭﻳﻒ ﺑﺎﻻ‪ ،‬ﻣﻲ ﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ ﻣﺸﺘﻖ ﺗﻌﻘﻴﺐ ﺧﻄﺎﻱ‬ ‫𝜇‪3‬‬ ‫)‪(12‬‬
‫= 𝑮𝑮𝑻‬ ‫𝑹𝑱( × �‬
‫𝑹‬ ‫)�‬
‫ﻛﻮﺍﺗﺮﻧﻴﻮﻥ ﻭ ﻣﺸﺘﻖ 𝒅𝝎 ﺍﺯ ﺭﻭﺍﺑﻂ ﺯﻳﺮ ﺑﺪﺳﺖ ﻣﻲ ﺁﻳﺪ ]‪:[22‬‬ ‫‪𝑟3‬‬
‫‪1‬‬ ‫‪1‬‬ ‫)‪(16‬‬ ‫𝑹 ﺑﺮﺩﺍﺭ ﻳﻜﻪ ﺩﺭ ﺟﻬﺖ ﺷﻌﺎﻋﻲ ﻭ 𝑱‬
‫ﻛﻪ ﺩﺭ ﺁﻥ 𝑅 ﺷﻌﺎﻉ ﻣﺪﺍﺭ ﻣﺎﻫﻮﺭﺍﻩ‪� ،‬‬
‫𝝎‪𝛿𝒒̇ = − 𝐾|𝛿𝑞 |𝛿𝒒 + 𝛿𝒒× [2‬‬
‫‪4‬‬ ‫𝒅‬
‫‪2‬‬ ‫‪2‬‬ ‫ﺗﺎﻧﺴﻮﺭ ﻣﻤﺎﻥ ﺍﻳﻨﺮﺳﻲ ﻣﺎﻫﻮﺍﺭﻩ ﻣﻲﺑﺎﺷﺪ‪ µ = 𝐺𝑀 .‬ﺍﺳﺖ ﻛﻪ ‪ G‬ﺛﺎﺑﺖ‬
‫]𝒒𝛿) ‪− 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4‬‬ ‫ﺟﻬﺎﻧﻲ ﮔﺮﺍﻧﺶ ﺍﺳﺖ ﻭ ‪ M‬ﺟﺮﻡ ﺯﻣﻴﻦ ﺍﺳﺖ‪.‬‬
‫‪1‬‬
‫) ‪𝛿𝑞̇ 4 = 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4 )(1 − 𝛿𝑞42‬‬ ‫)‪(17‬‬
‫‪2‬‬
‫𝝎)�‬
‫𝒒𝜹(𝑹 = 𝒅̇𝝎‬ ‫×𝝎 ‪�̇ 𝒅 −‬‬ ‫𝝎)�‬
‫𝒒𝜹(𝑹 𝒆‬ ‫𝒅�‬ ‫)‪(18‬‬ ‫ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ‬
‫ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﻣﺪ ﻟﻐﺰﺷﻲ )‪ (SMC‬ﻳﻚ ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﻏﻴﺮ ﺧﻄﻲ ﺍﺳﺖ‬
‫ﻛﻪ ﻣﻴﺘﻮﺍﻧﺪ ﻋﻠﻲ ﺭﻏﻢ ﺩﻳﻨﺎﻣﻴﻚ ﻫﺎﻱ ﻣﺪﻝ ﻧﺸﺪﻩ ﻭ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ ﺩﺭ‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﻣﻌﺎﺩﻟﻪ ﺩﻳﻨﺎﻣﻴﻜﻲ ﻣﺎﻫﻮﺍﺭﻩ ﺩﺭ ﻣﺸﺘﻖ ﺭﺍﺑﻄﻪ )‪ ،(19‬ﺧﻮﺍﻫﻴﻢ‬ ‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﮔﻔﺘﻪ ﺷﺪ ﺩﺭ ﺑﺨﺶ ﺍﻭﻝ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ ﻟﻐﺰﺷﻲ‪ ،‬ﺑﺎﻳﺪ‬
‫ﺩﺍﺷﺖ‪:‬‬ ‫ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﺭﺍ ﺑﮕﻮﻧﻪ ﺍﻱ ﺗﻌﻴﻴﻦ ﻛﺮﺩ ﻛﻪ ﺍﻫﺪﺍﻑ ﻣﺎ ﺩﺭ ﻣﺎﻧﻮﺭ ﺗﻌﻘﻴﺐ‬
‫𝒈𝒈𝑻 ‪𝑱𝒔̇ = −𝝎 𝑱𝝎 − 𝝎 𝑱𝒓 𝛀 − 𝑱𝒓 𝛀̇ + 𝑻𝒅 +‬‬
‫×‬ ‫×‬
‫)‪(25‬‬ ‫ﻭﺿﻌﻴﺖ ﺑﺮﺁﻭﺭﺩﻩ ﺷﻮﺩ‪ .‬ﺑﻪ ﻫﻤﻴﻦ ﻣﻨﻈﻮﺭ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﺑﺼﻮﺭﺕ ﺯﻳﺮ‬
‫̇𝒒𝜹𝑱) ‪− 𝑱𝝎̇𝒅 + 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4‬‬ ‫ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫𝒅𝑻 ‪= −𝝎× 𝑱𝝎 − 𝑻𝒄 + 𝑻𝒇 +‬‬
‫𝒅̇𝝎𝑱 ‪+ 𝑻𝒈𝒈 −‬‬
‫𝟎 = 𝒒𝛿) ‪𝒔 = 𝝎𝒆 + 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4‬‬ ‫)‪(19‬‬
‫̇𝒒𝜹𝑱) ‪+ 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4‬‬
‫ﺑﺎﻳﺪ ﺑﻪ ﺍﻳﻦ ﻧﻜﺘﻪ ﺗﻮﺟﻪ ﺩﺍﺷﺖ ﻛﻪ ﺩﺭ ﺗﻌﻴﻴﻦ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺭﺍﺑﻄﻪ )‪ (25‬ﺩﺭﻭﻥ ﻣﺸﺘﻖ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺧﻮﺍﻫﻴﻢ ﺩﺍﺷﺖ‪:‬‬ ‫𝒒𝛿‪ −‬ﺍﺯ ﻟﺤﺎﻅ ﻓﻴﺰﻳﻜﻲ ﻫﺮ ﺩﻭ ﻧﻤﺎﻳﻨﺪﻩ‬ ‫ﺍﺯ ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‪ 𝛿𝒒� ،‬ﻭ �‬
‫𝒈𝒈𝑻 ‪𝑉̇ (𝒔) = 𝒔𝑻 (−𝝎× 𝑱𝝎 − 𝑻𝒄 + 𝑻𝒇 + 𝑻𝒅 +‬‬ ‫)‪(26‬‬ ‫ﻳﻚ ﺧﻄﺎﻱ ﺩﻭﺭﺍﻥ ﻫﺴﺘﻨﺪ‪ ،‬ﺩﺭ ﺣﺎﻟﻴﻜﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﻳﻜﻲ ﺍﺯ‬
‫) ̇𝒒𝜹𝑱) ‪− 𝑱𝝎̇𝒅 + 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4‬‬ ‫ﺁﻧﻬﺎ ﻛﻤﺘﺮﻳﻦ ﻣﺴﻴﺮ ﺯﺍﻭﻳﻪﺍﻱ ﺭﺍ ﺑﺮﺍﻱ ﺭﺳﻴﺪﻥ ﺑﻪ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﻣﻲ‬
‫ﺑﺮﺍﻱ ﺍﻳﻨﻜﻪ ﺳﻴﺴﺘﻢ ﺑﻪ ﻃﺮﻑ ﺳﻄﻮﺡ ﻟﻐﺰﺷﻲ ﺣﺮﻛﺖ ﻛﻨﺪ‪ ،‬ﺑﺎﻳﺪ ﻗﺎﻧﻮﻥ‬
‫ﭘﻴﻤﺎﻳﺪ ﻭ ﺩﻳﮕﺮﻱ ﺑﻴﺸﺘﺮﻳﻦ ﻣﺴﻴﺮ ﺯﺍﻭﻳﻪﺍﻱ ﺭﺍ ﻣﻲﭘﻴﻤﺎﻳﺪ‪ .‬ﺗﺎﺑﻊ 𝑛𝑔𝑖𝑠 ﺩﺭ‬
‫ﻛﻨﺘﺮﻟﻲ ﺑﮕﻮﻧﻪ ﺍﻱ ﺍﻧﺘﺨﺎﺏ ﺷﻮﺩ ﻛﻪ ﻣﺸﺘﻖ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ ﻳﻚ ﺗﺎﺑﻊ ﻣﻨﻔﻲ‬
‫ﻣﻌﺎﺩﻟﻪ )‪ (19‬ﺑﻪ ﺍﻳﻦ ﻣﻨﻈﻮﺭ ﻛﻪ ﻣﺎﻫﻮﺍﺭﻩ ﻛﻤﺘﺮﻳﻦ ﻣﺴﻴﺮ ﺯﺍﻭﻳﻪ ﺍﻱ ﺭﺍ‬
‫ﻣﻌﻴﻦ ﺷﻮﺩ‪ .‬ﺑﺮﺍﻱ ﻧﻴﻞ ﺑﻪ ﺍﻳﻦ ﻫﺪﻑ‪ ،‬ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﻧﻈﺮ‬
‫ﺑﭙﻴﻤﺎﻳﺪ‪ ،‬ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﺩﺭ ﻣﺮﺟﻊ ]‪ ،[22‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻛﻪ ﺍﻳﻦ‬
‫ﮔﺮﻓﺘﻪ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫ﺳﻄﻮﺡ ﻟﻐﺰﺵ ﺗﺎﺑﻊ ﻫﺪﻑ ﺯﻳﺮ ﺭﺍ ﺑﻪ ﺣﺪﺍﻗﻞ ﻣﻲ ﺭﺳﺎﻧﺪ‪:‬‬
‫×‬
‫𝒅̇𝝎𝑱 ‪𝑻𝒄 = −𝝎 𝑱𝝎 + 𝑻𝒇 + 𝑻𝒈𝒈 −‬‬ ‫)‪(27‬‬
‫𝒔 𝟏𝑲 ‪+ 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4 )𝑱𝜹𝒒̇ +‬‬ ‫𝑡 ‪1‬‬
‫𝒒𝜹𝜌{ � [ ‪�) = lim‬‬ ‫𝒒𝜹)𝜏( 𝑻�‬ ‫)𝜏(�‬
‫)‪(20‬‬
‫𝒒 ‪𝐽(𝝎,‬‬
‫)𝒔(𝑛𝑔𝑖𝑠 𝑥𝑎𝑚𝑑𝑇 ‪+‬‬ ‫∞→𝑡‬ ‫‪2‬‬ ‫𝑠𝑡‬
‫ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ﺗﺎﺑﻊ )𝒔(𝑛𝑔𝑖𝑠 ﻳﻚ ﺗﺎﺑﻊ ﺑﺮﺩﺍﺭﻱ ﻣﻲ ﺑﺎﺷﺪ ﻭ ﻓﺮﺽ ﻣﻲ‪-‬‬ ‫]𝜏𝑟})𝜏( 𝒆𝝎)𝜏( 𝒆𝑇𝝎 ‪+‬‬
‫ﻛﻨﻴﻢ ﻛﻪ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺵ ﺧﺎﺭﺟﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﻧﺎﺷﻲ ﺍﺯ ﻋﺪﻡ‬ ‫ﻛﻪ ﺩﺭ ﺁﻥ 𝒅𝝎 ‪ 𝝎𝒆 = 𝝎 −‬ﺧﻄﺎﻱ ﺗﻌﻘﻴﺐ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ‬
‫ﻗﻄﻌﻴﺖ ﻫﺎ ﻣﺤﺪﻭﺩ ﻫﺴﺘﻨﺪ ﺑﻪ ﮔﻮﻧﻪﺍﻱ ﻛﻪ 𝑥𝑎𝑚𝑑𝑇 ≤ � 𝒊𝒅𝑻�‪ .‬ﺍﻳﻦ‬ ‫ﺍﺳﺖ ﻭ 𝜌 ﻧﻴﺰ ﻳﻚ ﺿﺮﻳﺐ ﺑﻬﺮﻩ ﺍﺳﻜﺎﻟﺮ ﻣﻲ ﺑﺎﺷﺪ‪ 𝑡𝑠 .‬ﻧﻴﺰ ﺯﻣﺎﻥ ﺭﺳﻴﺪﻥ‬
‫ﻓﺮﺽ ﺑﻪ ﺍﻳﻦ ﻣﻌﻨﻲ ﺍﺳﺖ ﻛﻪ ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﮔﺸﺘﺎﻭﺭﻫﺎ‪ ،‬ﻗﺒﻞ ﺍﺯ ﭘﺮﺗﺎﺏ‬ ‫ﺑﻪ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫ﻣﺎﻫﻮﺍﺭﻩ ﺑﺮﺍﻱ ﻣﻬﻨﺪﺳﺎﻥ ﻗﺎﺑﻞ ﺗﻌﻴﻴﻦ ﺍﺳﺖ‪ 𝑲𝟏 .‬ﻧﻴﺰ ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺜﺒﺖ‬ ‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺗﺌﻮﺭﻱ ﭘﺎﻳﺪﺍﺭﻱ ﻟﻴﺎﭘﺎﻧﻮﻑ ﻣﻲﺗﻮﺍﻥ ﻧﺸﺎﻥ ﺩﺍﺩ ﻛﻪ ﻣﺴﻴﺮ‬
‫ﻣﻌﻴﻦ ﺍﺳﺖ ﻛﻪ ﺳﺮﻋﺖ ﺭﺳﻴﺪﻥ ﺑﻪ ﺳﻄﻮﺡ ﻟﻐﺰﺷﻲ ﺭﺍ ﺩﺭ ﻧﻘﺎﻁ ﺩﻭﺭ ﺍﺯ ﺁﻥ‬ ‫ﻟﻐﺰﺵ ﺩﺭ ﻓﻀﺎﻱ ﺣﺎﻟﺖ ﭘﺎﻳﺪﺍﺭ ﻣﺠﺎﻧﺒﻲ ﺍﺳﺖ‪ .‬ﺑﺮﺍﻱ ﺍﻳﻦ ﻛﺎﺭ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ‬
‫ﺍﻓﺰﺍﻳﺶ ﻣﻲ ﺩﻫﺪ‪.‬‬ ‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﭘﻴﺸﻨﻬﺎﺩ ﻣﻲﺷﻮﺩ‪:‬‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺭﺍﺑﻄﻪ )‪ ، (27‬ﺩﺭﻭﻥ ﺭﺍﺑﻄﻪ )‪ (26‬ﺩﺍﺭﻳﻢ‪:‬‬ ‫𝒒𝛿 𝒒𝛿 = )𝒒𝛿(𝑉‬
‫𝑻 ‪1‬‬ ‫)‪(21‬‬
‫‪2‬‬
‫‪1‬‬ ‫‪1‬‬
‫𝑇 ‪𝑉̇ (𝒔) = − 𝒔𝑻 𝑲 𝒔 + 𝒔𝑻 �𝑻 −‬‬ ‫�)𝒔(𝑛𝑔𝑖𝑠‬ ‫)‪(28‬‬ ‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺭﻭﺍﺑﻂ )‪ (17) ،(16‬ﻭ )‪ (18‬ﺩﺭﻭﻥ ﻣﺸﺘﻖ ﺭﺍﺑﻄﻪ )‪ ،(21‬ﺩﺍﺭﻳﻢ‪:‬‬
‫𝟏‬ ‫𝒅‬ ‫𝑥𝑎𝑚𝑑‬
‫‪2‬‬ ‫‪2‬‬
‫𝑻 ‪1‬‬ ‫𝑻 ‪1‬‬
‫‪1‬‬
‫𝒒𝛿 𝑻𝒒𝛿| 𝑞𝛿|𝐾 ‪𝑉̇ (𝛿𝒒) = −‬‬ ‫)‪(22‬‬
‫‖ 𝒅𝑻‖ 𝒔 ‪≤ − 𝒔 𝑲𝟏 𝒔 +‬‬ ‫‪2‬‬ ‫‪4‬‬
‫‪2‬‬ ‫‪2‬‬
‫‪1‬‬ ‫ﺑﻪ ﺷﺮﻃﻲ ﻛﻪ ‪ 𝐾 > 0‬ﺑﺎﺷﺪ‪ ،‬ﺭﺍﺑﻄﻪ ﺑﺎﻻ ﻳﻚ ﺭﺍﺑﻄﻪ ﻣﻨﻔﻲ ﻣﻌﻴﻦ ﺧﻮﺍﻫﺪ‬
‫𝑥𝑎𝑚𝑑𝑇|𝒔| ‪−‬‬
‫‪2‬‬ ‫ﺑﻮﺩ‪ .‬ﺍﻳﻦ ﺍﻣﺮ ﻧﺸﺎﻥ ﻣﻲ ﺩﻫﺪ ﻛﻪ ﺍﮔﺮ ∞ → 𝑡‪ ،‬ﺁﻧﮕﺎﻩ ‪ 𝛿𝒒 → 0‬ﻣﻴﻞ‬
‫‪1‬‬ ‫‪1‬‬
‫‖ 𝒅𝑻‖‖𝒔‖ ‪≤ − 𝒔𝑻 𝑲𝟏 𝒔 +‬‬
‫‪2‬‬ ‫‪2‬‬
‫ﺧﻮﺍﻫﺪ ﻛﺮﺩ‪ .‬ﻭ ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺗﻌﺮﻳﻒ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺵ ﺩﺭ ﺭﺍﺑﻄﻪ )‪،(19‬‬
‫‪1‬‬ ‫‪1‬‬
‫𝒔 𝟏𝑲 𝑻𝒔 ‪− ‖𝒔‖𝑇𝑑𝑚𝑎𝑥 ≤ −‬‬ ‫𝟎 → 𝒆𝝎 ﻣﻴﻞ ﺧﻮﺍﻫﺪ ﻛﺮﺩ‪.‬‬
‫‪2‬‬ ‫‪2‬‬
‫ﻛﻪ ﺩﺭ ﺁﻥ )𝒔(𝑛𝑔𝑖𝑠 𝑻𝒔 = |𝒔| ﺍﺳﺖ ﻭ ‖𝒔‖ ﻧﺮﻡ ﺩﻭ ﺑﺮﺩﺍﺭ ‪ s‬ﻣﻲ ﺑﺎﺷﺪ‪.‬‬ ‫ﺑﺮﺍﻱ ﺍﺛﺒﺎﺕ ﺍﻳﻨﻜﻪ ﺣﺮﻛﺖ ﻭﺿﻌﻴﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺑﻪ ﺳﻤﺖ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ‬
‫ﺩﺭ ﺑﺪﺳﺖ ﺁﻭﺭﺩﻥ ﺭﺍﺑﻄﻪ )‪ (28‬ﺍﺯ ﺍﻳﻦ ﻧﻜﺘﻪ ﻛﻪ ‖𝒔‖ ≥ |𝒔| ﺍﺳﺖ‪،‬‬ ‫ﻫﻤﮕﺮﺍ ﻣﻲ ﺷﻮﺩ )𝟎 = 𝒔( ﻭ ﺭﻭﻱ ﺁﻥ ﺑﺎﻗﻲ ﻣﻲ ﻣﺎﻧﺪ )𝟎 = ̇𝒔(‪ ،‬ﺗﺎﺑﻊ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﻃﺒﻖ ﺭﺍﺑﻄﻪ )‪ 𝑉̇(𝒔) ،(28‬ﻳﻚ ﺗﺎﺑﻊ ﻣﻨﻔﻲ‬ ‫ﻟﻴﺎﭘﺎﻧﻮﻑ ﺯﻳﺮ ﭘﻴﺸﻨﻬﺎﺩ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫ﻣﻌﻴﻦ ﺑﻮﺩﻩ ﻭ ﺩﺭ ﻧﺘﻴﺠﻪ ﺑﺎ ﺍﻋﻤﺎﻝ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ‪ ،‬ﺳﻴﺴﺘﻢ ﻋﻠﻲ ﺭﻏﻢ ﻭﺟﻮﺩ‬ ‫𝒔𝑱 𝒔 = )𝒔(𝑉‬
‫𝑻 ‪1‬‬ ‫)‪(23‬‬
‫‪2‬‬
‫ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺵ ﺧﺎﺭﺟﻲ ﺑﻪ ﺳﻤﺖ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﺣﺮﻛﺖ ﻣﻲ‪-‬‬ ‫ﺍﻳﻦ ﺗﺎﺑﻊ‪ ،‬ﻳﻚ ﺗﺎﺑﻊ ﻣﻨﺎﺳﺐ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺍﺳﺖ‪ .‬ﺯﻳﺮﺍ ﺩﺭ ﻧﻘﻄﻪ ﺗﻌﺎﺩﻝ )= 𝒔‬
‫ﻛﻨﺪ‪.‬‬ ‫𝟎( ﻣﻘﺪﺍﺭ ﺁﻥ ﺑﺮﺍﺑﺮ ﺻﻔﺮ ﺍﺳﺖ ﻭ ﺩﺭ ﻧﻘﺎﻁ ﺩﻳﮕﺮ ﻣﺜﺒﺖ ﻣﻌﻴﻦ ﺍﺳﺖ‪ .‬ﺯﻳﺮﺍ‬
‫ﻭﺟﻮﺩ ﺗﺎﺑﻊ ‪ sign‬ﺩﺭ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﺑﺎﻋﺚ ﭘﺪﻳﺪﻩ ‪ chattering‬ﺑﺎ ﻓﺮﻛﺎﻧﺲ‬ ‫ﻣﺎﺗﺮﻳﺲ ﺍﻳﻨﺮﺳﻲ ‪ J‬ﻳﻚ ﻣﺎﺗﺮﻳﺲ ﻣﺜﺒﺖ ﻣﻌﻴﻦ ﺍﺳﺖ‪ .‬ﻣﺸﺘﻖ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ‬
‫ﺑﺎﻻ ﺩﺭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻣﻲ ﺷﻮﺩ‪ .‬ﺩﺭ ﻭﺍﻗﻊ ﭘﺪﻳﺪﻩ ‪ chattering‬ﺑﺎﻋﺚ‬ ‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻣﻲ ﺑﺎﺷﺪ‪:‬‬
‫ﻣﻲ ﺷﻮﺩ ﺗﺎ ﻋﻤﻠﮕﺮ ﻛﻨﺘﺮﻟﻲ ﺑﺎ ﻓﺮﻛﺎﻧﺲ ﺑﺎﻻ ﻗﻄﻊ ﻭ ﻭﺻﻞ ﺷﻮﺩ‪ .‬ﺍﻳﻦ ﺍﻣﺮ‬ ‫̇𝒔𝑱 𝑻𝒔 = )𝒔( 𝑉̇‬ ‫)‪(24‬‬
‫ﺑﺎﻋﺚ ﻣﻲ ﺷﻮﺩ ﻛﻪ ﺩﻳﻨﺎﻣﻴﻚ ﻫﺎﻱ ﻓﺮﻛﺎﻧﺲ ﺑﺎﻻ ﻛﻪ ﺩﺭ ﻣﺪﻝ ﺩﻳﻨﺎﻣﻴﻜﻲ‬
‫ﺍﻛﻨﻮﻥ ﺑﺎﻳﺪ ﻳﻚ ﻗﺎﻧﻮﻥ ﺗﻄﺒﻴﻖ ﺑﺮﺍﻱ ﺑﺮﻭﺯﺭﺳﺎﻧﻲ �𝛾 ﻃﺮﺍﺣﻲ ﻛﻨﻴﻢ‪ ،‬ﺑﮕﻮﻧﻪ‪-‬‬ ‫ﺣﺬﻑ ﺷﺪﻩ ﺍﻧﺪ )ﺑﺮﺍﻱ ﻣﺜﺎﻝ ﻣﺪﻫﺎﻱ ﺳﺎﺧﺘﺎﺭﻱ ﻣﺪﻝ ﻧﺸﺪﻩ‪ ،‬ﺗﺎﺧﻴﺮﺍﺕ‬
‫ﺍﻱ ﻛﻪ ﺍﺯ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﻣﻄﻤﺌﻦ ﺑﺎﺷﻴﻢ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺭﺍ‬ ‫ﺯﻣﺎﻧﻲ ﺣﺬﻑ ﺷﺪﻩ ﻭ …( ﺗﺤﺮﻳﻚ ﺷﻮﻧﺪ ﻛﻪ ﺩﺭ ﻧﻬﺎﻳﺖ ﺑﺎﻋﺚ ﺳﺎﻳﺶ‬
‫ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭﻧﻈﺮ ﻣﻲ ﮔﻴﺮﻳﻢ‪:‬‬ ‫ﻗﻄﻌﺎﺕ ﻣﻜﺎﻧﻴﻜﻲ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻳﻦ ﺍﻣﺮ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﺮﻣﺘﺮ ﻛﺮﺩﻥ ﺗﺎﺑﻊ ‪sign‬‬
‫‪1‬‬
‫𝟐 ̅𝛾𝑃 ‪𝑉(𝒔, 𝛾�) = 𝒔𝑻 𝑱𝒔 +‬‬
‫‪1‬‬ ‫)‪(32‬‬ ‫ﺑﻮﺳﻴﻠﻪ ﻳﻚ ﺗﺎﺑﻊ ﺍﺷﺒﺎﻉ ﻗﺎﺑﻞ ﺣﻞ ﺍﺳﺖ‪ .‬ﻫﺮ ﭼﻪ ﺍﻳﻦ ﺗﺎﺑﻊ ﻧﺮﻣﺘﺮ ﺑﺎﺷﺪ‬
‫‪2‬‬ ‫‪2‬‬
‫ﺑﺎ ﻣﺸﺘﻖ ﮔﻴﺮﻱ ﺍﺯ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ ﻧﺴﺒﺖ ﺑﻪ ﺯﻣﺎﻥ ﺩﺍﺭﻳﻢ‪:‬‬ ‫ﺍﺣﺘﻤﺎﻝ ﭘﺪﻳﺪﻩ ‪ chattering‬ﻛﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ ﻭﻟﻲ ﺩﺭ ﻋﻮﺽ ﺧﻄﺎﻱ ﺣﺎﻟﺖ‬
‫̅ ̇𝛾 ̅𝛾𝑃 ‪𝑉̇ (𝒔, 𝛾�) = 𝒔 𝑱𝒔̇ +‬‬
‫𝑻‬
‫)‪(33‬‬ ‫ﻣﺎﻧﺪﮔﺎﺭ ﺳﻴﺴﺘﻢ ﻧﻴﺰ ﺍﻓﺰﺍﻳﺶ ﻭ ﻋﻤﻠﻜﺮﺩ ﺁﻥ ﻛﺎﻫﺶ ﻣﻲﻳﺎﺑﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫̇̅𝛾 ﺑﺎﻳﺪ ﺑﮕﻮﻧﻪﺍﻱ ﺍﻧﺘﺨﺎﺏ ﺷﻮﺩ ﻛﻪ ﻣﺸﺘﻖ ﺗﺎﺑﻊ ﻟﻴﺎﭘﺎﻧﻮﻑ ﺗﺒﺪﻳﻞ ﺑﻪ ﻳﻚ‬ ‫ﺗﻌﻴﻴﻦ ﺍﻳﻦ ﺗﺎﺑﻊ ﺍﺷﺒﺎﻉ ﺩﺭ ﺣﻘﻴﻘﺖ ﻳﻚ ﺳﺒﻚ ﺳﻨﮕﻴﻨﻲ ﺑﻴﻦ ﻋﻤﻠﻜﺮﺩ‬
‫ﺗﺎﺑﻊ ﻣﻨﻔﻲ ﻣﻌﻴﻦ ﮔﺮﺩﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ̅𝛾 ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺑﺮﻭﺯﺭﺳﺎﻧﻲ ﻣﻲﻛﻨﻴﻢ‪:‬‬ ‫ﺳﻴﺴﺘﻢ ﻭ ﺟﻠﻮﮔﻴﺮﻱ ﺍﺯ ﭘﺪﻳﺪﻩ ‪ chattering‬ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‪ ،‬ﻗﺎﻧﻮﻥ‬
‫‖𝒔‖‬ ‫)‪(34‬‬ ‫ﻛﻨﺘﺮﻟﻲ ﺍﺻﻼﺡ ﺷﺪﻩ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﻣﻲ ﺑﺎﺷﺪ‪:‬‬
‫‪𝛾̅̇ = −‬‬
‫𝑝‬ ‫𝒅̇𝝎𝑱 ‪𝑻𝒄 = −𝝎× 𝑱𝝎 + 𝑻𝒇 + 𝑻𝒈𝒈 −‬‬ ‫)‪(29‬‬
‫ﺑﺎ ﺟﺎﻳﮕﺬﺍﺭﻱ ﺭﺍﺑﻄﻪ )‪ (34‬ﻭ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﺩﺭﻭﻥ ﺭﺍﺑﻄﻪ )‪ (33‬ﺩﺍﺭﻳﻢ‪:‬‬ ‫𝒔 𝟏𝑲 ‪+ 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4 )𝑱𝜹𝒒̇ +‬‬
‫)𝒔(𝑡𝑟𝑠 𝑥𝑎𝑚𝑑𝑇 ‪+‬‬
‫‖𝒔‖ ̅𝛾 ‪𝑉̇ (𝒔, 𝛾�) = −𝒔𝑻 𝑲𝟏 𝒔 + 𝒔𝑻 𝑻𝒅 − 𝛾�|𝒔| −‬‬ ‫)‪(35‬‬ ‫ﻛﻪ ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ‪ ،‬ﺗﺎﺑﻊ ‪ sat‬ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺗﻌﺮﻳﻒ ﻣﻲ ﺷﻮﺩ‪:‬‬
‫‖ 𝒅𝑻‖‖𝒔‖ ‪≤ −𝒔𝑻 𝑲𝟏 𝒔 +‬‬
‫‖𝒔‖ ̅𝛾 ‪− 𝛾�‖𝒔‖ −‬‬ ‫𝑖𝜀 > 𝑖𝑠 ‪1‬‬ ‫)‪(30‬‬
‫𝑖𝑠‬
‫‖ 𝒅𝑻‖‖𝒔‖ ‪≤ −𝒔𝑻 𝑲𝟏 𝒔 +‬‬ ‫� = ) 𝑖𝑠(𝑡𝑟𝑠‬ ‫𝑖𝜀 ≤ | 𝑖𝑠|‬
‫𝒔 𝟏𝑲 𝑻𝒔‪− 𝛾‖𝒔‖ ≤ −‬‬ ‫𝑖𝜀‬
‫ﺩﺭ ﺍﺛﺒﺎﺕ ﺑﺎﻻ ﺍﺯ ﺍﻳﻦ ﻧﻜﺘﻪ ﻛﻪ ̇�𝛾‪ 𝛾̅̇ = −‬ﺍﺳﺖ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬ ‫𝑖𝜀‪−1 𝑠𝑖 < −‬‬
‫ﻛﻪ 𝑖𝜀 ﻳﻚ ﻣﻘﺪﺍﺭ ﺍﺳﻜﺎﻟﺮ ﻣﺜﺒﺖ ﺍﺳﺖ ﻛﻪ ﺿﺨﺎﻣﺖ ﻻﻳﻪ ﻣﺮﺯﻱ ﺍﺷﺒﺎﻉ‬
‫ﺑﻨﺎﺑﺮﺍﻳﻦ ﺑﺎ ﺑﺮﻭﺯﺭﺳﺎﻧﻲ ̅𝛾 ﺑﺼﻮﺭﺕ ﺭﺍﺑﻄﻪ )‪ (34‬ﻣﻲ ﺗﻮﺍﻧﻴﻢ ﻣﻄﻤﺌﻦ ﺑﺎﺷﻴﻢ‬
‫ﻧﺎﻣﻴﺪﻩ ﻣﻲ ﺷﻮﺩ‪.‬‬
‫ﻛﻪ ﺳﻴﺴﺘﻢ ﻫﻤﻮﺍﺭﻩ ﭘﺎﻳﺪﺍﺭ ﺍﺳﺖ‪.‬‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻗﺎﻧﻮﻥ ﺗﻄﺒﻴﻖ ﺍﺭﺍﺋﻪ ﺷﺪﻩ ﺩﺭ ﺭﺍﺑﻄﻪ )‪ (34‬ﻣﺸﻬﻮﺩ ﺍﺳﺖ ﻛﻪ 𝛾‬
‫ﺑﺮﺍﺳﺎﺱ ﺍﻧﺤﺮﺍﻑ ﺍﺯ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﺗﻨﻈﻴﻢ ﻣﻲ ﺷﻮﺩ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺭ ﺍﻭﺍﻳﻞ‬
‫ﺗﺨﻤﻴﻦ ﻛﻪ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺳﻴﺴﺘﻢ ﺩﻭﺭ ﺍﺯ ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ ﺍﺳﺖ‪ ،‬ﻣﻘﺪﺍﺭ‬ ‫ﻃﺮﺍﺣﻲ ﺳﻴﺴﺘﻢ ﺗﻄﺒﻴﻘﻲ‬
‫ﺍﻧﺘﮕﺮﺍﻝ ‖𝒔‖ ﺑﻪ ﺳﺮﻋﺖ ﺍﻓﺰﺍﻳﺶ ﻣﻲﻳﺎﺑﺪ‪ .‬ﭼﻨﺎﻧﭽﻪ ﺿﺮﻳﺐ ‪ p‬ﺧﻴﻠﻲ‬ ‫ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺩﺭ ﺑﺨﺶ ﻗﺒﻞ ﻧﺸﺎﻥ ﺩﺍﺩﻳﻢ‪ ،‬ﭼﻨﺎﻧﭽﻪ ﺑﻬﺮﻩ ﻛﻨﺘﺮﻟﻲ ﻣﺪ‬
‫ﻛﻮﭼﻚ ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﻣﻘﺪﺍﺭ 𝛾 ﺍﺯ ‖ 𝐝𝐓‖ ﺑﺴﻴﺎﺭ ﺑﻴﺸﺘﺮ ﻣﻲ ﺷﻮﺩ ﻛﻪ ﺑﻪ ﺁﻥ‬ ‫ﻟﻐﺰﺷﻲ ﺑﻴﺸﺘﺮ ﺍﺯ ﺣﺪ ﺑﺎﻻﻱ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﻣﺪﻝ‬
‫ﺑﻴﺶ ﺗﺨﻤﻴﻨﻲ )‪ (over adaptation‬ﮔﻔﺘﻪ ﻣﻲﺷﻮﺩ‪ .‬ﺍﻣﺎ ﭼﻨﺎﻧﭽﻪ ‪ p‬ﺑﺰﺭگ‬ ‫ﻧﺸﺪﻩ ﻛﻪ ﻧﺎﺷﻲ ﺍﺯ ﺑﻜﺎﺭ ﺑﺮﺩﻥ ﺩﻳﻨﺎﻣﻴﻚ ﺳﺎﺩﻩ ﺑﺮﺍﻱ ﻋﻤﻠﮕﺮﻫﺎ ﺍﺳﺖ‪ ،‬ﺑﺎﺷﺪ‬
‫ﺑﺎﺷﺪ‪ ،‬ﺁﻧﮕﺎﻩ ﺳﻴﺴﺘﻢ ﻗﺒﻞ ﺍﺯ ﺁﻧﻜﻪ 𝛾 ﺑﻪ ‖ 𝐝𝐓‖ ﺑﺮﺳﺪ ﻓﺎﺯ ﺩﺳﺘﺮﺳﻲ )ﺯﻣﺎﻧﻲ‬ ‫) 𝑥𝑎𝑚𝑑𝑇 ≤ � 𝒊𝒅𝑻�( ﻣﺎﻫﻮﺍﺭﻩ ﺑﻪ ﻭﺿﻌﻴﺖ ﻣﻮﺭﺩ ﻧﻈﺮ ﻣﻲ ﺭﺳﺪ‪ .‬ﺍﻣﺎ ﺩﺭ‬
‫ﻛﻪ ﺳﻴﺴﺘﻢ ﺍﺯ ﺷﺮﺍﻳﻂ ﺍﻭﻟﻴﻪ ﺷﺮﻭﻉ ﻛﺮﺩﻩ ﺗﺎ ﺑﻪ ﺳﻄﻮﺡ ﻟﻐﺰﺷﻲ ﺑﺮﺳﺪ( ﺭﺍ‬ ‫ﻋﻤﻞ ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﮔﺸﺘﺎﻭﺭﻫﺎ ﺑﺪﺭﺳﺘﻲ ﻗﺎﺑﻞ ﺗﻌﻴﻴﻦ ﻧﻴﺴﺖ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ‬
‫ﭘﻴﻤﻮﺩﻩ ﺍﺳﺖ ﻭ ﺑﺎ ﻣﺸﻜﻞ ﺑﻴﺶ ﺗﺨﻤﻴﻨﻲ ﻣﻮﺍﺟﻪ ﻧﻤﻲﺷﻮﻳﻢ‪ .‬ﻭﻟﻲ ﺍﻳﻦ ﻧﻜﺘﻪ‬ ‫ﺑﺮﺍﻱ ﺍﻃﻤﻴﻨﺎﻥ ﺍﺯ ﭘﺎﻳﺪﺍﺭﻱ ﺳﻴﺴﺘﻢ ﺑﺎﻳﺪ 𝑥𝑎𝑚𝑑𝑇 ﺭﺍ ﺑﻪ ﺍﻧﺪﺍﺯﻩ ﻛﺎﻓﻲ ﺑﺰﺭگ‬
‫ﺭﺍ ﻧﻴﺰ ﺑﺎﻳﺪ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗﺮﺍﺭ ﺩﺍﺩ ﻛﻪ ﺍﮔﺮ ‪ p‬ﺧﻴﻠﻲ ﺑﺰﺭگ ﺑﺎﺷﺪ‪ ،‬ﺯﻣﺎﻥ‬ ‫ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺖ‪ .‬ﺍﻣﺎ ﺍﻳﻦ ﻋﻤﻞ ﺑﺎﻋﺚ ﺍﻓﺰﺍﻳﺶ ﻫﺰﻳﻨﻪ ﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ‪،‬‬
‫ﺭﺳﻴﺪﻥ ﺳﻴﺴﺘﻢ ﺑﻪ ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺍﻓﺰﺍﻳﺶ ﻣﻲ ﻳﺎﺑﺪ‪.‬‬ ‫ﺑﻜﺎﺭﺑﺮﺩﻥ ﻋﻤﻠﮕﺮﻫﺎﻱ ﺑﺰﺭﮔﺘﺮ ﻭ ﺍﻓﺰﺍﻳﺶ ﺍﺣﺘﻤﺎﻝ ﭘﺪﻳﺪﻩ ‪ chattering‬ﻣﻲ‬
‫ﺷﻮﺩ‪ .‬ﺭﻭﺵ ﻋﻤﻠﻲ ﺩﻳﮕﺮ ﺍﻳﻦ ﺍﺳﺖ ﻛﻪ ﺑﻪ ﻛﻤﻚ ﻳﻚ ﺳﻴﺴﺘﻢ ﺗﻄﺒﻴﻘﻲ‬
‫ﻧﺘﺎﻳﺞ ﺷﺒﻴﻪ ﺳﺎﺯﻱ‬ ‫ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﮔﺸﺘﺎﻭﺭﻫﺎ ﺭﺍ ﺗﺨﻤﻴﻦ ﺯﺩ‪.‬‬
‫ﺩﺭ ﺍﻳﻦ ﺑﺨﺶ ﺑﺮﺍﻱ ﻧﺸﺎﻥ ﺩﺍﺩﻥ ﺻﺤﺖ ﻋﻤﻠﻜﺮﺩ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﭘﻴﺸﻨﻬﺎﺩ‬ ‫ﺑﺮﺍﻱ ﻧﻴﻞ ﺑﻪ ﺍﻳﻦ ﻫﺪﻑ‪ ،‬ﻓﺮﺽ ﻣﻲ ﺷﻮﺩ ﻛﻪ ﺣﺪ ﺑﺎﻻﻱ 𝒅𝑻 ﺑﺮﺍﺑﺮ ﺑﺎ‬
‫ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﻳﻚ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻭﺿﻌﻴﺖ ﺍﻧﺠﺎﻡ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺩﺭ ﺍﻳﻦ ﺷﺒﻴﻪ‬ ‫ﻣﻘﺪﺍﺭ ﺛﺎﺑﺖ ‪ γ‬ﺍﺳﺖ ﻛﻪ ﻫﻴﭻ ﺩﺍﻧﺸﻲ ﺩﺭﺑﺎﺭﻩ ﺁﻥ ﻧﺪﺍﺭﻳﻢ‪.‬‬
‫ﺍﻳﻨﺮﺳﻲ‬ ‫ﻣﻤﺎﻥ‬ ‫ﺑﺎ‬ ‫ﻣﺎﻫﻮﺍﺭﻩ‬ ‫ﻳﻚ‬ ‫ﺳﺎﺯﻱ‪،‬‬ ‫ﺩﺭ ﺍﺑﺘﺪﺍ ﻗﺎﻧﻮﻥ ﻛﻨﺘﺮﻟﻲ ﺭﺍ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭﻧﻈﺮ ﻣﻲ ﮔﻴﺮﻳﻢ‪:‬‬
‫‪ 𝐽 = 𝑟𝑖𝑟𝑔(24,27,13.67)𝑘𝑔. 𝑚2‬ﻛﻪ ﺩﺭ ﻳﻚ ﻣﺪﺍﺭ ﺩﺍﻳﺮﻭﻱ ﺑﻪ‬
‫×‬
‫𝒅̇𝝎𝑱 ‪𝑻𝒄 = −𝝎 𝑱𝝎 + 𝑻𝒇 + 𝑻𝒈𝒈 −‬‬ ‫)‪(31‬‬
‫𝒔 𝟏𝑲 ‪+ 𝐾𝑠𝑖𝑔𝑛(𝛿𝑞4 )𝑱𝜹𝒒̇ +‬‬
‫ﺷﻌﺎﻉ 𝑚𝑘 ‪ 7000‬ﺑﻪ ﺩﻭﺭ ﺯﻣﻴﻦ ﻣﻲ ﭼﺮﺧﺪ‪ ،‬ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬ ‫)𝒔(𝑛𝑔𝑖𝑠�𝛾 ‪+‬‬
‫ﺳﻴﺎﻟﻲ‬ ‫ﻣﻮﻣﻨﺘﻮﻡ‬ ‫ﻛﻨﺘﺮﻟﺮﻫﺎﻱ‬ ‫ﺍﻳﻨﺮﺳﻲ‬ ‫ﻣﻤﺎﻥ‬ ‫ﻛﻪ ﺩﺭ ﺍﻳﻦ ﺭﺍﺑﻄﻪ ̅𝛾 ‪ 𝛾 = 𝛾� +‬ﺍﺳﺖ ﻭ �𝛾 ﺑﻬﺘﺮﻳﻦ ﺗﺨﻤﻴﻦ ﺍﺯ ﺣﺪ ﺑﺎﻻﻱ‬
‫‪ 𝐽𝑟 = 𝑟𝑖𝑟𝑔(0.048,0.048,0.048)𝑘𝑔. 𝑚2‬ﻭ ﺳﻴﺎﻝ ﺑﻜﺎﺭ ﺭﻓﺘﻪ‬ ‫ﺍﻏﺘﺸﺎﺷﺎﺕ ﺍﺳﺖ ﻭ ̅𝛾 ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ ﺁﻥ ﻣﻲ ﺑﺎﺷﺪ‪.‬‬
‫‪ metal-liquid gallium‬ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺷﻌﺎﻉ ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ ﺑﺮﺍﺑﺮ ﺑﺎ‬
‫𝑚 ‪ 𝑟 = 0.2‬ﻭ ﻗﻄﺮ ﺳﻄﺢ ﻣﻘﻄﻊ ﺁﻥ 𝑚 ‪ 𝑟 = 0.02‬ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﻣﺎﻧﻮﺭ‬
 ‫‪-0 .6 5‬‬ ‫𝝎 ﺗﻌﺮﻳﻒ‬ ‫𝒒 ﻭ ]‪� 𝒅 = [0,0,0‬‬ ‫ﻣﻮﺭﺩ ﻧﻈﺮ ﻧﻴﺰ ﺑﺼﻮﺭﺕ ]‪�𝒅 = [0,0,0, ±1‬‬
‫‪-0 .7‬‬
‫ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﻧﺎﺷﻲ ﺍﺯ ﻋﺪﻡ ﻗﻄﻌﻴﺖ‬
‫‪-0 .7 5‬‬
‫ﻫﺎ ﺑﺼﻮﺭﺕ ‪𝑇𝑑 = 0.001[3 cos(0.1𝑡) , 1.5 sin(0.1𝑡) + 3 cos(0.1𝑡) +‬‬

‫‪-0 .8‬‬
‫])𝑡‪ 3 sin(0.1‬ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﻬﺮﻩﻫﺎﻱ ﻛﻨﺘﺮﻟﻲ ﻧﻴﺰ ﺑﺼﻮﺭﺕ‬
‫‪ 𝐾 = 3, 𝐾1 = 1‬ﻭ ‪ 𝑃 = 0.01‬ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻣﻘﺪﺍﺭ‬
‫‪q4‬‬

‫‪-0 .8 5‬‬
‫ﺍﻭﻟﻴﻪ ﺑﻬﺮﻩ ﺗﺨﻤﻴﻨﻲ ﻛﻨﺘﺮﻟﺮ ﻧﻴﺰ ‪ 𝛾0 = 0‬ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫‪-0 .9‬‬
‫ﻫﻤﭽﻨﻴﻦ ﺑﺮﺍﻱ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻦ ﺍﺷﺒﺎﻉ ﻋﻤﻠﮕﺮ‪ ،‬ﻳﻚ ﺗﺎﺑﻊ ﺍﺷﺒﺎﻉ ﺑﺎ ﺩﺍﻣﻨﻪ‬
‫‪-0 .9 5‬‬
‫𝑚 ‪ 1𝑁.‬ﺩﺭ ﺧﺮﻭﺟﻲ ﻋﻤﻠﮕﺮ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﻧﺘﺎﻳﺞ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺩﺭ‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬
‫) ‪T im e (s‬‬
‫‪100‬‬ ‫‪150‬‬
‫ﺷﻜﻞ ﻫﺎﻱ )‪ (4) ،(3‬ﻭ )‪ (5‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﻧﺪ‪:‬‬
‫ﺷﻜﻞ ‪ -3‬ﭘﺎﺭﺍﻣﺘﺮﻫﺎﻱ ﻛﻮﺍﺗﺮﻧﻴﻮﻥ‬ ‫‪0 .2‬‬

‫‪0 .1‬‬

‫‪0‬‬
‫‪0 .0 0 5‬‬
‫‪-0 .1‬‬
‫‪0‬‬
‫‪q1‬‬

‫‪-0 .2‬‬
‫‪-0 .0 0 5‬‬
‫‪-0 .3‬‬
‫)𝑠‪𝜔𝑒 1(𝑟𝑟𝑟/‬‬

‫‪-0 .0 1‬‬
‫‪-0 .4‬‬
‫‪-0 .0 1 5‬‬
‫‪-0 .5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫‪-0 .0 2‬‬ ‫) ‪T im e (s‬‬

‫‪-0 .0 2 5‬‬ ‫‪0 .6‬‬

‫‪-0 .0 3‬‬ ‫‪0 .5‬‬

‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫) ‪T im e (s‬‬
‫‪0 .4‬‬

‫‪0 .0 2 5‬‬
‫‪0 .3‬‬
‫‪q2‬‬

‫‪0 .0 2‬‬ ‫‪0 .2‬‬

‫‪0 .1‬‬
‫‪0 .0 1 5‬‬
‫)𝑠‪𝜔𝑒 2(𝑟𝑟𝑟/‬‬

‫‪0‬‬
‫‪0 .0 1‬‬
‫‪-0 .1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫‪0 .0 0 5‬‬ ‫) ‪T im e (s‬‬

‫‪0 .2‬‬
‫‪0‬‬
‫‪0 .1‬‬
‫‪-0 .0 0 5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫‪0‬‬
‫) ‪T im e (s‬‬
‫‪-0 .1‬‬
‫‪q3‬‬

‫‪-0 .2‬‬

‫‪-0 .3‬‬

‫‪-0 .4‬‬

‫‪-0 .5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫) ‪T im e (s‬‬
 ‫‪0 .4 5‬‬ ‫‪0 .0 1‬‬

‫‪0 .4‬‬
‫‪0‬‬
‫‪0 .3 5‬‬

‫)𝑠‪𝜔𝑒 3(𝑟𝑟𝑟/‬‬
‫‪0 .3‬‬ ‫‪-0 .0 1‬‬
‫)‬

‫‪0 .2 5‬‬
‫)𝑚 ‪g 𝛾(𝑁.‬‬
‫(‬

‫‪-0 .0 2‬‬
‫‪0 .2‬‬

‫‪0 .1 5‬‬
‫‪-0 .0 3‬‬
‫‪0 .1‬‬

‫‪0 .0 5‬‬ ‫‪-0 .0 4‬‬

‫‪0‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪-0 .0 5‬‬
‫) ‪T im e (s‬‬ ‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫) ‪T im e (s‬‬
‫ﺷﻜﻞ ‪ -5‬ﺻﻔﺤﺎﺕ ﻟﻐﺰﺷﻲ‪ ،‬ﮔﺸﺘﺎﻭﺭ ﻛﻨﺘﺮﻟﻲ‪ ،‬ﺗﺨﻤﻴﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ‬ ‫ﺷﻜﻞ ‪ -4‬ﺧﻄﺎﻱ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺗﻌﻘﻴﺐ‬

‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﻭﺿﻌﻴﺖ ﺍﻭﻟﻴﻪ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩ ﻛﻪ ﻣﻌﺎﺩﻝ ﺑﺎ ﻣﺤﻮﺭ ﺩﻭﺭﺍﻥ‬
‫‪1 .5‬‬
‫𝑇]‪ 𝑟 = [−0.5774, 0.5774,0.5774‬ﻭ ﺯﺍﻭﻳﻪ ﺩﻭﺭﺍﻥ ‪ 2700‬ﻣﻲ‬ ‫‪S1‬‬

‫ﺑﺎﺷﺪ‪ ،‬ﻛﻤﺘﺮﻳﻦ ﻣﺴﺎﻓﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺯﻣﺎﻧﻲ ﭘﻴﻤﻮﺩﻩ ﻣﻲ ﺷﻮﺩ ﻛﻪ ﺯﺍﻭﻳﻪ ﺩﻭﺭﺍﻥ‬

‫‪1‬‬ ‫‪S2‬‬
‫‪S3‬‬

‫ﺑﺎ‬ ‫ﻣﻌﺎﺩﻝ‬ ‫ﻛﻪ‬ ‫ﺑﺮﺳﺪ‬ ‫ﺩﺭﺟﻪ‬ ‫‪360‬‬ ‫ﺑﻪ‬ ‫‪0 .5‬‬

‫𝑇]‪ 𝒒�𝒅 = [0,0,0, −1‬ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺍﻳﻦ ﺍﻣﺮ ﺑﻪ ﺧﻮﺑﻲ ﺩﺭ ﻧﺘﺎﻳﺞ ﻧﺸﺎﻥ ﺩﺍﺩﻩ‬ ‫‪0‬‬
‫‪S‬‬

‫ﺍﺳﺖ‪ .‬ﻫﻤﭽﻨﻴﻦ‪ ،‬ﻫﻤﺎﻧﻄﻮﺭ ﻛﻪ ﺍﺯ ﻧﺘﺎﻳﺞ ﻣﺸﻬﻮﺩ ﺍﺳﺖ‪ ،‬ﻛﻨﺘﺮﻟﺮ ﻃﺮﺍﺣﻲ‬ ‫‪-0 .5‬‬

‫ﺷﺪﻩ ﺗﻮﺍﻧﺴﺘﻪ ﺍﺳﺖ ﻣﺎﻫﻮﺍﺭﻩ ﺭﺍ ﺩﺭ ﺣﻀﻮﺭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺍﻏﺘﺸﺎﺷﻲ ﻭ ﻋﺪﻡ‬

‫‪-1‬‬
‫ﻗﻄﻌﻴﺖ ﺩﺭ ﺩﻳﻨﺎﻣﻴﻚ ﻋﻤﻠﮕﺮ ﻛﻨﺘﺮﻟﻲ‪ ،‬ﺩﺭ ﻛﻤﺘﺮﻳﻦ ﺯﻣﺎﻥ ﻣﻤﻜﻦ ﻭ ﺑﺪﻭﻥ‬
‫ﻓﺮﺍﺟﻬﺶ‪ ،‬ﺑﻪ ﻭﺿﻌﻴﺖ ﻣﻄﻠﻮﺏ ﺭﺳﺎﻧﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺷﻜﻞ ‪ ،5‬ﺣﺪ ﺑﺎﻻﻱ‬ ‫‪-1 .5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫) ‪T im e (s‬‬
‫ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺗﺨﻤﻴﻨﻲ ﺍﻏﺘﺸﺎﺷﻲ ﻭ ﮔﺸﺘﺎﻭﺭﻫﺎﻱ ﺗﺨﻤﻴﻨﻲ ﻧﺎﺷﻲ ﺍﺯ ﻋﺪﻡ‬ ‫‪2‬‬
‫ﻗﻄﻌﻴﺖ ﺩﺭ ﻣﺪﻝ‪ ،‬ﺑﺮﺍﺑﺮ ‪ 0.4‬ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺍﺳﺖ ﻛﻪ ﺍﺯ ﺣﺪﺍﻛﺜﺮ ﮔﺸﺘﺎﻭﺭ‬ ‫‪Tc1‬‬
‫‪1 .5‬‬
‫ﺍﻋﻤﺎﻟﻲ ﺗﻮﺳﻂ ﻛﻨﺘﺮﻟﺮ ﻛﻤﺘﺮ ﻣﻲ ﺑﺎﺷﺪ‪ .‬ﺍﻟﺒﺘﻪ ﻫﺮ ﻗﺪﺭ ﺿﺮﻳﺐ ﺗﺨﻤﻴﻦ‬ ‫‪Tc2‬‬
‫‪1‬‬ ‫‪Tc3‬‬
‫ﺗﻄﺒﻴﻖ ﺍﻓﺰﺍﻳﺶ ﻳﺎﺑﺪ ﺍﻳﻦ ﻣﻘﺪﺍﺭ ﻛﻮﭼﻜﺘﺮ ﻣﻲ ﺷﻮﺩ ﻭﻟﻲ ﺯﻣﺎﻥ ﺭﺳﻴﺪﻥ ﺑﻪ‬
‫) ‪T c (N .m‬‬

‫‪0 .5‬‬
‫ﻭﺿﻌﻴﺖ ﻣﻄﻠﻮﺏ ﻧﻴﺰ ﺍﻓﺰﺍﻳﺶ ﻣﻲ ﻳﺎﺑﺪ‪ .‬ﺑﻨﺎﺑﺮﺍﻳﻦ ﺩﺭ ﺣﻴﻦ ﻃﺮﺍﺣﻲ ﻛﻨﺘﺮﻝ‬
‫ﺗﻄﺒﻴﻖ ﺑﺎﻳﺪ ﻳﻚ ﻣﺼﺎﻟﺤﻪ ﺑﻴﻦ ﺯﻣﺎﻥ ﺭﺳﻴﺪﻥ ﻭ ﺍﻧﺪﺍﺯﻩ ﻋﻤﻠﮕﺮ ﺻﻮﺭﺕ‬
‫‪0‬‬

‫ﭘﺬﻳﺮﺩ‪.‬‬
‫‪-0 .5‬‬

‫‪-1‬‬

‫ﻧﺘﻴﺠﻪ ﮔﻴﺮﻱ‬
‫‪-1 .5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬
‫) ‪T im e (s‬‬
‫ﺩﺭ ﺍﻳﻦ ﻣﻘﺎﻟﻪ‪ ،‬ﻳﻚ ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﺑﺮﺍﻱ ﻣﺎﻫﻮﺍﺭﻩ ﻫﺎﻳﻲ ﻛﻪ ﺍﺯ‬
‫ﻋﻤﻠﮕﺮ ﻣﻮﻣﻨﺘﻮﻡ ﺳﻴﺎﻟﻲ ﺍﺳﺘﻔﺎﺩﻩ ﻣﻲ ﻛﻨﻨﺪ‪ ،‬ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺑﺪﻟﻴﻞ ﭘﻴﭽﻴﺪﮔﻲ ﻣﺪﻝ ﺭﻳﺎﺿﻲ ﺍﻳﻦ ﻋﻤﻠﮕﺮﻫﺎ‪ ،‬ﺩﺭ ﺍﻛﺜﺮ ﭘﮋﻭﻫﺶ ﻫﺎ ﺍﺯ ﻳﻚ‬
‫ﻣﺪﻝ ﺳﺎﺩﻩ ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻭ ﺑﺪﻭﻥ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻦ ﻣﻮﺿﻮﻉ ﻛﻪ ﺍﻳﻦ‬
‫ﻣﺪﻝ ﺩﺭ ﺣﺎﻟﺖ ﻭﺍﻗﻌﻲ ﺩﺍﺭﺍﻱ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺍﺳﺖ‪ ،‬ﺷﺮﻭﻉ ﺑﻪ ﻃﺮﺍﺣﻲ ﻳﻚ‬
‫ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﻧﻤﻮﺩﻩ ﺍﻧﺪ‪ .‬ﺩﺭ ﺍﻳﻦ ﻣﻘﺎﻟﻪ ﺑﺮﺍﻱ ﺭﻓﻊ ﺍﻳﻦ ﻣﺸﻜﻞ ﺍﺯ ﺭﻭﺵ‬
‫ﻛﻨﺘﺮﻝ ﻣﺪ ﻟﻐﺰﺷﻲ ﻛﻪ ﺩﺭ ﺑﺮﺍﺑﺮ ﺍﻏﺘﺸﺎﺷﺎﺕ ﻭ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﺩﺭ ﻣﺪﻝ ﻣﻘﺎﻭﻡ‬
‫ﺍﺳﺖ‪ ،‬ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪ‪ .‬ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﺍﻳﻨﻜﻪ ﺣﺪ ﺑﺎﻻﻱ ﺍﻳﻦ ﻋﺪﻡ ﻗﻄﻌﻴﺖ ﻫﺎ‬
‫ﺑﺨﺎﻃﺮ ﻭﺍﺑﺴﺘﮕﻲ ﺁﻥ ﺑﻪ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪﺍﻱ ﺳﻴﺎﻝ‪ ،‬ﺑﻄﻮﺭ ﻛﺎﻣﻞ ﺑﺮﺍﻱ‬
‫ﻣﻬﻨﺪﺳﺎﻥ ﻗﺎﺑﻞ ﭘﻴﺶ ﺑﻴﻨﻲ ﻧﻴﺴﺖ ﻳﻚ ﺳﻴﺴﺘﻢ ﻛﻨﺘﺮﻟﻲ ﺗﻄﺒﻴﻘﻲ ﻧﻴﺰ‬
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‫ ﺟﺪﻭﻝ ﻣﻘﺎﻳﺴﻪﺍﻱ ﺯﻳﺮ‬،‫ﻭ ﺭﻭﺵ ﻛﻨﺘﺮﻟﻲ ﭘﻴﺸﻨﻬﺎﺩ ﺩﺍﺩﻩ ﺷﺪﻩ ﺩﺭ ﺍﻳﻦ ﻣﻘﺎﻟﻪ‬
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‫ﺗﻮﺍﻧﺎﻳﻲ ﭘﺎﻳﺪﺍﺭ ﺳﺎﺯﻱ‬
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‫ﺑﺪﻭﻥ ﺩﺍﻧﺴﺘﻦ ﺣﺪ‬ ‫ﻋﻤﻠﻜﺮﺩ‬ ‫ﺩﻗﺖ‬
‫ﺣﺪ ﺑﺎﻻﻱ‬ ‫ﺣﻀﻮﺭ‬ ‫ﻛﻨﺘﺮﻟﻲ‬
1381-1383. ‫ﺑﺎﻻﻱ ﺍﻏﺘﺸﺎﺷﺎﺕ‬
‫ﺍﻏﺘﺸﺎﺷﺎﺕ‬ ‫ﺍﻏﺘﺸﺎﺷﺎﺕ‬
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‫ﻧﺪﺍﺭﺩ‬ ‫ﺩﺍﺭﺩ‬ ‫ﺩﺍﺭﺩ‬ ‫ﺧﻮﺏ‬ ‫ﺑﺎﻻ‬ SMC
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‫ﺩﺍﺭﺩ‬ ‫ﺩﺍﺭﺩ‬ ‫ﺩﺍﺭﺩ‬ ‫ﺧﻮﺏ‬ ‫ﺑﺎﻻ‬ Adaptive
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‫ﻣﺮﺍﺟﻊ‬
‫ " ﺍﺭﺍﻳﻪ ﺍﻟﮕﻮﺭﻳﺘﻢ ﺟﺪﻳﺪﻱ ﺑﺮﺍﻱ ﻓﻴﻠﺘﺮ‬،.‫ ﺡ‬،‫ ﻣﻮﻣﻨﻲ‬،.‫ ﻥ‬،‫ ﺳﺎﺩﺍﺗﻲ‬،.‫ ﻡ‬،‫[ ﺟﻌﻔﺮﺑﻠﻨﺪ‬1]
‫ﻛﺎﻟﻤﻦ ﺗﻮﺳﻌﻪ ﻳﺎﻓﺘﻪ ﺗﺨﻤﻴﻦ ﺯﻥ ﻭﺿﻌﻴﺖ ﺑﻪ ﻣﻨﻈﻮﺭ ﻛﻨﺘﺮﻝ ﻣﻘﺎﻭﻡ ﻣﺎﻫﻮﺍﺭﻩ ﺩﺭ‬
‫ ﻳﺎﺯﺩﻫﻤﻴﻦ ﻛﻨﻔﺮﺍﻧﺲ ﻣﻬﻨﺪﺳﻲ ﺑﺮﻕ‬،"‫ﻣﺎﻧﻮﺭﻫﺎﻱ ﭼﺮﺧﺸﻲ ﺑﺎ ﺯﺍﻭﻳﻪ ﺑﺰﺭگ‬
1382 ‫ ﺍﺭﺩﻳﺒﻬﺸﺖ ﻣﺎﻩ‬،‫ﺍﻳﺮﺍﻥ‬
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