‫‪489‬‬ ‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‪ ،‬ﺟﻠﺪ ‪ ،39‬ﺷﻤﺎﺭﻩ ‪ ،4‬ﺁﺑﺎﻥ ﻣﺎﻩ ‪ ،1384‬ﺍﺯ ﺻﻔﺤﻪ ‪ 489‬ﺗﺎ ‪499‬‬

‫ﭘﯿﺎﺩﻩﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮﻝ ﻫﻮﺷﻤﻨﺪ ﻣﺒﺘﻨﯽ ﺑﺮ ﯾﺎﺩﮔﯿﺮی ﻋﺎﻃﻔﯽ‬

‫ﻣﻐﺰ‪Brain Emotional Learning ،‬‬

‫ﻧﺪﺍ ﺷﻬﯿﺪی‬
‫ﻓﺎﺭﻍ ﺍﻟﺘﺤﺼﯿﻞ ﮐﺎﺭﺷﻨﺎﺳﯽ ﺍﺭﺷﺪ ‪ -‬ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﮐﺎﻣﭙﯿﻮﺗﺮ‪ -‬ﺩﺍﻧﺸﮕﺎﻩ ﺻﻨﻌﺘﯽ ﺷﺮﯾﻒ‬
‫‪n_shahidi@ce.sharif.edu‬‬
‫ﻫﺎﺩی ﺍﺳﻤﻌﯿﻞﺯﺍﺩﻩ‬
‫ﻓﺎﺭﻍﺍﻟﺘﺤﺼﯿﻞ ﮐﺎﺭﺷﻨﺎﺳﯽ ﺍﺭﺷﺪ ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﺑﺮﻕ ‪ -‬ﭘﺮﺩﯾﺲ ﺩﺍﻧﺸﮑﺪﻩ ﻫﺎی ﻓﻨﯽ ‪ -‬ﺩﺍﻧﺸﮕﺎﻩ ﺗﻬﺮﺍﻥ‬
‫‪hadi@cad.ece.ut.ac.ir‬‬
‫ﺭﺳﻮﻝ ﻣﺤﻤّﺪی ﻣﯿﻼﺳﯽ‬

‫‪D‬‬
‫ﻓﺎﺭﻍﺍﻟﺘﺤﺼﯿﻞ ﮐﺎﺭﺷﻨﺎﺳﯽ ﺍﺭﺷﺪ ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﺑﺮﻕ ‪ -‬ﭘﺮﺩﯾﺲ ﺩﺍﻧﺸﮑﺪﻩ ﻫﺎی ﻓﻨﯽ ‪ -‬ﺩﺍﻧﺸﮕﺎﻩ ﺗﻬﺮﺍﻥ‬
‫‪rmilasy@ece.ut.ac.ir‬‬
‫ﮐﺎﺭو ﻟﻮﮐﺲ‬

‫‪SI‬‬
‫ﺍﺳﺘﺎﺩ ﺩﺍﻧﺸﮑﺪﻩ ﻣﻬﻨﺪﺳﯽ ﺑﺮﻕ و ﮐﺎﻣﭙﯿﻮﺗﺮ – ﭘﺮﺩﯾﺲ ﺩﺍﻧﺸﮑﺪﻩ ﻫﺎی ﻓﻨﯽ ‪ -‬ﺩﺍﻧﺸﮕﺎﻩ ﺗﻬﺮﺍﻥ‬
‫‪lucas@ipm.ir‬‬
‫)ﺗﺎﺭﯾﺦ ﺩﺭﯾﺎﻓﺖ ‪ ، 83/7/11‬ﺗﺎﺭﯾﺦ ﺩﺭﯾﺎﻓﺖ ﺭوﺍﯾﺖ ﺍﺻﻼﺡ ﺷﺪﻩ ‪ ،84/3/22‬ﺗﺎﺭﯾﺦ ﺗﺼﻮﯾﺐ ‪(84/7/16‬‬
‫‪of‬‬
‫ﭼﮑﯿﺪﻩ‬
‫ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟﻪ ﭘﯿﺎﺩﻩﺳﺎﺯی ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩ ﻫﻮﺷـﻤﻨﺪ ﻣﺒﺘﻨـﯽ ﺑـﺮ ﯾـﺎﺩﮔﯿﺮی ﻋـﺎﻃﻔﯽ ﺩﺭ ﻣﻐـﺰ )‪ (BELBIC‬ﺑـﺮﺍی ﮐـﺎﺭ ﺩﺭ ﺷـﺮﺍﯾﻂ وﺍﻗﻌـﯽ‬
‫ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺑﺮﺭﺳﯽ ﺷﺪﻩ ﺍﺳﺖ‪ BELBIC .‬ﺗﮏ وﺭوﺩی و ﺗﮏ ﺧﺮوﺟﯽ )‪ (SISO‬ﺗﻌﺪﺍﺩی ﭘﺎﺭﺍﻣﺘﺮ ﯾﺎ ﺩﺭﺟﻪ ﺁﺯﺍﺩی ﺩﺭ ﺍﺧﺘﯿﺎﺭ ﺍﺳـﺘﻔﺎﺩﻩ ﮐﻨﻨـﺪﻩ ﻗـﺮﺍﺭ‬
‫ﻣﯽﺩﻫﺪ ﮐﻪ ﻣﯽﺗﻮﺍﻥ ﺑﺎ ﺗﻨﻈﯿﻢ ﺁﻧﻬﺎ ﺑﻪ ﭘﺎﺳﺦ ﻣﻨﺎﺳﺐ ﺩﺳﺖ ﯾﺎﻓﺖ‪ .‬ﺩﺭ ﺷﺒﯿﻪﺳﺎﺯﯾﻬﺎی ﮐﺎﻣﭙﯿﻮﺗﺮی ﮐﻪ ﺩﺭ ﻣﻘﺎﻻﺕ ﻣﺮﺑﻮﻃﻪ ﺍﻧﺠﺎﻡ ﺷﺪﻩ ﺍﺳـﺖ‪ ،‬ﻋﻤﻠﮑـﺮﺩ‬
‫‪ive‬‬

‫ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﺳﯿﺴﺘﻢﻫﺎی ﺧﻄﯽ و ﻏﯿﺮﺧﻄﯽ ﺗﺎﯾﯿﺪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬وﻟﯽ ﺑﻪ ﻫﺮ ﺣﺎﻝ ﺩﺭ ﮐﻨﺘﺮﻝ ﯾﮏ ﺳﯿﺴﺘﻢ وﺍﻗﻌﯽ ﺑﺎﯾﺪ ﻋﻮﺍﻣﻞ ﺩﯾﮕﺮی‬
‫ﺭﺍ ﻧﯿﺰ ﻟﺤﺎﻅ ﮐﺮﺩ ﮐﻪ ﺩﺭ ﺷﺒﯿﻪﺳﺎﺯی ﻇﺎﻫﺮ ﻧﻤﯽﺷﻮﻧﺪ‪ .‬ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟﻪ‪ ،‬ﮐﻨﺘﺮﻝ ﺳﺮﻋﺖ ﯾﮏ ﺳﺮو ﻣﻮﺗـﻮﺭ ‪ DC‬ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ ﺑـﺎ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ‪BELBIC‬‬
‫ﺑﺮﺭﺳﯽ ﺷﺪﻩ و ﺑﺎ ﻧﺘﺎﯾﺞ ﯾﮏ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ‪ PID‬ﻣﻘﺎﯾﺴﻪ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺑﺮﺍی ﺗﻨﻈﯿﻢ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ‪ BELBIC‬و ‪ PID‬ﺍﺯ ﻣﺪﻝ ﺷﺒﯿﻪﺳﺎﺯی ﺷﺪﻩ ﺳـﺮوﻣﻮﺗﻮﺭ‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟﻪ ﻫﻤﭽﻨﯿﻦ ﺭوﺷﯽ ﺑﺮﺍی ﺑﺮﻗﺮﺍﺭی ﺍﺭﺗﺒﺎﻁ ﺑﯿﻦ ﺑﺨﺶ ﺣﻘﯿﻘﯽ و ﺑﺨﺶ ﻣﺠﺎﺯی ﺳﯿﺴﺘﻢ ﻣﻌﺮﻓﯽ ﺷﺪﻩ ﺍﺳﺖ و ﺁﺯﻣـﺎﯾﺶ‬
‫‪ch‬‬

‫ﮐﻨﺘﺮﻝ ﺳﺮﻋﺖ ﺳﺮوﻣﻮﺗﻮﺭ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻫﻤﯿﻦ ﺭوﺵ ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ .‬ﻧﺘـﺎﯾﺞ ﺁﺯﻣـﺎﯾﺶ ﻋﻤﻠﮑـﺮﺩ ﻣﻨﺎﺳـﺐ ‪ BELBIC‬ﺩﺭ ﺷـﺮﺍﯾﻂ وﺍﻗﻌـﯽ ﺭﺍ ﺗﺎﯾﯿـﺪ‬
‫ﻣﯽﮐﻨﺪ‪ ،‬ﺑﺮﺗﺮی ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ‪ PID‬ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪.‬‬
‫‪Ar‬‬

‫وﺍژﻩ ﻫﺎی ﮐﻠﯿﺪی‪ :‬ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻫﻮﺷﻤﻨﺪ ﻣﺒﺘﻨﯽ ﺑﺮ ﯾﺎﺩﮔﯿﺮی ﻋـﺎﻃﻔﯽ ﺩﺭ ﻣﻐـﺰ )‪ ،(BELBIC‬ﺷـﺒﯿﻪﺳـﺎﺯی ﺑـﺎ ﺣﻠﻘـﻪ‬
‫ﺳﺨﺖﺍﻓﺰﺍﺭی‪ ،‬ﺳﺮو ﻣﻮﺗﻮﺭ ‪DC‬‬

‫ﺗﻨﻈﯿﻢ ﻣﺠﺪﺩ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩ ﺑـﻪ ﺧـﻮﺩی ﺧـﻮﺩ‪،‬‬
‫ﮐﺎﺭی ﺯﻣﺎﻥﺑﺮ‬
‫ﺍﺳﺖ‪ .‬ﺣﺘﯽ ﺑﺮﺍی ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫﺎﯾﯽ ﮐـﻪ ﺑـﻪ ﻣـﺪﻝ وﺍﺑـﺴﺘﻪ‬
‫ﻧﯿﺴﺘﻨﺪ ﻣﺎﻧﻨﺪ ﮐﻨﺘـﺮﻝﮐﻨﻨـﺪﻩﻫـﺎی ﻓـﺎﺯی ﻧﯿـﺎﺯ ﺑـﻪ ﺗﻨﻈـﯿﻢ‬
‫ﺧﻮﺩﮐــﺎﺭ ﯾـﺎ ﺩﺳــﺘﯽ ﭘﺎﺭﺍﻣﺘﺮﻫــﺎ وﺟــﻮﺩ ﺩﺍﺭﺩ ]‪ .[2‬ﺍﺯ ﺍﯾـﻦ ﺭو‬
‫ﮐﻨﺘــﺮﻝ ﺗﻄﺒﯿﻘــﯽ‪ 2‬و ﻫﻮﺷــﻤﻨﺪ‪ 3‬ﺍﺯ ﺭوﯾﮑﺮﺩﻫــﺎی ﺟﺪﯾــﺪ‬
‫ﻣﻬﻨﺪﺳﯽ ﮐﻨﺘﺮﻝ ﻣﯽﺑﺎﺷـﻨﺪ‪ .‬ﺩﺭ ﮐﻨﺘـﺮﻝ ﻫﻮﺷـﻤﻨﺪ ﮔـﺮﺍﯾﺶ‬
‫ﺷﺪﯾﺪی ﺑﺮﺍی ﺍﻟﻬﺎﻡ ﺍﺯ ﺳﯿﺴﺘﻤﻬﺎی ﻃﺒﯿﻌﯽ وﺟﻮﺩ ﺩﺍﺭﺩ ﻣﺎﻧﻨﺪ‬
‫ﻣﻘﺪﻣﻪ‬
‫ﺭوﺷﻬﺎی ﮐﻨﺘﺮﻝ ﺳـﻨﺘﯽ ﻣﺒﺘﻨـﯽ ﺑـﺮ ﺷﻨﺎﺳـﺎﯾﯽ و‬
‫ﻣﺪﻟﺴﺎﺯی ﺳﯿﺴﺘﻢ و ﻃﺮﺍﺣـﯽ ﮐﻨﺘـﺮﻝﮐﻨﻨـﺪﻩ ﺑـﺎ ﺗﻮﺟـﻪ ﺑـﻪ‬
‫ﺍﻫﺪﺍﻑ ﺍﺯ ﭘﯿﺶ ﺗﻌﯿﯿﻦ ﺷﺪﻩ ﺑﺮﺍی ﺳﯿﺴﺘﻤﻬﺎی ﺗﺤﺖ ﮐﻨﺘـﺮﻝ‬
‫ﻫﺴﺘﻨﺪ‪ .‬ﺑﺎ ﭘﯿﭽﯿﺪﻩﺗﺮ ﺷﺪﻥ ﺍﯾﻦ ﺳﯿﺴﺘﻤﻬﺎ‪ ،‬ﺷﻨﺎﺳﺎﯾﯽ ﺁﻧﻬﺎ ﺑـﺎ‬
‫ﺭوﺷﻬﺎی ﻗﺒﻠﯽ ﺩﺷﻮﺍﺭﺗﺮ و ﮔﺎﻩ ﻏﯿﺮﻣﻤﮑﻦ ﻣﯽﺷﻮﺩ‪ .‬ﺍﺯ ﻃﺮﻓـﯽ‬
‫ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﭘﻮﯾﺎﯾﯽ ﺳﯿﺴﺘﻢ ﺗﺤﺖ ﮐﻨﺘـﺮﻝ‪ ،‬ﺑـﺮوﺯ ﻧـﺎﯾﻘﯿﻨﯽ‪ 1‬و‬
‫ﺣﺘﯽ ﺗﻐﯿﯿﺮ ﺳﯿﺴﺘﻢ ﺩﺭ ﺍﺛﺮ ﻓﺮﺳـﻮﺩﮔﯽ‪ ،‬ﻧﯿـﺎﺯ ﺑـﻪ ﻃﺮﺍﺣـﯽ و‬
‫ﺗﻨﻈﯿﻢ ﻣﺠﺪﺩ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﺑﻪ وﺟـﻮﺩ ﻣـﯽﺁﯾـﺪ ]‪ .[1‬ﻣـﺴﺎﻟﻪ‬

‫‪www.SID.ir‬‬
 ‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‪ ،‬ﺟﻠﺪ ‪ ،39‬ﺷﻤﺎﺭﻩ ‪ ،4‬ﺁﺑﺎﻥ ﻣﺎﻩ ‪1384‬‬ ‫‪490‬‬

‫ﻣﺸﮑﻞ ﺍﺳـﺖ‪ .‬ﺍﺯ ﺍﯾـﻦ ﺭو ﭘـﯿﺶ ﺍﺯ ﺍﯾﻨﮑـﻪ ﻣـﺴﺎﻟﻪ ﺩﺭ ﺳـﻄﺢ‬
‫ﺷﻨﺎﺧﺘﯽ‪ ،‬ﯾﻌﻨﯽ ﺑﺎ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻦ ﺑﺎﺯﻧﻤـﺎﯾﯽ ﮐﺎﻣـﻞ ﻣﺤـﺮک‬
‫ﺧﺎﺭﺟﯽ‪ ،‬ﭘﺮﺩﺍﺯﺵ ﺷﻮﺩ‪ ،‬ﭘﺮﺩﺍﺯﺵ ﻣﺴﺎﻟﻪ ﺩﺭ ﺳﻄﺢ ﺍﺩﺭﺍﮐﯽ ﺑـﺎ‬
‫ﮐﻤﮏ ﯾﮏ ﺑﺎﺯﻧﻤـﺎﯾﯽ ﺳـﺎﺩﻩ ﺗـﺮ ﺍﺯ ﻣﺤـﺮک ﺧـﺎﺭﺟﯽ ﺗﻮﺳـﻂ‬
‫ﻋﻮﺍﻃﻒ ﺻﻮﺭﺕ ﮔﺮﻓﺘﻪ و ﺑـﻪ ﺳـﺮﻋﺖ ﯾـﮏ ﺟـﻮﺍﺏ ﻣـﻮﻗﺘﯽ و‬
‫ﻧﺴﺒﺘﺎ ﺧﻮﺏ ﺑﺪﺳﺖ ﻣﯽﺁﯾﺪ ]‪ .[2‬ﺍﺯ ﺍﯾﻦ ﺭو ﭘﺮﺩﺍﺯﺵ ﻋـﺎﻃﻔﯽ‬
‫ﺑﻪ ﻓﺮﺍﯾﻨﺪ ﺗﺼﻤﯿﻢﮔﯿﺮی ﺳﺮﻋﺖ ﻣﯽﺑﺨﺸﺪ‪.‬‬
‫ﺩﺭ ﮐﻮﺷﺶﻫﺎﯾﯽ ﮐﻪ ﺩﺭ ﺩﻫـﻪ ‪ 80‬ﺑـﺮﺍی ﺷـﻨﺎﺧﺖ‬
‫ﻓﺮﺍﯾﻨﺪ ﺗﺼﻤﯿﻢﮔﯿﺮی ﻋـﺎﻃﻔﯽ ﺍﻧﺠـﺎﻡ ﺷـﺪﻩ ﺍﺳـﺖ‪ ،‬ﺳﯿـﺴﺘﻢ‬
‫ﻋﺎﻃﻔﯽ ﺑﻪ ﺻﻮﺭﺕ ﯾﮏ ﺳﯿﺴﺘﻢ ﺧﺒﺮﻩ ﻣﻌﺮﻓـﯽ ﻣـﯽﺷـﻮﺩ‪ .‬ﺩﺭ‬
‫ﺍﯾﻦ ﺭوﯾﮑﺮﺩ‪ ،‬ﺗﺼﺎوﯾﺮ ﻣﻮﺟـﻮﺩ ﮐـﻪ ﺷـﺎﻣﻞ ﺑﺎﺯﻧﻤـﺎﯾﯽ ﻣﺤـﺮک‬
‫ﺧﺎﺭﺟﯽ و ﭘﺎﺳﺦ ﺳﯿﺴﺘﻢ ﺧﺒﺮﻩ ﺑﻪ ﺁﻥ ﻣﯽﺑﺎﺷﻨﺪ ﺑﺎ "ﺧـﻮﺏ"‬
‫ﺳﯿـــﺴﺘﻢﻫـــﺎی ﻓـــﺎﺯی‪-‬ﻋـــﺼﺒﯽ ]‪ ،[3‬ﺗﮑـــﺎﻣﻠﯽ ]‪،[4‬‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩﻫـﺎی ﻫﻮﺷـﻤﻨﺪ ﺑـﺎ ﯾـﺎﺩﮔﯿﺮی ﺗﻘـﻮﯾﺘﯽ ]‪ [5‬و‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫﺎی ﭼﻨﺪ ﻋﺎﻣﻠﻪ ]‪.[6‬‬
‫ﯾﮑــﯽ ﺍﺯ ﻋــﻮﺍﻣﻠﯽ ﮐــﻪ ﺑــﻪ ﺗــﺎﺯﮔﯽ ﺑــﺎ ﺍﻟﻬــﺎﻡ ﺍﺯ‬
‫ﺳﯿﺴﺘﻢﻫﺎی ﺯﯾﺴﺘﯽ ﺑﻪ ﻋﻨﻮﺍﻥ ﻋﺎﻣﻞ ﻣﻬﻢ ﺩﺭ ﺗﺼﻤﯿﻢﮔﯿـﺮی‬
‫وﺍﺭﺩ ﻋﺮﺻﻪ ﻫﻮﺵ ﻣﺼﻨﻮﻋﯽ ﺷـﺪﻩ ﺍﺳـﺖ ﻋﺎﻃﻔـﻪ‪ 4‬ﺍﺳـﺖ‪ .‬ﺍﺯ‬
‫ﺯﻣﺎﻥ ﯾﻮﻧﺎﻥ ﺑﺎﺳﺘﺎﻥ ﻋﺎﻃﻔﻪ ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﺎﻧﻌﯽ ﺩﺭ ﺗﺼﻤﯿﻢﮔﯿﺮی‬
‫و ﺗﻔﮑﺮ ﺗﻠﻘﯽ ﻣـﯽﺷـﺪ ]‪ .[7‬وﻟـﯽ ﯾﺎﻓﺘـﻪ ﻫـﺎی ﺟﺪﯾـﺪ ﻋﻠـﻮﻡ‬
‫ﻋﺼﺒﯽ‪ 5‬ﻧﺸﺎﻥ ﺩﺍﺩﻧﺪ ﮐﻪ ﻋﺎﻃﻔﻪ ﻧﻘﺶ ﻣﻬﻤﯽ ﺩﺭ ﺍﺳـﺘﺪﻻﻝ و‬
‫ﺗــﺼﻤﯿﻢﮔﯿ ـﺮی ﺑــﺸﺮ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﻓــﺼﻞ ﺑﻌــﺪ‪ ،‬ﺿــﻤﻦ ﻣﻌﺮﻓ ـﯽ‬
‫ﯾﺎﺩﮔﯿﺮی ﻋﺎﻃﻔﯽ و ﭼﮕﻮﻧﮕﯽ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﺁﻥ ﺑـﺮﺍی ﮐﻨﺘـﺮﻝ‪،‬‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻋﺎﻃﻔﯽ ‪ BELBIC‬ﻣﻌﺮﻓﯽ ﻣـﯽﺷـﻮﺩ‪ .‬ﭘﯿﭽﯿـﺪﻩ‬

‫‪D‬‬
‫ﯾﺎ "ﺑﺪ" ﺑﺮﭼـﺴﺐ ﺯﺩﻩ ﻣـﯽﺷـﻮﺩ‪ .‬ﺩﺭ ﺯﻣـﺎﻥ ﺗـﺼﻤﯿﻢﮔﯿـﺮی‬ ‫ﺑﻮﺩﻥ ﺳﺎﺧﺘﺎﺭ ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ و ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫـﺎی ﺷـﺒﯿﻪ‬
‫ﺗــﺼﺎوﯾﺮی ﮐــﻪ ﺑﺮﭼــﺴﺐ"ﺑــﺪ" ﺩﺍﺭﻧــﺪ ﺣــﺬﻑ ﺷــﺪﻩ و‬ ‫ﺑﻪ ﺁﻥ ﻧﺴﺒﺖ ﺑﻪ ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩﻫـﺎی ﺳـﺎﺩﻩ ﺗـﺮ ﻣﺎﻧﻨـﺪ ‪PID‬‬
‫ﺗﺼﻤﯿﻢﮔﯿﺮی ﺑﯿﻦ ﺑﻘﯿﻪ ﺗﺼﺎوﯾﺮ ﺍﻧﺠﺎﻡ ﻣﯽﮔﯿﺮﺩ ]‪.[12،11‬‬
‫ﺩﺭ ﺭوﯾﮑﺮﺩﻫﺎی ﺟﺪﯾﺪﺗﺮ‪ ،‬ﺍﺭﺍﺋﻪ ﻣﺪﻝ ﻣﺤﺎﺳـﺒﺎﺗﯽ ﺍﺯ‬
‫ﺑﺨﺸﻬﺎﯾﯽ ﺍﺯ ﻣﻐﺰ ﮐﻪ وﻇﯿﻔﻪ ﭘـﺮﺩﺍﺯﺵ ﻋـﺎﻃﻔﯽ ﺭﺍ ﺑـﺮ ﻋﻬـﺪﻩ‬
‫‪SI‬‬
‫ﭘﯿﺎﺩﻩﺳﺎﺯی ﺳﺨﺖ ﺍﻓﺰﺍﺭی ﺁﻥ ﺭﺍ ﺩﺷﻮﺍﺭ ﻣـﯽﮐﻨـﺪ‪ .‬ﺍﺯ ﺍﯾـﻦ ﺭو‬
‫ﻣﯽﺗﻮﺍﻥ ﮔﻔﺖ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻣﺤﯿﻂﻫﺎی ﻧﺮﻡﺍﻓـﺰﺍﺭی ﻃﺮﺍﺣـﯽ و‬
‫ﺷــﺒﯿﻪﺳــﺎﺯی ﺟــﺎﯾﮕﺰﯾﻦ ﻣﻨﺎﺳــﺒﯽ ﺑــﺮﺍی ﭘﯿــﺎﺩﻩﺳــﺎﺯی‬
‫‪of‬‬
‫ﺩﺍﺭﻧﺪ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗـﺮﺍﺭ ﻣـﯽﮔﯿـﺮﺩ‪ .‬ﺩﺭ ﺭوﺷـﻬﺎی ﻣﺒﺘﻨـﯽ ﺑـﺮ‬ ‫ﺳﺨﺖ ﺍﻓﺰﺍﺭی ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫﺎ ﺍﺳﺖ‪ .‬ﻫﺮﭼﻨﺪ ﮐـﻪ ﺍﺯ ﺍﯾـﻦ‬
‫ﻣﺪﻟﻬﺎی ﻣﺤﺎﺳﺒﺎﺗﯽ‪ ،‬ﻋﻮﺍﻃﻒ ﺑﻪ ﺻﻮﺭﺕ ﺳﯿﮕﻨﺎﻟﻬﺎﯾﯽ ﺑﺎﺯﻧﻤﺎﯾﯽ‬ ‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻧﺘﺎﯾﺞ ﺧﻮﺑﯽ ﺑﻪ ﺻﻮﺭﺕ ﺷﺒﯿﻪﺳﺎﺯی ﮔﺮﻓﺘﻪ ﺷﺪﻩ‬
‫ﻣﺤﯿﻂ ﺧﺎﺭﺟﯽ ﻫﺴﺘﻨﺪ‪ .‬ﺩﺭ ﺗﺤﻘﯿﻘﺎﺕ ﺭوﺍﻧـﺸﻨﺎﺳﯽ‪ ،‬ﻋﻮﺍﻃـﻒ‬ ‫ﺍﺳﺖ]‪ [8،9‬وﻟﯽ ﻫﺪﻑ ﻧﻬﺎﯾﯽ ﺍﺯ ﻃﺮﺍﺣﯽ ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫﺎ‪،‬‬
‫ﺑﻪ ﻋﻨﻮﺍﻥ ﻣﻌﯿـﺎﺭ ﺗﻌﯿـﯿﻦ ﺩﺭﺟـﻪ ﻣﻄـﺮﺡ ﺷـﺪﻩﺍﻧـﺪ ]‪ .[13‬ﺩﺭ‬ ‫ﺑﻪﮐﺎﺭﮔﯿﺮی ﺁﻧﻬﺎ ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﺳﯿﺴﺘﻢﻫﺎی وﺍﻗﻌﯽ ﺍﺳﺖ‪ .‬ﺍﯾـﻦ‬
‫‪ive‬‬

‫ﺭوﯾﮑﺮﺩﻫﺎی ﮐﻨﺘﺮﻟﯽ ﻧﯿﺰ ﻫﻤﯿﻦ ﺭﺍﻫﮑﺎﺭ ﺩﻧﺒـﺎﻝ ﻣـﯽﺷـﻮﺩ‪ .‬ﺩﺭ‬ ‫ﻣﻘﻮﻟــﻪ ﻟــﺰوﻡ ﺑﺮﻗــﺮﺍﺭی ﯾـﮏ ﺍﺭﺗﺒــﺎﻁ ﻣﻨﺎﺳــﺐ ﺑـﯿﻦ ﻣﺤـﯿﻂ‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﭘﯿﺸﻨﻬﺎﺩی ]‪ ،[14‬ﻋﻮﺍﻣﻠﯽ ﮐﻪ ﻃﺮﺍﺡ ﻧﺴﺒﺖ ﺑـﻪ‬ ‫ﺷﺒﯿﻪﺳﺎﺯی و ﺟﻬﺎﻥ ﺧـﺎﺭﺟﯽ ﺭﺍ ﻣـﺸﺨﺺ ﻣـﯽﮐﻨـﺪ ]‪.[10‬‬
‫ﺁﻧﻬﺎ ﺣﺴﺎﺳﯿﺖ ﺩﺍﺭﺩ ﺑﻪ ﺻﻮﺭﺕ ﻣﺤﺮﮐﻬـﺎﯾﯽ ﺩﺭ ﻧﻈـﺮ ﮔﺮﻓﺘـﻪ‬ ‫ﮐﻮﺷﺸﻬﺎﯾﯽ ﮐﻪ ﺩﺭ ﺍﯾﻦ ﺯﻣﯿﻨﻪ ﺍﻧﺠﺎﻡ ﮔﺮﻓﺘﻪ ﺍﺳـﺖ ﺩﺭ ﺑﺨـﺶ‬
‫‪ch‬‬

‫ﻣﯽﺷﻮﻧﺪ ﮐﻪ ﺳﺒﺐ ﺍﯾﺠﺎﺩ ﺍﺿﻄﺮﺍﺏ ﺩﺭ ﺳﯿﺴﺘﻢ ﻣـﯽﺷـﻮﻧﺪ و‬ ‫ﺳﻮﻡ ﻣﺮوﺭ ﺧﻮﺍﻫـﺪ ﺷـﺪ و ﺭوﺵ ﭘﯿـﺸﻨﻬﺎﺩی ﺑـﺮﺍی ﮐﻨﺘـﺮﻝ‬
‫ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺑﺎﯾﺪ ﺑﻪ ﮔﻮﻧﻪﺍی ﻋﻤـﻞ ﻧﻤﺎﯾـﺪ ﮐـﻪ ﺍﺿـﻄﺮﺍﺏ‬ ‫ﮐﺎﻣﭙﯿﻮﺗﺮی ﺷﺮﺡ ﺩﺍﺩﻩ ﺧﻮﺍﻫﺪ ﺷﺪ‪ .‬ﻧﻬﺎﯾﺘـﺎ ﺳﯿـﺴﺘﻢ ﮐﻨﺘـﺮﻝ‬
‫ﮐﺎﻫﺶ ﯾﺎﺑﺪ‪ .‬ﺑﺮ ﺍﯾﻦ ﺍﺳﺎﺱ ﺩﺭ ]‪ [3‬ﯾﮏ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻓﺎﺯی‪-‬‬ ‫ﺳﺮﻋﺖ ﯾﮏ ﺳـﺮو ﻣﻮﺗـﻮﺭ ‪ DC‬ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ ﺑـﺎ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ‬
‫‪Ar‬‬

‫ﻋﺼﺒﯽ ﻣﺒﺘﻨﯽ ﺑﺮ ﻋﺎﻣﻞ ﻃﺮﺍﺣﯽ ﺷﺪﻩ ﺍﺳﺖ ﮐـﻪ ﭘﺎﺭﺍﻣﺘﺮﻫـﺎی‬ ‫ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻋﺎﻃﻔﯽ ‪ BELBIC‬ﺷـﺮﺡ ﺩﺍﺩﻩ ﺷـﺪﻩ و ﻧﺘـﺎﯾﺞ‬
‫ﺁﻥ ﺍﺯ ﻃﺮﯾﻖ ﯾﺎﺩﮔﯿﺮی ﺗﻨﻈﯿﻢ ﻣﯽﺷﻮﻧﺪ‪ .‬ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻓـﺎﺯی‬ ‫ﺷﺒﯿﻪﺳﺎﺯی و ﺁﺯﻣﺎﯾﺶ ﺗﺠﺮﺑﯽ و ﻣﻘﺎﯾﺴﻪ ﺁﻥ ﺑﺎ ﻧﺘﺎﯾﺞ ﺣﺎﺻـﻞ‬
‫ﭘﯿـﺸﻨﻬﺎﺩ ﺷــﺪﻩ ﺩﺭ ]‪ [7‬ﻧﯿـﺰ ﺍﺯ ﺳــﻪ ﻋﺎﻃﻔــﻪ ﻣﻨﻔ ـﯽ ﺗــﺮﺱ‪،‬‬ ‫ﺍﺯ ﯾﮏ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ‪ PID‬ﺍﺭﺍﺋﻪ ﻣﯽﺷﻮﺩ‪.‬‬
‫ﻋــﺼﺒﺎﻧﯿﺖ و ﺩﺭﺩ ﺑــﺮﺍی ﺁﻣــﻮﺯﺵ ﺭﺑــﺎﺕ ﻣﺘﺤــﺮک ﺍﺳــﺘﻔﺎﺩﻩ‬
‫ﻣﯽﮐﻨﺪ‪ .‬ﺩﺭ ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩ ﻫﻮﺷـﻤﻨﺪ ﻣﺒﺘﻨـﯽ ﺑـﺮ ﯾـﺎﺩﮔﯿﺮی‬
‫ﮐﻨﺘﺮﻝ ﺑﺮﺍﺳﺎﺱ ﯾﺎﺩﮔﯿﺮی ﻋﺎﻃﻔﯽ‬
‫ﻋﺎﻃﻔﯽ ﺩﺭ ﻣﻐﺰ‪ [1] (BELBIC) 8‬ﮐﻪ ﺩﺭ ﺍﯾـﻦ ﻣﻘﺎﻟـﻪ ﻣـﻮﺭﺩ‬
‫ﻓﺮﺍﯾﻨﺪ ﺗﺼﻤﯿﻢ ﮔﯿﺮی ﺩﺭ ﻣﻐﺰ ﺍﻧـﺴﺎﻥ ﻣﺤـﺪوﺩ ﺑـﻪ‬
‫ﺗﻮﺟﻪ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪ ،‬ﻋﺎﻣﻞ ﻫﯿﺠﺎﻥ ﺑﻪ ﻋﻨﻮﺍﻥ ﻋﺎﻣﻞ ﻣﻨﻔﯽ‬
‫ﻣﺤﺎﺳﺒﻪ و ﻣﻨﻄﻖ ﮐﻪ ﺗﻮﺳﻂ ﻗﺸﺮ ﻓﻮﻗـﺎﻧﯽ ﺍﻧﺠـﺎﻡ ﻣـﯽﮔﯿـﺮﺩ‬
‫ﺗﻮﺳﻂ ﻧﻘﺎﺩ ﺗﻮﻟﯿﺪ ﺷﺪﻩ و ﺗﻨﻈﯿﻢ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﺍی‬
‫ﻧﯿﺴﺖ ﺑﻠﮑﻪ ﻋﻮﺍﻃﻒ ﮐﻪ ﻣﻨﺸﺎ ﺁﻧﻬﺎ ﺩﺭ ﻣﺨﭽـﻪ و ﻣﻐـﺰ ﻣﯿـﺎﻧﯽ‬
‫ﮐﻪ ﺳﺎﺧﺘﺎﺭی ﺷﺒﮑﻪﺍی ﺩﺍﺭﺩ ﺑﺮ ﺍﺳﺎﺱ ﺁﻥ ﺍﻧﺠـﺎﻡ ﻣـﯽﺷـﻮﺩ‪.‬‬
‫ﻣﯽﺑﺎﺷﺪ ﻧﯿﺰ ﺩﺭ ﺗﺼﻤﯿﻢ ﮔﯿﺮی ﺩﺧﯿﻞ ﻫﺴﺘﻨﺪ‪ .‬ﺩﺭ وﺍﻗﻊ‪ ،‬ﺣﻞ‬
‫ﺍﯾﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﺑﺮ ﺍﺳﺎﺱ ﻣﺪﻝ ﻣﺤﺎﺳﺒﺎﺗﯽ ﺁﻣﯿﮕـﺪﺍﻻ ]‪[15‬‬
‫ﯾﮏ ﻣﺴﺎﻟﻪ ﺗﺼﻤﯿﻢﮔﯿﺮی ﺑﺎ ﺗﻮﺟﻪ ﺑﻪ ﭘﯿﭽﯿﺪﻩ ﺑﻮﺩﻥ ﺭﺍﻩ ﺣـﻞ‬
‫ﻃﺮﺍﺣﯽ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﻣﺒﺘﻨﯽ ﺑﺮ ﻣﺤﺎﺳﺒﻪ و ﻣﻨﻄﻖ و ﻧﯿﺰ وﺟﻮﺩ ﻧﺎﯾﻘﯿﻨﯽ ﮔﺎﻩ ﺑـﺴﯿﺎﺭ‬

‫‪www.SID.ir‬‬
 ‫‪491‬‬ ‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ‪.....‬‬

‫‪D‬‬
‫‪SI‬‬
‫‪of‬‬
‫ﺷﮑﻞ ‪ :1‬ﻣﺪﻝ ﻣﺤﺎﺳﺒﺎﺗﯽ ﺳﯿﺴﺘﻢ ﯾﺎﺩﮔﯿﺮی ﻋﺎﻃﻔﯽ ﻣﻐﺰ‪.‬‬
‫‪ive‬‬

‫)‪ (4‬ﻣﺤﺎﺳﺒﻪ ﻣﯽﺷﻮﺩ‪.‬‬ ‫ﺁﻣﯿﮕــﺪﺍﻻ ﺑﺨــﺸﯽ ﺍﺯ ﻣﻐــﺰ ﺍﺳــﺖ ﮐــﻪ ﻣــﺴﻮوﻟﯿﺖ‬

‫)) ‪∆Vi = α(Si max(0, R − ∑ A j‬‬ ‫ﭘﺮﺩﺍﺯﺷﻬﺎی ﻋﺎﻃﻔﯽ ﺭﺍ ﺑﺮ ﻋﻬﺪﻩ ﺩﺍﺭﺩ و ﺑﺎ ﻻﯾـﻪ ﺣـﺴﯽ‪ ،‬ﻏـﺪﻩ‬
‫‪j‬‬
‫ﺗﺎﻻﻣﻮﺱ و ﻗﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﺩﺭ ﺍﺭﺗﺒـﺎﻁ ﺍﺳـﺖ )ﺷـﮑﻞ ‪.(1‬‬
‫)‪(3‬‬
‫‪ch‬‬

‫) ‪∆W i = β S i (∑ A j − ∑O j − R‬‬ ‫ﺁﻣﯿﮕﺪﺍﻻ و ﻗﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘـﺎﻝ ﺩﺭ ﻣـﺪﻝ ﻣﺤﺎﺳـﺒﺎﺗﯽ ﺩﺍﺭﺍی‬

‫‪j‬‬ ‫‪j‬‬
‫ﺳﺎﺧﺘﺎﺭی ﺷﺒﮑﻪﺍی ﻫﺴﺘﻨﺪ ﮐﻪ ﺩﺭ ﻫﺮ ﮐﺪﺍﻡ ﺍﺯ ﺁﻧﻬـﺎ ﺑـﻪ ﺍﺯﺍی‬
‫)‪(4‬‬
‫ﻫﺮ وﺭوﺩی ﺣﺴﯽ ﯾﮏ ﮔﺮﻩ وﺟﻮﺩ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ ﯾﮏ ﮔﺮﻩ‬
‫ﻫﻤــﺎﻧﻄﻮﺭ ﮐــﻪ ﻣــﺸﺎﻫﺪﻩ ﻣــﯽﺷــﻮﺩ ﻣﻘــﺎﺩﯾﺮ ‪Ai‬‬
‫‪Ar‬‬

‫ﻧﯿﺰ ﺑﺮﺍی وﺭوﺩی ﺗﺎﻻﻣﻮﺱ وﺟـﻮﺩ ﺩﺍﺭﺩ‪ .‬ﻣﻘـﺪﺍﺭ ﺍﯾـﻦ وﺭوﺩی‬

‫ﻧﻤﯽﺗﻮﺍﻧﻨﺪ ﮐﺎﻫﺶ ﭘﯿﺪﺍ ﮐﻨﻨﺪ ﯾﻌﻨﯽ ﻓﺮﺍﻣﻮﺵ ﮐﺮﺩﻥ ﺍﻃﻼﻋﺎﺕ‬
‫ﺑﺮﺍﺑﺮ ﺑﺎ ﺣﺪﺍﮐﺜﺮ ﻣﻘﺪﺍﺭ وﺭوﺩیﻫﺎی ﺣﺴﯽ ﻣﯽﺑﺎﺷﺪ‪ .‬ﺧﺮوﺟـﯽ‬
‫ﯾﺎﺩﮔﺮﻓﺘﻪ ﺷﺪﻩ ﺩﺭ ﺁﻣﯿﮕـﺪﺍﻻ ﺍﻧﺠـﺎﻡ ﻧﻤـﯽﺷـﻮﺩ‪ .‬ﺩﺭ ﺣﻘﯿﻘـﺖ‬
‫ﮔﺮﻩﻫﺎ ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ و ﻗﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﺑﻪ ﺗﺮﺗﯿﺐ ﺑﺮ ﺍﺳـﺎﺱ‬
‫"ﻓﺮﺍﻣﻮﺵ ﮐﺮﺩﻥ" ﯾﺎ ﺑﻪ ﺗﻌﺒﯿـﺮی ﺑﺎﺯﺩﺍﺭﻧـﺪﮔﯽ وﻇﯿﻔـﻪ ﻗـﺸﺮ‬
‫ﻣﻌﺎﺩﻻﺕ )‪ (1‬و )‪ (2‬ﻣﺤﺎﺳﺒﻪ ﻣﯽﺷﻮﺩ‬
‫ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﺍﺳﺖ‪ .‬ﻧﻬﺎﯾﺘﺎً ﺧﺮوﺟﯽ ﻣﺪﻝ ﺍﺯ ﺭﺍﺑﻄﻪ )‪ (5‬ﺑﺪﺳﺖ‬
‫‪Ai = S iVi‬‬
‫ﻣﯽﺁﯾﺪ‪.‬‬
‫)‪(1‬‬
‫‪E = ∑ Ai − ∑ O j‬‬
‫‪i‬‬ ‫‪j‬‬ ‫‪Oi = S iWi‬‬
‫)‪(5‬‬ ‫)‪(2‬‬
‫ﺷﮑﻞ )‪ (2‬ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ‪ BELBIC‬ﺭﺍ ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪.‬‬ ‫ﮐﻪ ﺩﺭ ﺁﻧﻬﺎ ‪ Ai‬و ‪ Oi‬ﺑﻪ ﺗﺮﺗﯿﺐ ﺧﺮوﺟﯽ ﮔﺮﻩﻫـﺎ ﺩﺭ‬
‫ﺳﯿﮕﻨﺎﻝ ﻋﺎﻃﻔﯽ ‪ R‬و وﺭوﺩﯾﻬﺎی ﺣﺴﯽ ﺑﻪ ﺗﺮﺗﯿﺐ ﺑـﻪ ﮐﻤـﮏ‬ ‫ﺳﺎﺧﺘﺎﺭ ﺷﺒﮑﻪ ﺍی ﺁﻣﯿﮕﺪﺍﻻ و ﻗـﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘـﺎﻝ ‪ V ،‬و ‪W‬‬
‫ﺭوﺍﺑﻂ )‪ (6‬و )‪ (7‬ﺑﺮ ﺍﺳﺎﺱ ﺧﺮوﺟﯽ ﺳﯿﺴﺘﻢ )‪ (y‬ﻣﺤﺎﺳﺒــﻪ‬ ‫وﺯﻥ ﮔﺮﻩ ﻫﺎ و ‪ Si‬وﺭوﺩی ﻫﺎی ﺣﺴﯽ ﻫـﺴﺘﻨﺪ‪ .‬ﺗﻐﯿﯿـﺮﺍﺕ ‪ V‬و‬
‫ﻣﯽﺷﻮﻧﺪ‪.‬‬ ‫‪ W‬ﺩﺭ ﻓﺮﺍﯾﻨﺪ ﯾﺎﺩﮔﯿﺮی ﺑﻪ ﺗﺮﺗﯿﺐ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺭوﺍﺑﻂ )‪ (3‬و‬

‫‪www.SID.ir‬‬
 ‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‪ ،‬ﺟﻠﺪ ‪ ،39‬ﺷﻤﺎﺭﻩ ‪ ،4‬ﺁﺑﺎﻥ ﻣﺎﻩ ‪1384‬‬
‫ﺳﺨﺖﺍﻓﺰﺍﺭی‪ 9‬ﺷﻨﺎﺧﺘﻪ ﻣﯽﺷـﻮﺩ‪ .‬ﺩﺭ ﻣﺠﻤـﻮﻉ ﺑـﺎ ﺗﻮﺟـﻪ ﺑـﻪ‬
‫ﭘﯿﺸﺮﻓﺖ ﺳﺮﯾﻊ ﮐﺎﻣﭙﯿﻮﺗﺮﻫﺎی ﺷﺨﺼﯽ‪ ،‬ﮐﻨﺘـﺮﻝ ﮐـﺎﻣﭙﯿﻮﺗﺮی‬
‫ﺑﻪ ﺧﺎﻃﺮ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﺑﺰﺍﺭ ﭘﺮﺩﺍﺯﺵ ﻣﺘﺪﺍوﻟﺘﺮ‪ ،‬ﻫﺰﯾﻨﻪ ﮐﻤﺘﺮ و و‬
‫ﺳﺮﻋﺖ ﻣﻨﺎﺳﺐ ﭘﺮﺩﺍﺯﺵ ﻧـﺴﺒﺖ ﺑـﻪ ﺍﺑﺰﺍﺭﻫـﺎی ﺩﯾﮕـﺮ ﻣﺎﻧﻨـﺪ‬
‫‪ PLC‬ﻋﻤﻮﻣﯿﺖ ﺑﯿﺸﺘﺮی ﯾﺎﻓﺘﻪ ﺍﺳﺖ‪ .‬ﺩﺭ ﮐﻨﺘﺮﻝ ﮐـﺎﻣﭙﯿﻮﺗﺮی‬
‫ﻣﻮﺍﺭﺩ ﺯﯾﺮ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗﺮﺍﺭ ﻣﯽﮔﯿﺮﺩ‪:‬‬
‫• ﺍﺭﺗﺒﺎﻁ ﺑﻼﺩﺭﻧﮓ‪ 10‬ﺑﯿﻦ ﭘﺮﺩﺍﺯﻧﺪﻩ و ﮐﻨﺘﺮﻝﺷﻮﻧﺪﻩ‪.‬‬
‫• ﺍﺭﺗﺒــﺎﻁ ﻣﻨﺎﺳــﺐ و ﺳــﺮﯾﻊ ﺑــﯿﻦ ﻣﺤــﯿﻂ ﻃﺮﺍﺣــﯽ و‬
‫ﭘﯿﺎﺩﻩﺳﺎﺯی و ﻣﺤﯿﻂ ﺁﺯﻣﺎﯾﺶ ﯾﺎ ﯾﮑﯽ ﺑﻮﺩﻥ ﺍﯾﻦ ﺩو ﻣﺤﯿﻂ‪.‬‬
‫• ﺍﻣﮑﺎﻥ ﻣﺸﺎﻫﺪﻩ و ﺗﺤﻠﯿﻞ ﻧﺘﺎﯾﺞ ﺁﺯﻣﺎﯾﺶ‪.‬‬
‫ﺩﺭ ﺍﺭﺗﺒﺎﻁ ﺑﻼﺩﺭﻧﮓ‪ ،‬ﻧـﻪ ﺗﻨﻬـﺎ ﺩﺭﺳـﺘﯽ ﺍﻃﻼﻋـﺎﺕ‬
‫ﻣﯽﺑﺎﺷﺪ‪ .‬ﻣﻘﺎﺩﯾﺮ ‪ Cp‬و ‪ Ci‬ﺑﺎﯾﺪ ﺑﻪ ﻧﺤﻮ ﻣﻨﺎﺳﺐ ﺍﻧﺘﺨﺎﺏ ﺷﻮﻧﺪ‪.‬‬
‫ﺑﺪﺳﺖ ﺁﻣﺪﻩ ﺑﻠﮑﻪ ﺯﻣﺎﻥ ﺣﺼﻮﻝ ﺁﻧﻬﺎ ﻧﯿﺰ ﺍﻫﻤﯿﺖ ﺩﺍﺭﺩ‪ .‬ﺍﺯ ﺁﻧﺠﺎ‬
‫ﮐﻪ ﻓﺮﺍﯾﻨﺪ ﮐﻨﺘﺮﻝ ﺩﺭ ﻣﺤﯿﻂ وﺍﻗﻌﯽ ﺑﻪ ﺯﻣﺎﻥ وﺍﺑـﺴﺘﻪ ﺍﺳـﺖ‪،‬‬
‫ﭘﺮﺩﺍﺯﻧﺪﻩ ﺑﺎﯾﺪ ﺳﯿﮕﻨﺎﻟﻬﺎی ﻻﺯﻡ ﺭﺍ ﺑﺎ ﺩوﺭﻩ ﺯﻣﺎﻧﯽ ﻣﻨﺎﺳﺒﯽ ﺑـﻪ‬
‫ﺳﯿﺴﺘﻢ ﺗﺤﺖ ﮐﻨﺘﺮﻝ ﺍﺭﺳﺎﻝ ﮐﺮﺩﻩ و ﺳﯿﮕﻨﺎﻟﻬﺎی ﺑﺎﺯﺧﻮﺭﺩ ﺭﺍ‬
‫ﺩﺭ ﺯﻣﺎﻥ ﻣﻌﯿﻦ‪ ،‬ﭘﯿﺶ ﺍﺯ ﺍﯾﻨﮑﻪ ﺍﺯ ﺑﯿﻦ ﺑﺮوﻧﺪ‪ ،‬ﺩﺭﯾﺎﻓﺖ ﮐﻨﺪ‪.‬‬
‫ﺑﺎ ﺍﯾﻨﮑﻪ ﺳﯿﺴﺘﻢ ﻋﺎﻣﻠﻬﺎ و ﻣﺤﯿﻄﻬﺎی ﻣﺨﺘﻠﻔـﯽ ﺑـﺎ‬
‫‪SI‬‬
‫‪of‬‬
‫ﺍﻣﮑﺎﻧﺎﺕ ﺍﺭﺗﺒﺎﻁ ﺑﻼﺩﺭﻧﮓ ﺗﻮﺳﻌﻪ ﯾﺎﻓﺘﻪﺍﻧﺪ‪ [16-23] ،‬ﻣﯽﺗﻮﺍﻥ‬
‫ﮔﻔﺖ ﺍﻣﺮوﺯﻩ ﺑﺮﺍی ﺍﻫﺪﺍﻑ ﮐﻨﺘﺮﻟﯽ ﺁﺯﻣﺎﯾﺸﯽ و ﭘﮋوﻫﺸﯽ ﺑﯿﺶ‬
‫ﺍﺯ ﻫﻤﻪ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻣﮑﺎﻧـﺎﺕ ﻧـﺮﻡﺍﻓـﺰﺍﺭ ‪ Matlab‬ﺩﺭ ﻣﺤـﯿﻂ‬
‫وﯾﻨﺪوﺯ و ﻟﯿﻨﻮﮐﺲ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗﺮﺍﺭﮔﺮﻓﺘـﻪ ﺍﺳـﺖ ]‪22‬و‪.[23‬‬
‫‪ive‬‬
‫ﻧﺮﻡﺍﻓﺰﺍﺭ ‪ Matlab‬و ﻣﺤـﯿﻂ ﺷـﺒﯿﻪﺳـﺎﺯی ﺁﻥ ‪ Simulink‬ﺑـﻪ‬
‫ﻋﻨﻮﺍﻥ ﻣﺤﯿﻂ ﻃﺮﺍﺣﯽ و ﺗﺠﺰﯾﻪ و ﺗﺤﻠﯿﻞ ﺳﯿﺴﺘﻤﻬﺎی ﮐﻨﺘﺮﻝ‬
‫ﺑﻪ ﺧﻮﺑﯽ ﺷﻨﺎﺧﺘﻪ ﺷﺪﻩﺍﻧﺪ‪ .‬ﻣﺤﯿﻂ ﺷﺒﯿﻪﺳﺎﺯی ‪ Simulink‬ﺑﺎ‬
‫‪ch‬‬
‫ﻓﺮﺍﻫﻢ ﮐﺮﺩﻥ ﺍﻣﮑـﺎﻥ ﺍﺭﺗﺒـﺎﻁ ﺑـﺎ ﮐـﺎﺭﺑﺮ ﮔﺮﺍﻓﯿﮑـﯽ )‪ (GUI‬و‬
‫ﮐﺘﺎﺑﺨﺎﻧﻪﻫﺎﯾﯽ ﺍﺯ ﺍﺟﺰﺍی ﻣﺨﺘﻠﻒ ﺳﯿﺴﺘﻤﻬﺎی ﮐﻨﺘﺮﻝ و ﺗﻮﺍﺑﻊ‬
‫ﺭﯾﺎﺿﯽ ﭘﯿﺎﺩﻩﺳﺎﺯی ﺳﯿﺴﺘﻤﻬﺎی ﮐﻨﺘﺮﻝ ﺭﺍ ﺁﺳﺎﻥ ﮐﺮﺩﻩ ﺍﺳﺖ‪.‬‬
‫‪Ar‬‬
‫ﻫﻤﭽﻨﯿﻦ‪ ،‬ﯾﮏ ﺍﺑﺰﺍﺭ ﺩﯾﮕﺮ ﺑـﻪ ﻧـﺎﻡ ‪Real Time Workshop‬‬
‫)‪ (RTW‬ﺍﻣﮑﺎﻥ ﺗﻮﻟﯿﺪ ﯾﮏ ﺑﺮﻧﺎﻣﻪ ﻣـﺴﺘﻘﻞ‪ ،‬ﺍﺯ ﺭوی ﺩﯾـﺎﮔﺮﺍﻡ‬
‫ﺑﻠﻮﮐﯽ و ﺷﺒﯿﻪﺳـﺎﺯی ﺑـﺎ ﺣﻠﻘـﻪ ﺳـﺨﺖﺍﻓـﺰﺍﺭی ﺑـﻪ ﺻـﻮﺭﺕ‬
‫ﺑﻼﺩﺭﻧﮓ ﺭﺍ ﻓﺮﺍﻫﻢ ﻣﯽﮐﻨﺪ‪ .‬ﺩﺭ ﺣﺎﻝ ﺣﺎﺿـﺮ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﺍﯾـﻦ‬
‫‪ RTW‬ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﮐﺎﻣﭙﯿﻮﺗﺮی ﺩﺭ ﻣﺤﯿﻄﻬﺎی ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ‬
‫و ﺁﻣﻮﺯﺷ ـﯽ ﺑــﻪ ﯾ ـﮏ ﺭوﺵ ﺍﺳــﺘﺎﻧﺪﺍﺭﺩ ﺗﺒــﺪﯾﻞ ﺷــﺪﻩ ﺍﺳــﺖ‬
‫]‪ .[25،24‬ﻣــﺴﺎﻟﻪ ﺍﺻــﻠﯽ ﺩﺭ ﺑــﻪﮐــﺎﺭﮔﯿﺮی ‪ ،RTW‬ﺍﻧﺘﺨــﺎﺏ‬
‫ﺳﺨﺖﺍﻓﺰﺍﺭ ﻣﻨﺎﺳﺐ ﺑﺮﺍی ﺗﺒـﺎﺩﻝ ﺩﺍﺩﻩﻫـﺎ ﺍﺳـﺖ‪ .‬ﺗﻌـﺪﺍﺩی ﺍﺯ‬
‫ﮐﺎﺭﺕ ﻫﺎی وﺍﺳﻂ ﺗﻮﺳﻂ ‪ RTW‬ﭘﺸﺘﯿﺒﺎﻧﯽ ﻣـﯽﺷـﻮﻧﺪ‪ .‬وﻟـﯽ‬
‫ﺍﯾﻦ ﮐﺎﺭﺗﻬﺎ ﻣﻌﻤﻮﻻ ﺩﺭ ﻣﺤﯿﻄﻬﺎی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺩﺭ ﺍﯾـﺮﺍﻥ ﺩﺭ‬
‫‪11‬‬
‫ﺩﺳﺘﺮﺱ ﻧﯿﺴﺘﻨﺪ‪ .‬ﯾﮏ ﺭﺍﻩ ﺩﯾﮕـﺮ‪ ،‬ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﺩﺭﮔﺎﻫﻬـﺎی‬
‫ﺍﺳﺘﺎﻧﺪﺍﺭﺩ ﺍﺳﺖ ﮐﻪ ﺗﻮﺳﻂ ‪ RTW‬ﭘﺸﺘﯿﺒﺎﻧﯽ ﻣﯽﺷﻮﻧﺪ‪ .‬ﺑـﺮﺍی‬
‫‪492‬‬
‫) ‪R = f (E , e , y d‬‬
‫)‪(6‬‬
‫) ‪S = g (y , y d‬‬
‫)‪(7‬‬
‫ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟـﻪ ﺗﻮﺍﺑـﻊ ‪ f‬و ‪ g‬ﺑـﺎ ﺗﻮﺟـﻪ ﺑـﻪ ﺭوﺍﺑـﻂ )‪ (8‬و )‪(9‬‬
‫ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ ﺍﻧﺪ‪.‬‬
‫‪g = yd‬‬
‫)‪(8‬‬
‫‪f = C p y (t ) + Ci ∫ y (t )dt‬‬
‫)‪(9‬‬
‫ﮐﻪ ﺩﺭ ﺁﻧﻬﺎ ‪ yd‬ﻣﻘﺪﺍﺭ ﻣﻄﻠﻮﺏ ﺧﺮوﺟـﯽ و ‪ e‬ﺧﻄـﺎی ﺧﺮوﺟـﯽ‬
‫‪D‬‬
‫ﺩﺭ ﻧﻬﺎﯾﺖ ‪ ،α, β‬ﻣﻘﺎﺩﯾﺮ ﺍوﻟﯿﻪ ‪ O ،Ath ،A‬و ﺗﻮﺍﺑـﻊ‬
‫‪ R‬و ‪ S‬ﺩﺭ ﺗﻮﻟﯿﺪ ﺳـﯿﮕﻨﺎﻝ ﻋـﺎﻃﻔﯽ ﺑﺎﯾـﺪ ﺑـﻪ ﻧﺤـﻮ ﻣﻨﺎﺳـﺐ‬
‫ﺍﻧﺘﺨﺎﺏ ﺷﻮﻧﺪ‪.‬‬
‫ﺷﮑﻞ ‪ :2‬ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮﻝ ﺑﺎ ‪.BELBIC‬‬
‫ﮐﻨﺘﺮﻝ ﮐﺎﻣﭙﯿﻮﺗﺮی‬
‫ﻃﺮﺍﺣﯽ و ﺁﺯﻣﻮﻥ ﮐﻨﺘﺮﻝﮐﻨﻨـﺪﻩﻫـﺎ‪ ،‬ﺑـﻪ ﺧـﺼﻮﺹ‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩﻫﺎﯾﯽ ﮐﻪ ﺳﺎﺧﺘﺎﺭی ﭘﯿﭽﯿﺪﻩ ﺩﺍﺭﻧـﺪ‪ ،‬ﻣﻌﻤـﻮﻻ ﺑـﺎ‬
‫ﺍﺳــﺘﻔﺎﺩﻩ ﺍﺯ ﻧــﺮﻡﺍﻓﺰﺍﺭﻫــﺎی ﻃﺮﺍﺣ ـﯽ و ﺷــﺒﯿﻪﺳــﺎﺯی ﺍﻧﺠــﺎﻡ‬
‫ﻣﯽﮔﯿﺮﺩ‪ .‬ﺩﺭ ﺍﯾﻦ ﻧﺮﻡﺍﻓﺰﺍﺭﻫﺎ ﻣﯽﺗﻮﺍﻥ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﻣﻮﺭﺩ ﻧﻈﺮ‬
‫ﺭﺍ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺍﻣﮑﺎﻧﺎﺕ و ﮐﺘﺎﺑﺨﺎﻧﻪﻫـﺎی ﻣﻮﺟـﻮﺩ و ﻣﻌﻤـﻮﻻ‬
‫ﺩﺭوﻥ وﺍﺳﻂ ﮔﺮﺍﻓﯿﮑﯽ ﮐﺎﺭﺑﺮ )‪ (GUI‬ﻃﺮﺍﺣﯽ ﮐـﺮﺩ و ﺳـﭙﺲ‬
‫ﺑﻪ ﮐﻤﮏ ﺍﺑﺰﺍﺭ ﺷﺒﯿﻪﺳﺎﺯی ﺁﻥ ﺭﺍ ﻣﻮﺭﺩ ﺁﺯﻣﺎﯾﺶ ﻗـﺮﺍﺭ ﺩﺍﺩ‪ .‬ﺑـﺎ‬
‫ﺍﯾﻦ ﺣﺎﻝ‪ ،‬ﺍﻣﮑﺎﻥ ﺑﺮﻗﺮﺍﺭی ﺍﺭﺗﺒﺎﻁ ﮐﻨﺘـﺮﻝ ﮐﻨﻨـﺪﻩ ﺑـﺎ ﺳـﺨﺖ‬
‫ﺍﻓﺰﺍﺭ ﻣﻮﺿﻮﻉ ﻣﻬﻢ ﺩﯾﮕﺮی ﺍﺳﺖ ﮐﻪ ﻫﻢ ﺩﺭ ﺁﺯﻣﺎﯾﺸﮕﺎﻩ و ﻫـﻢ‬
‫ﺩﺭ ﺻﻨﻌﺖ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗﺮﺍﺭ ﺩﺍﺭﺩ‪ .‬ﺩﺭ ﺳﺎﻟﻬﺎی ﺍﺧﯿﺮ ﺑﺨﺼﻮﺹ‬
‫ﺑﺎ ﮔﺴﺘﺮﺵ ﺳﯿﺴﺘﻢﻫﺎی ﮐﻨﺘﺮﻝ ﻫﻮﺷﻤﻨﺪ ﺑﺎ ﺳﺎﺧﺘﺎﺭ ﭘﯿﭽﯿﺪﻩ‬
‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺳﯿﺴﺘﻤﻬﺎی ﮐﻨﺘﺮﻝ ﺍﻫﻤﯿﺖ ﯾﺎﻓﺘـﻪ‬
‫ﺍﺳﺖ‪ .‬ﮐﻨﺘﺮﻝ ﯾﮏ ﭘﺮوﺳﻪ ﯾﺎ ﺳﯿﺴﺘﻢ وﺍﻗﻌـﯽ ﺍﺯ ﻃﺮﯾـﻖ ﯾـﮏ‬
‫ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﮐﻪ ﺑﻪ ﺻﻮﺭﺕ ﻧـﺮﻡﺍﻓـﺰﺍﺭی ﭘﯿـﺎﺩﻩﺳـﺎﺯی ﺷـﺪﻩ‬
‫ﺍﺳﺖ ﺑﺎ ﻋﻨﻮﺍﻥ ﮐﻨﺘﺮﻝ ﮐﺎﻣﭙﯿﻮﺗﺮی ﯾﺎ ﺷﺒﯿﻪ ﺳـﺎﺯی ﺑـﺎ ﺣﻠﻘـﻪ‬
‫‪www.SID.ir‬‬
 ‫‪493‬‬ ‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ‪.....‬‬

‫ﺑﻠﻮک ‪ S-function‬ﺍﻧﺠﺎﻡ ﻣﯽﺷﻮﺩ‪ .‬ﺍﯾﻦ ﺑﻠﻮﮐﻬﺎ ﺩﺍﺭﺍی ﺗـﻮﺍﺑﻌﯽ‬
‫ﻫــﺴﺘﻨﺪ ﮐــﻪ ﺩﺭ ﭼﺮﺧــﻪ ﺷــﺒﯿﻪﺳــﺎﺯی ﺩﺭ ﺯﻣــﺎﻥ ﻣﻨﺎﺳــﺐ‬
‫ﻓﺮﺍﺧﻮﺍﻧﯽ ﻣﯽﺷﻮﻧﺪ‪ .‬ﺩﺭ ﺣﻘﯿﻘﺖ ﻓﺮﺍﺧﻮﺍﻧﯽ ﺩﺳﺘﻮﺭﺍﺗﯽ ﮐـﻪ ﺑـﺎ‬
‫ﺍﮐﺘﯿﻮ ﺍﯾﮑﺲ ﺍﺭﺗﺒﺎﻁ ﺑﺮﻗﺮﺍﺭ ﻣﯽﮐﻨﻨـﺪ ﺩﺭ ﺩﺍﺧـﻞ ﺍﯾـﻦ ﺗﻮﺍﺑـﻊ‬
‫ﺍﻧﺠﺎﻡ ﻣﯽﺷﻮﺩ‪ .‬ﻟﯿﺴﺖ )‪ (1‬ﻧﺤﻮﻩ ﻓﺮﺍﺧﻮﺍﻧﯽ ﺗﻮﺍﺑﻊ ﺍﮐﺘﯿﻮ ﺍﯾﮑﺲ‬
‫ﺭﺍ ﺍﺯ ﺩﺭوﻥ ‪ S-function‬ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪.‬‬
‫ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﻣﺸﺎﻫﺪﻩ ﻣﯽﺷﻮﺩ ﺩﺭ ﺍﯾﻦ ﺭوﺵ ﺍﺯ‬
‫‪ RTW‬ﺍﺳﺘﻔﺎﺩﻩ ﻧﻤﯽﺷﻮﺩ‪ .‬ﺍﯾﻦ ﺍﺭﺗﺒﺎﻁ ﻧﯿﺰ ﺩﺭ ﺣﻘﯿﻘﺖ ﯾﮏ‬
‫ﺍﺭﺗﺒﺎﻁ ﺑﻼﺩﺭﻧﮓ ﻧﯿﺴﺖ‪ .‬ﺩﺭ ﺍﯾﻦ ﺷﺮﺍﯾﻂ ﺩو ﻋﺎﻣﻞ ﻣﯽﺗﻮﺍﻧﻨﺪ‬
‫ﺩﺭ ﮐﺎﺭ ﮐﻨﺘﺮﻝ ﺍﺧﺘﻼﻝ ﺍﯾﺠﺎﺩ ﮐﻨﻨﺪ‪:‬‬
‫• ﻣﺒﺎﺩﻟﻪ ﮐﻢ ﺳﺮﻋﺖ ﺩﺍﺩﻩﻫﺎ ﺑﻪ ﻋﻠﺖ ﺣﺠﻢ ﻣﺤﺎﺳﺒﺎﺕ ﺑﺎﻻ و‬
‫ﻣﺜﺎﻝ ﺩﺭﮔﺎﻩ ﻣﻮﺍﺯی‪ 12‬ﺍﻣﮑﺎﻥ ﺍﺭﺗﺒﺎﻁ ﺩو ﻃﺮﻓـﻪ ﺑـﯿﻦ ‪ RTW‬و‬
‫ﻣﺤﯿﻂ ﺧﺎﺭﺟﯽ ﺭﺍ ﺑﺎ ﺳﺮﻋﺖ ‪ 1KHz‬ﻓﺮﺍﻫﻢ ﻣﯽﮐﻨﺪ‪ .‬وﻟﯽ ﺍوﻻ‬
‫ﺩﺍﺩﻩﻫﺎﯾﯽ ﮐﻪ ﺩﺭ ﺍﺧﺘﯿﺎﺭ ﻣﯽﮔﺬﺍﺭﺩ ﺍﺯ ﻧﻮﻉ ﺩﯾﺠﯿﺘـﺎﻝ ﻫـﺴﺘﻨﺪ‬
‫ﮐﻪ ﺑﺎﯾﺪ ﺑﻪ ﺁﻧﺎﻟﻮگ ﺗﺒﺪﯾﻞ ﺷﻮﻧﺪ‪ .‬ﺛﺎﻧﯿﺎ ﺑﺎ ﺗﻮﺟـﻪ ﺑـﻪ ‪ 8‬ﺑﯿﺘـﯽ‬
‫ﺑﻮﺩﻥ ﺩﺍﺩﻩﻫـﺎی ﺩﯾﺠﯿﺘـﺎﻝ ﮔـﺴﺘﺮﻩ ﺩﺍﺩﻩﻫـﺎی ﺁﻧـﺎﻟﻮگ ﮐـﻢ‬
‫ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟﻪ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﯾـﮏ ﮐـﺎﺭﺕ وﺍﺳـﻂ ﮐـﻪ‬
‫ﻧﻈﯿــﺮ ﺁﻥ ﺩﺭ ﻣﺤــﯿﻂﻫــﺎی ﺁﺯﻣﺎﯾــﺸﮕﺎﻫﯽ ﺩﺭ ﺍﯾــﺮﺍﻥ ﻗﺎﺑــﻞ‬
‫ﺩﺳﺘﺮﺱ ﺍﺳﺖ ﭘﯿﺸﻨﻬﺎﺩ ﺷﺪﻩ ﺍﺳﺖ‪ .‬ﻣﺸﺨﺼﺎﺕ ﺍﯾﻦ ﮐﺎﺭﺕ ﺩﺭ‬
‫]‪ [27،26‬ﻣﻮﺟﻮﺩ ﻣﯽ ﺑﺎﺷﺪ‪ .‬ﺟﺰﺋﯿﺎﺕ ﺭوﺵ ﭘﯿﺸﻨﻬﺎﺩی ﺑـﺮﺍی‬
‫ﺍﺭﺗﺒﺎﻁ ﺑﺎ ﺍﯾﻦ ﮐﺎﺭﺕ ﺍﺯ ﻃﺮﯾﻖ ‪ Simulink‬ﺑـﺪوﻥ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ‬
‫‪ RTW‬ﺩﺭ ﺍﺩﺍﻣﻪ ﺷﺮﺡ ﺩﺍﺩﻩ ﻣﯽﺷﻮﺩ‪.‬‬

‫‪D‬‬
‫ﮐﻨﺪ ﺑﻮﺩﻥ ﺍﺑﺰﺍﺭ ﺷﺒﯿﻪﺳﺎﺯی‪.‬‬
‫• ﺩﺭ ﺍﺧﺘﯿﺎﺭ ﮔﺮﻓﺘﻦ ﭘﺮﺩﺍﺯﻧﺪﻩ ﺑﻪ وﺳﯿﻠﻪ ﯾﮏ ﭘﺮﺩﺍﺯﻩ ﺩﯾﮕﺮ ﺑﻪ‬
‫ﻧﺤﻮی ﮐﻪ ﺗﺒﺎﺩﻝ ﺩﺍﺩﻩﻫﺎ ﺩﺭ ﺯﻣﺎﻥ ﺍﺯ ﭘﯿﺶ ﺗﻌﯿﯿﻦ ﺷﺪﻩ ﺍﻧﺠﺎﻡ‬

‫‪SI‬‬
‫ﺍﺭﺗﺒﺎﻁ ﻣﺤﯿﻂ ﺷﺒﯿﻪﺳﺎﺯی ﺑـﺎ ﺑﺮﻧﺎﻣـﻪ ﺭﺍﻩﺍﻧـﺪﺍﺯ‬
‫ﻧﮕﯿﺮﺩ‪.‬‬
‫ﮐﺎﺭﺕ وﺍﺳﻂ‬
‫ﺍﺛﺮ ﻋﺎﻣﻞ ﺍوﻝ ﺑﺎ ﯾﮏ ﺁﺯﻣﺎﯾﺶ ﺑﺮﺭﺳﯽ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﮐﺎﺭﺕ وﺍﺳﻂ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﯾﮏ ﮐﺎﺭﺕ ﻣﺒﺪﻝ ﺩﺍﺩﻩ‬
‫ﺩﺭ ﺍﯾﻦ ﺁﺯﻣﺎﯾﺶ‪ ،‬ﯾﮏ ﻗﻄﺎﺭ ﭘﺎﻟﺲ ﺑﻪ ﺧﺮوﺟﯽ ﻓﺮﺳﺘﺎﺩﻩ ﺷﺪﻩ‬
‫ﺑــﺎ ﻧــﺎﻡ ‪ GPAD3316-E‬ﻣﺤــﺼﻮﻝ ‪Arman Optimized‬‬
‫‪of‬‬
‫و ﺧﺮوﺟﯽ ﮐﺎﺭﺕ وﺍﺳﻂ ﺭوی ﺍﺳﮑﻮپ ﻣﺸﺎﻫﺪﻩ ﻣﯽﺷﻮﺩ‪.‬‬
‫‪ System‬ﺍﺳــﺖ ﮐــﻪ ﻣــﺸﺎﺑﻪ ﺁﻥ ﻣﻌﻤــﻮﻻ ﺩﺭ ﻣﺤﯿﻄﻬــﺎی‬
‫ﻓﺮﮐﺎﻧﺲ ﺍﯾﻦ ﻗﻄﺎﺭ ﭘﺎﻟﺲ ﺑﻪ ﺗﺪﺭﯾﺞ ﺯﯾﺎﺩ ﻣﯽﺷﻮﺩ ﺗﺎ ﺯﻣﺎﻧﯽ ﮐﻪ‬
‫ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺍﺳﺘﻔﺎﺩﻩ ﻣﯽﺷﻮﺩ‪ .‬ﺑﺮﻧﺎﻣﻪ ﺭﺍﻩ ﺍﻧﺪﺍﺯ‪ 13‬ﺍﯾـﻦ ﮐـﺎﺭﺕ‬
‫ﻣﻮﺝ ﻣﺸﺎﻫﺪﻩ ﺷﺪﻩ ﺭوی ﺍﺳﮑﻮپ ﺍﺯ ﺣﺎﻟﺖ ﻣﻨﻈﻢ ﺧﺎﺭﺝ ﺷﻮﺩ‪.‬‬
‫ﺗﺤﺖ ﺳﯿﺴﺘﻢ ﻋﺎﻣﻞ وﯾﻨﺪوﺯ ﺑﻪ ﺻﻮﺭﺕ ﮐﻨﺘﺮﻝ ﺍﮐﺘﯿﻮ ﺍﯾﮑـﺲ‬
‫ﺯﻣﺎﻥ ﺑﺪﺳﺖ ﺁﻣﺪﻩ‪ ،‬ﺣﺪﺍﻗﻞ ﻓﺎﺻﻠﻪ ﺯﻣﺎﻧﯽ ﻣﺠﺎﺯ ﺑﯿﻦ ﺩو‬
‫‪ive‬‬

‫ﻣﻮﺟﻮﺩ ﺍﺳﺖ‪ .‬ﺩﺭ ﺣﻘﯿﻘﺖ ﺩﺳﺘﺮﺳﯽ ﯾـﮏ ﺑﺮﻧﺎﻣـﻪ ﺑـﻪ ﮐـﺎﺭﺕ‬

‫ﺍﺭﺳﺎﻝ ﺍﻃﻼﻋﺎﺕ ﺍﺳﺖ ﮐﻪ ﺑﺮﺍﺑﺮ ﺑﺎ ‪ 1/5 ms‬ﻣﯽﺑﺎﺷﺪ‪ .‬ﺍﯾﻦ‬
‫ﻣـﯽﺗﻮﺍﻧـﺪ ﺑــﻪ ﺻــﻮﺭﺕ ﺍﺭﺗﺒـﺎﻁ ﺳــﺮوﯾﺲﺩﻫﻨــﺪﻩ‪ -‬ﺳــﺮوﯾﺲ‬
‫ﺳﺮﻋﺖ‪ ،‬ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﮐﺎﻓﯽ ﺍﺳﺖ‪.‬‬
‫ﮔﯿﺮﻧــﺪﻩ‪ 14‬ﺑــﺎ ﺑﺮﻧﺎﻣــﻪ ﺭﺍﻩﺍﻧــﺪﺍﺯ ﺍﻧﺠــﺎﻡ ﻣــﯽﺷــﻮﺩ‪ .‬ﺷــﮑﻞ )‪(3‬‬
‫ﺑﺮ ﺍﺳﺎﺱ ﺁﺯﻣﺎﯾﺶ ﺍﻧﺠﺎﻡ ﺷﺪﻩ‪ ،‬ﺍﺛﺮ ﻋﺎﻣﻞ ﺩوﻡ ﻧﯿﺰ ﺩﺭ ﺻﻮﺭﺗﯽ‬
‫‪ch‬‬

‫ﺟﺰﺋﯿﺎﺕ ﻣﺮﺍﺣﻞ ﺍﺭﺗﺒﺎﻁ ﺭﺍ ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪.‬‬

‫ﮐﻪ ﭘﺮﺩﺍﺯﻩﻫﺎی ﺍﺿﺎﻓﯽ ﺩﺭ ﺯﻣﺎﻥ ﺍﻧﺠﺎﻡ ﺁﺯﻣﺎﯾﺶ ﺍﺟﺮﺍ ﻧﺸﻮﻧﺪ‬
‫ﺩﺭ ﺍﯾﻦ ﺍﺭﺗﺒﺎﻁ ‪ Matlab‬ﺑﻪ ﻋﻨﻮﺍﻥ ﺳﺮوﯾﺲﮔﯿﺮﻧﺪﻩ‬
‫ﻣﺤﺴﻮﺱ ﻧﺨﻮﺍﻫﺪ ﺑﻮﺩ‪.‬‬
‫ﺗﻮﺍﺑﻊ ﺯﯾﺮ ﺭﺍ ﺍﺯ ﺭﺍﻩﺍﻧﺪﺍﺯ ﺑﻪ ﻋﻨﻮﺍﻥ ﺳـﺮوﯾﺲﺩﻫﻨـﺪﻩ ﻓﺮﺍﺧـﻮﺍﻧﯽ‬
‫‪Ar‬‬

‫ﮐﻨﺘﺮﻝ ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺳﺮﻋﺖ ﺳﺮو ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﺎ‬ ‫ﻣﯽﮐﻨﺪ‪:‬‬

‫• ﺗﺎﺑﻌﯽ ﮐﻪ ﻣﻘﺎﺩﯾﺮ ﺍوﻟﯿﻪ ﮐﺎﺭﺕ وﺍﺳﻂ ﺭﺍ ﻣﺸﺨﺺ ﻣﯽﮐﻨﺪ‪.‬‬
‫ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪BELBIC‬‬
‫• ﺗــﺎﺑﻌﯽ ﮐــﻪ ﻣﻘــﺎﺩﯾﺮ ﺁﻧــﺎﻟﻮگ ﺭﺍ ﺩﺭ ﺧﺮوﺟـﯽ ﮐــﺎﺭﺕ ﻗــﺮﺍﺭ‬
‫ﺩﺭ ﺍﯾﻦ ﺑﺨﺶ ﮐﻨﺘﺮﻝ ﺳﺮﻋﺖ ﯾﮏ ﺳﺮو ﻣﻮﺗﻮﺭ ‪DC‬‬
‫ﻣﯽﺩﻫﺪ‪.‬‬
‫ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ‪ BELBIC‬ﺷـﺮﺡ ﺩﺍﺩﻩ ﻣـﯽﺷـﻮﺩ‪.‬‬
‫• ﺗﺎﺑﻌﯽ ﮐـﻪ ﻣﻘـﺎﺩﯾﺮ ﺁﻧـﺎﻟﻮگ ﺭﺍ ﺍﺯ وﺭوﺩی ﮐـﺎﺭﺕ ﺩﺭﯾﺎﻓـﺖ‬
‫ﻫﺪﻑ ﺍﺻـﻠﯽ ﭘﯿـﺎﺩﻩﺳـﺎﺯی ﺍﯾـﻦ ﺳﯿـﺴﺘﻢ ﺍﺭﺯﯾـﺎﺑﯽ ﻋﻤﻠﮑـﺮﺩ‬
‫ﻣﯽﮐﻨﺪ‪.‬‬
‫‪ BELBIC‬ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﯾﮏ ﺳﯿﺴﺘﻢ وﺍﻗﻌﯽ ﺍﺳﺖ‪.‬‬
‫ﺍﯾﻦ ﮐﺎﺭ ﺑﺎ ﻓﺮﺍﺧﻮﺍﻧﯽ ﺑﺮﻧﺎﻣﻪ ﺍﮐﺘﯿـﻮ ﺍﯾﮑـﺲ ﺗﻮﺳـﻂ‬
‫‪ Matlab‬ﺑﺎ ﮐﻤﮏ ﺩﺳﺘﻮﺭﺍﺗﯽ ﺍﺯ ‪ Matlab‬ﮐﻪ ﺑﺮﺍی ﺍﺭﺗﺒـﺎﻁ ﺑـﺎ‬
‫ﻣﺸﺨﺼﺎﺕ ﺳﺮو ﻣﻮﺗﻮﺭ‬
‫ﺍﮐﺘﯿﻮ ﺍﯾﮑﺲ ﻫﺎ ﺩﺭ ﻧﻈﺮ ﮔﺮﻓﺘﻪ ﺷﺪﻩﺍﻧﺪ‪ ،‬ﺍﻧﺠﺎﻡ ﻣﯽﺷـﻮﺩ‪ .‬ﺍﯾـﻦ‬
‫ﺳﺮو ﻣﻮﺗﻮﺭ ‪ DC‬ﺑﻪ ﮐﺎﺭ ﺭﻓﺘﻪ ﯾﮏ ﻣﻮﺗﻮﺭ ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ‬
‫ﺩﺳﺘﻮﺭﺍﺕ ﺑﺎﯾﺴﺘﯽ ﺩﺭ ﻣﻮﻗﻊ ﻟﺰوﻡ ﺩﺭ ﺣﯿﻦ ﺍﻧﺠﺎﻡ ﺷﺒﯿﻪﺳﺎﺯی‬
‫ﻣﺤــﺼﻮﻝ ‪ Feedback Co.‬ﺑــﺎ ﻧــﺎﻡ ‪ MS 150‬ﻣــﯽﺑﺎﺷــﺪ‬
‫ﺍﺟﺮﺍ ﺷﻮﻧﺪ‪ .‬ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﺩﺭ ﺷـﮑﻞ )‪ (3‬ﻣـﺸﺎﻫﺪﻩ ﻣـﯽﺷـﻮﺩ‬
‫]‪)[28‬ﺷﮑﻞ ‪ .(4‬ﺳﯿﮕﻨﺎﻝ ﮐﻨﺘﺮﻟﯽ ﺑﺎ ﻋﺒﻮﺭ ﺍﺯ ﯾـﮏ ﺑﺎﻓﺮ ﺑــﺎ‬
‫ﺍﺟﺮﺍی ﺩﺳﺘﻮﺭﺍﺕ ‪ Matlab‬ﺩﺭ ﻫﻨﮕﺎﻡ ﺷﺒﯿﻪﺳـﺎﺯی ﺩﺭ ﺩﺍﺧـﻞ‬

‫‪www.SID.ir‬‬
 ‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‪ ،‬ﺟﻠﺪ ‪ ،39‬ﺷﻤﺎﺭﻩ ‪ ،4‬ﺁﺑﺎﻥ ﻣﺎﻩ ‪1384‬‬ ‫‪494‬‬

‫‪function [sys,x0,str,ts,drv] = mdlInitializeSizes(b_u) % Called when simulation starts‬‬

‫‪.‬‬
‫‪.‬‬
‫‪.‬‬

‫;)’‪drv = actxcontrol(‘gpad3316.gpad3316ctrl.1‬‬ ‫‪% Call ActiveX by its ID‬‬

‫;)‪invoke(drv, ‘InitializeDriver’,768,b_u,b_u,b_u,1,1,5,0‬‬ ‫‪% Initialize card‬‬

‫‪.‬‬
‫‪.‬‬
‫‪.‬‬

‫)‪function sys = mdlOutputs(t,x,u,drv‬‬ ‫‪% Called One time in each simulation loop‬‬

‫‪.‬‬
‫‪.‬‬
‫‪.‬‬

‫;)‪invoke(drv,’WriteDAValue’,1,u‬‬ ‫‪% Send data to the card‬‬

‫;)‪a = invoke (drv,’TrigReadAD’,1‬‬ ‫‪% Get data from the card‬‬

‫‪D‬‬
‫;)‪sys = double (a‬‬

‫ﻟﯿﺴﺖ ‪ : 1‬ﻓﺮﺍﺧﻮﺍﻧﯽ ﺗﻮﺍﺑﻊ ‪ ActiveX‬ﺍﺯ ﻃﺮﯾﻖ ﺩﺳﺘﻮﺭﺍﺕ ‪.Matlab‬‬

‫‪SI‬‬ ‫‪Block Diagram‬‬

‫‪of Controller‬‬
‫‪of‬‬
‫‪Virtual World‬‬

‫‪Server‬‬ ‫‪Client-Server‬‬
‫‪Client‬‬
‫‪ive‬‬

‫‪Communication‬‬ ‫‪S-function Block‬‬

‫‪Card Driver‬‬ ‫‪Matlab‬‬ ‫‪Simulink‬‬

‫‪ch‬‬

‫‪Interface‬‬ ‫‪DC‬‬
‫‪Card‬‬ ‫‪Motor‬‬
‫‪Real World‬‬

‫ﺷﮑﻞ ‪ : 3‬ﭼﮕﻮﻧﮕﯽ ﺑﺮﻗﺮﺍﺭی ﺍﺭﺗﺒﺎﻁ ﺑﯿﻦ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ و ﺩﺳﺘﮕﺎﻩ‪.‬‬

‫‪Ar‬‬

‫ﺷﺒﯿﻪ ﺳﺎﺯی ﻣﯽﺷﻮﺩ‪ .‬ﭘﺲ ﺍﺯ ﺗﻨﻈﯿﻢ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻫﺎ ﻣﯽﺗﻮﺍﻥ‬ ‫ﺗﺤﺮﯾﮏ ﺁﺭﻣﯿﭽﺮ ﺑﻪ ﻣﻮﺗﻮﺭ ﺍﻋﻤﺎﻝ ﻣﯽﺷﻮﺩ و ﺳﺮﻋﺖ ﻣﻮﺗﻮﺭ ﺑـﺎ‬
‫ﺳﺮو ﻣﻮﺗﻮﺭ وﺍﻗﻌﯽ ﺭﺍ ﺗﻮﺳﻂ ﺁﻧﻬﺎ ﮐﻨﺘﺮﻝ ﮐﺮﺩ‪.‬‬ ‫ﺍﻧﺪﺍﺯﻩ ﮔﯿﺮی وﻟﺘﺎژ ﯾـﮏ ﺗـﺎﮐﻮ ژﻧﺮﺍﺗـﻮﺭ ﺑـﻪ ﻋﻨـﻮﺍﻥ ﺳـﯿﮕﻨﺎﻝ‬
‫ﺑــﺎﺯﺧﻮﺭﺩ ﻣــﻮﺭﺩ ﺍﺳــﺘﻔﺎﺩﻩ ﻗــﺮﺍﺭ ﻣــﯽﮔﯿـﺮﺩ‪ .‬ﺩﺭ ﻧﺘﯿﺠـﻪ ﺍﯾـﻦ‬
‫ﺷﺒﯿﻪﺳﺎﺯی ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮﻝ‬ ‫ﺳﯿﺴﺘﻢ‪ ،‬ﯾﮏ ﺳﯿﺴﺘﻢ ﯾﮏ وﺭوﺩی ﯾﮏ ﺧﺮوﺟـﯽ ﻣﺮﺗﺒـﻪ ﺍوﻝ‬
‫ﻫﺪﻑ ﺍﯾﻦ ﻣﺮﺣﻠﻪ‪ ،‬ﺷﺒﯿﻪﺳـﺎﺯی ﺳﯿـﺴﺘﻢ ﮐﻨﺘـﺮﻝ‬ ‫ﺍﺳﺖ ﮐﻪ ﺗﺎﺑﻊ ﺗﺒﺪﯾﻞ ﺁﻥ ﻣﻄﺎﺑﻖ ﺭﺍﺑﻄﻪ ﺯﯾﺮ ﻣﯽﺑﺎﺷﺪ‪.‬‬
‫ﺳﺮﻋﺖ ﺳﺮوﻣﻮﺗﻮﺭ ‪ DC‬ﺑﺮﺍی ﺷﻨﺎﺧﺖ ﺑﻬﺘﺮ ﺳﯿﺴﺘﻢ و ﺗﻨﻈﯿﻢ‬ ‫‪0.9‬‬
‫= ) ‪G (s‬‬
‫‪0.2s + 1‬‬
‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻫﺎ ﺍﺳﺖ‪ .‬ﺩﺭ ﻣﺪﻝ ﺳﯿﺴﺘﻢ ﻋﻼوﻩ ﺑﺮ‬
‫)‪(10‬‬
‫ﻣﺪﻝ ﺭﯾﺎﺿﯽ ﺳﺮو ﻣﻮﺗﻮﺭ‪ ،‬ﺍﺛﺮﺍﺕ ﮐﺎﺭﺕ وﺍﺳﻂ ﻧﯿﺰ ﮐﻪ ﺩﺭ ﺍﺩﺍﻣﻪ‬
‫ﺑﺮﺍی ﺗﻨﻈﯿﻢ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪BELBIC‬‬
‫ﺗﻮﺿﯿﺢ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ ﻣﺪﻟﺴﺎﺯی ﻣﯽﺷﻮﺩ‪.‬‬
‫و ‪ PID‬ﺑﻪ ﻧﺤـﻮی ﮐـﻪ ﺑﺘﻮﺍﻧﻨـﺪ ﺍﻫـﺪﺍﻑ ﺳﯿـﺴﺘﻢ ﮐﻨﺘـﺮﻝ ﺭﺍ‬
‫ﺑﺮﺁوﺭﺩﻩ ﺳـﺎﺯﻧﺪ‪ ،‬ﺍﺑﺘـﺪﺍ ﮐـﻞ ﺳﯿـﺴﺘﻢ ﺩﺭ ﻣﺤـﯿﻂ ‪Simulink‬‬

‫‪www.SID.ir‬‬
 ‫‪495‬‬ ‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ‪.....‬‬

‫ﺧﺮوﺟﯽ ﺳﯿﺴﺘﻢ ﺑﺎ ﻓﺮﺍﺟﻬﺶ ﮐﻤﺘﺮ ﺍﺯ ‪ %2‬وﺭوﺩی ﻣﺮﺟـﻊ ﺭﺍ‬

‫ﺑﺎ ﺧﻄﺎی ﺣﺎﻟﺖ ﻣﺎﻧﺪﮔﺎﺭ ﺻﻔﺮ ﺩﻧﺒـﺎﻝ ﮐﻨـﺪ و ﺣـﺪﺍﻗﻞ ﺯﻣـﺎﻥ‬
‫ﺻﻌﻮﺩ ﺭﺍ ﺩﺍﺷﺘﻪ ﺑﺎﺷﺪ]‪.[29‬‬
‫ﺟــﺪوﻝ )‪ (1‬ﻣﻘــﺎﺩﯾﺮ ﭘـﺎﺭﺍﻣﺘﺮﻫــﺎ ﺑــﺮﺍی ‪ PID‬و ‪ BELBIC‬ﺭﺍ‬
‫ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪.‬‬

‫ﺟﺪوﻝ ‪ :1‬ﻣﻘﺎﺩﯾﺮ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ‪ BELBIC‬و ‪ PID‬ﺩﺭ ﺁﺯﻣﺎﯾﺶ‬

‫ﺷﺒﯿﻪﺳﺎﺯی‪.‬‬
‫‪PID‬‬ ‫‪BELBIC‬‬
‫ﺷﮑﻞ ‪ :4‬ﺳﺮو ﻣﻮﺗﻮﺭ ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ و وﺍﺣﺪﻫﺎی ﻣﺮﺑﻮﻁ ﺑﻪ ﺁﻥ‪.‬‬

‫‪P = 0.95‬‬ ‫‪α = 0.15‬‬

‫‪I=1‬‬ ‫‪β = 0.1‬‬ ‫• ﺍﺭﺳﺎﻝ ﻣﻘﺎﺩﯾﺮ ﺑـﻪ ﺧﺮوﺟـﯽ و ﺩﺭﯾﺎﻓـﺖ ﺁﻧﻬـﺎ ﺑـﻪ ﺻـﻮﺭﺕ‬
‫‪A(0) = 0.45‬‬

‫‪D‬‬
‫‪D=0‬‬ ‫ﭘﯿﻮﺳﺘﻪ ﻧﯿﺴﺖ و ﻣﺎﻫﯿﺘﯽ ﮔﺴﺴﺘﻪ ﺩﺍﺭﺩ‪ .‬ﻫﺮ ﺑـﺎﺭ ﮐـﻪ ﺑﺮﻧﺎﻣـﻪ‬
‫‪Ath(0) = 0.45‬‬
‫‪O(0) = 0‬‬ ‫ﻣﻘﺎﺩﯾﺮ ﺟﺪﯾﺪی ﺭﺍ ﺑﻪ ﺧﺮوﺟﯽ ﻣـﯽﻓﺮﺳـﺘﺪ ﺍﯾـﻦ ﻣﻘـﺎﺩﯾﺮ ﺗـﺎ‬
‫‪Cp=1‬‬

‫‪SI‬‬
‫‪Ci=1‬‬ ‫ﺍﺭﺳــﺎﻝ ﺑﻌــﺪی ﺛﺎﺑــﺖ ﺑــﺎﻗﯽ ﻣـﯽﻣﺎﻧﻨــﺪ‪ .‬ﺍﺯ ﻃﺮﻓـﯽ ﺳـﯿﮕﻨﺎﻝ‬
‫ﺑﺎﺯﺧﻮﺭﺩ ﺩﺭ ﺯﻣﺎﻧﻬﺎی ﻣﺸﺨـﺼﯽ ﻧﻤﻮﻧـﻪ ﺑـﺮﺩﺍﺭی ﺷـﺪﻩ و ﺑـﻪ‬
‫ﮐﻨﺘــﺮﻝﮐﻨﻨــﺪﻩ ﻓﺮﺳــﺘﺎﺩﻩ ﻣــﯽﺷــﻮﻧﺪ‪ .‬ﺩوﺭﻩ ﺯﻣــﺎﻧﯽ ﺍﯾــﻦ‬
‫ﻧﻤﻮﻧﻪﺑﺮﺩﺍﺭی‪ ،‬ﻫﻤﺎﻧﻄﻮﺭ ﮐﻪ ﮔﻔﺘﻪ ﺷﺪ ﺑـﻪ ﺣﺠـﻢ ﻣﺤﺎﺳـﺒﺎﺕ‬
‫‪of‬‬
‫ﺑﺮﻧﺎﻣﻪ ﺍﺭﺗﺒﺎﻁ ﺩﺍﺷﺘﻪ و ﺩﺭ ﺣﺪوﺩ ‪ 1/5 ms‬ﺍﺳﺖ‪ .‬ﺍﯾـﻦ ﺍﺛـﺮ ﺭﺍ‬
‫ﺷﮑﻞ ‪ : 5‬ﻣﺪﻟﺴﺎﺯی ﺍﺛﺮﺍﺕ ﻧﺮﻡﺍﻓﺰﺍﺭی و ﺳﺨﺖﺍﻓﺰﺍﺭی‪.‬‬ ‫ﻣﯽﺗﻮﺍﻥ ﺑﺎ ﻧﮕﺪﺍﺭﻧﺪﻩ ﻣﺮﺗﺒﻪ ﺻﻔﺮ ﻧﺸﺎﻥ ﺩﺍﺩ‪ .‬ﺍﻟﺒﺘﻪ ﺑﺎ ﺗﻮﺟﻪ ﺑـﻪ‬
‫ﮐﻮﭼﮏ ﺑﻮﺩﻥ ﺯﻣﺎﻥ ﻧﻤﻮﻧﻪ ﺑﺮﺩﺍﺭی‪ ،‬ﺍﺛﺮ ﺁﻥ ﻣﺤﺴﻮﺱ ﻧﯿﺴﺖ‪.‬‬
‫‪ive‬‬

‫ﺁﺯﻣﺎﯾﺶ ﺑﺎ ﻣﻮﺗﻮﺭ وﺍﻗﻌﯽ‬ ‫• ﻣﻘﺎﺩﯾﺮ وﻟﺘﺎژﻫﺎﯾﯽ ﮐﻪ ﻣﯽﺗﻮﺍﻥ ﺍﺯ ﻃﺮﯾﻖ ﮐﺎﺭﺕ وﺍﺳـﻂ ﺑـﻪ‬
‫ﮐﻨﺘــﺮﻝﮐﻨﻨــﺪﻩﻫــﺎی ﻃﺮﺍﺣـﯽ ﺷــﺪﻩ ﺩﺭ ﺁﺯﻣــﺎﯾﺶ‬ ‫ﺧﺮوﺟﯽ ﻓﺮﺳﺘﺎﺩ ﺩﺍﺭﺍی ﺣﺪ ﺑﺎﻻ و ﺣﺪ ﭘﺎﯾﯿﻦ ﺍﺳﺖ‪ .‬ﻣﻘﺎﺩﯾﺮی‬
‫ﺷﺒﯿﻪﺳﺎﺯی ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﺳﺮوﻣﻮﺗﻮﺭ ﺍﺻﻠﯽ ﻣﻮﺭﺩ ﺍﺳﺘﻔﺎﺩﻩ ﻗﺮﺍﺭ‬ ‫ﮐﻪ ﺧﺎﺭﺝ ﺍﺯ ﻣﺤﺪوﺩﻩ ﻣﺠﺎﺯ ﻗﺮﺍﺭ ﺩﺍﺷﺘﻪ ﺑﺎﺷﻨﺪ ﺑﻪ ﺣﺪ ﺑﺎﻻ ﯾـﺎ‬
‫ﭘﺎﯾﯿﻦ ﺗﺒﺪﯾﻞ ﺧﻮﺍﻫﻨﺪ ﺷﺪ‪ .‬ﺍﯾﻦ ﺍﺛﺮ ﺑﺎ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻋﻨـﺼﺮ ﻏﯿـﺮ‬
‫‪ch‬‬

‫ﮔﺮﻓﺘﻪ ﺍﻧﺪ )ﺷﮑﻞ ‪ .(6‬ﺍﺭﺳﺎﻝ ﺳﯿﮕﻨﺎﻟﻬﺎی ﮐﻨﺘﺮﻟﯽ و ﺩﺭﯾﺎﻓـﺖ‬

‫ﺳﯿﮕﻨﺎﻝ ﺑﺎﺯﺧﻮﺭﺩ ﺩﺭ ﻣﺤﯿﻂ ﺷﺒﯿﻪﺳﺎﺯی ﺍﺯ ﻃﺮﯾﻖ ﺑﻠـﻮک ‪S-‬‬
‫ﺧﻄﯽ ﺍﺷﺒﺎﻉ ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﻣﯽﺷﻮﺩ‪.‬‬
‫‪ function‬ﺍﻧﺠﺎﻡ ﻣﯽﮔﯿﺮﺩ و ﺳﯿﮕﻨﺎﻝ ﺑـﺎﺯﺧﻮﺭﺩ ﺑـﺮﺍی ﺣـﺬﻑ‬ ‫• ﺧﺮوﺟﯽ و وﺭوﺩی ﺁﻧﺎﻟﻮگ ﮐﺎﺭﺕ وﺍﺳـﻂ ﺑـﺎ ﻧـﻮﯾﺰ ﻫﻤـﺮﺍﻩ‬
‫ﺍﺳﺖ‪ .‬ﺑﺮﺍی ﮐﺎﻫﺶ ﺍﺛﺮ ﺍﯾﻦ ﻧﻮﯾﺰ ﺩﺭ ﺧﺮوﺟﯽ ﺁﻧـﺎﻟﻮگ ﮐـﺎﺭﺕ‪،‬‬
‫‪Ar‬‬

‫ﻧﻮﯾﺰ ﺍﺯ ﯾﮏ ﻓﯿﻠﺘﺮ ﭘﺎﯾﯿﻦ ﮔﺬﺭ ﻋﺒﻮﺭ ﺩﺍﺩﻩ ﻣﯽﺷﻮﺩ‪.‬‬

‫ﺷﮑﻞ )‪ (7‬و )‪ (8‬ﻧﺘﺎﯾﺞ ﺁﺯﻣﺎﯾﺶ ﺭﺍ ﺑﻪ ﺗﺮﺗﯿﺐ ﺑﺮﺍی‬
‫‪ PID‬و ‪ BELBIC‬ﻧﺸﺎﻥ ﻣﯽﺩﻫﻨﺪ‪ .‬ﻣـﺸﺎﻫﺪﻩ ﻣـﯽﺷـﻮﺩ ﮐـﻪ‬
‫ﺯﻣﺎﻥ ﺻـﻌﻮﺩ ﺑـﺮﺍی ‪ PID‬ﺩﺭ ﺣـﺪوﺩ ‪ 0/55‬ﺛﺎﻧﯿـﻪ ﺍﺳـﺖ ﺩﺭ‬
‫ﺣﺎﻟﯿﮑﻪ ﻫﻤﯿﻦ ﺯﻣﺎﻥ ﺑﺮﺍی ‪ BELBIC‬ﺩﺭ ﺣﺪوﺩ ‪ 0/16‬ﺛﺎﻧﯿـﻪ‬
‫ﻣــﯽﺑﺎﺷــﺪ‪ .‬ﻣﯿــﺰﺍﻥ ﻓــﺮﺍﺟﻬﺶ ﺑــﺮﺍی ‪ %1/25 PID‬و ﺑــﺮﺍی‬
‫‪ %1 BELBIC‬ﺍﺳﺖ‪ .‬وﺍﺿﺢ ﺍﺳﺖ ﮐﻪ ﮐﺎﻫﺶ ﺯﻣﺎﻥ ﺻﻌﻮﺩ ﺩﺭ‬
‫ﺣﺎﻟﺖ ﮐﻨﺘﺮﻝ ﺑﺎ ‪ PID‬ﺍﻓـﺰﺍﯾﺶ ﻓـﺮﺍﺟﻬﺶ ﺭﺍ ﺩﺭ ﭘـﯽ ﺧﻮﺍﻫـﺪ‬
‫ﺩﺍﺷﺖ‪ .‬وﻟﯽ ‪ BELBIC‬ﺑﺎ ﻓﺮﺍﯾﻨﺪ ﯾﺎﺩﮔﯿﺮی ﻣﺸﺨﺺ ﻣﯽﺗﻮﺍﻧﺪ‬
‫ﺯﻣﺎﻥ ﺻﻌﻮﺩ ﺭﺍ ﺑﺪوﻥ ﺍﻓﺰﺍﯾﺶ ﻓﺮﺍﺟﻬﺶ ﺑﻪ ﻧﺤﻮ ﻗﺎﺑﻞ ﻣﻼﺣﻈﻪ‬
‫ﺍی ﮐﺎﻫﺶ ﺩﻫﺪ‪ .‬ﺷﮑﻞ )‪ (6‬ﺗﻐﯿﯿﺮﺍﺕ وﺯﻧﻬﺎ ﺩﺭ ‪ BELBIC‬ﺩﺭ‬
‫ﻃﯽ ﺁﺯﻣﺎﯾﺶ ﺭﺍ ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ‪ V .‬وﺯﻥ ﮔﺮﻩ ﺑﺎ وﺭوﺩی ﺣﺴﯽ‬
‫ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﺳﯿﮕﻨﺎﻟﻬﺎی ﺑـﺰﺭگ و ﺗﻘﻮﯾـﺖ ﮐﻨﻨـﺪﻩ ﺑـﺎ ﺑﻬـﺮﻩ‬
‫ﭘﺎﯾﯿﻦ ﻧﺴﺒﺖ ﺳﯿﮕﻨﺎﻝ ﺑﻪ ﻧﻮﯾﺰ ﺍﻓﺰﺍﯾﺶ ﻣﯽﯾﺎﺑﺪ‪ .‬ﻫﻤﭽﻨـﯿﻦ ﺑـﺎ‬
‫ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻓﯿﻠﺘـﺮ ﺩﺭ ﻣـﺪﻝ ‪ Simulink‬ﺩﺭ ﻣـﺴﯿﺮ ﻓﯿـﺪﺑﮏ ﺍﺯ‬
‫وﺭوﺩ ﻧــﻮﯾﺰ وﺭوﺩی ﺁﻧــﺎﻟﻮگ ﮐــﺎﺭﺕ ﺑــﻪ ﺳﯿـﺴﺘﻢ ﺟﻠــﻮﮔﯿﺮی‬
‫ﻣﯽﺷﻮﺩ‪ .‬ﻣﺪﻝ ﺳﺮوﻣﻮﺗﻮﺭ ﺑﻪ ﻋﻼوﻩ ﺍﺛﺮﺍﺕ ﮐﺎﺭﺕ وﺍﺳﻂ ﮐﻪ ﺑﻪ‬
‫ﺟﺎی ﮐﻨﺘﺮﻝ ﺷـﻮﻧﺪﻩ ﺩﺭ ﺳﯿـﺴﺘﻢ ﺷـﺒﯿﻪﺳـﺎﺯی ﺷـﺪﻩ ﻗـﺮﺍﺭ‬
‫ﻣﯽﮔﯿﺮﺩ ﺩﺭ ﺷﮑﻞ )‪ (5‬ﻧﺸﺎﻥ ﺩﺍﺩﻩ ﺷﺪﻩ ﺍﺳﺖ‪.‬‬
‫ﺑﺎ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ﺷـﺒﯿﻪﺳـﺎﺯی ﺳﯿـﺴﺘﻢ ﻣـﯽﺗـﻮﺍﻧﯿﻢ‬
‫ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ‪ PID‬و ‪ BELBIC‬ﺭﺍ ﺗﻨﻈﯿﻢ ﮐـﺮﺩﻩ‬
‫و ﺍﺯ ﺁﻧﻬﺎ ﺑﺮﺍی ﮐﻨﺘﺮﻝ ﺳﯿﺴﺘﻢ ﺍﺻﻠﯽ ﺍﺳﺘﻔﺎﺩﻩ ﮐﻨﯿﻢ‪ .‬ﻃﺮﺍﺣﯽ‬
‫ﻣﺤﺎﺳﺒﺎﺗﯽ ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ‪ PID‬ﺑﻪ ﻧﺤﻮی ﺍﻧﺠﺎﻡ ﻣﯿﮕﯿـﺮﺩ ﮐـﻪ‬

‫‪www.SID.ir‬‬
 ‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‪ ،‬ﺟﻠﺪ ‪ ،39‬ﺷﻤﺎﺭﻩ ‪ ،4‬ﺁﺑﺎﻥ ﻣﺎﻩ ‪1384‬‬ ‫‪496‬‬

‫‪D‬‬
‫ﺷﮑﻞ ‪ :6‬ﺳﺮوﻣﻮﺗﻮﺭ ‪ DC‬و ﮐﻨﺘﺮﻝ ﮐﺎﻣﭙﯿﻮﺗﺮی‪.‬‬

‫‪SI‬‬
‫‪of‬‬
‫‪ive‬‬

‫)ب(‬ ‫)اﻟﻒ(‬
‫ﺷﮑﻞ ‪ :7‬ﻧﺘﺎﯾﺞ ﺁﺯﻣﺎﯾﺶ ﺑﺎ ‪) .PID‬ﺍﻟﻒ(‪ :‬ﺧﺮوﺟﯽ ﺳﯿﺴﺘﻢ‪) .‬ﺏ(‪ :‬ﺧﺮوﺟﯽ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ‪.‬‬
‫‪ch‬‬

‫وﺍﻗﻌﯽ ﺍﺯ ﻃﺮﯾﻖ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ ﺷﺒﯿﻪﺳـﺎﺯی ﺷـﺪﻩ ﺩﺭ ﻣﺤـﯿﻂ‬ ‫ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ ‪ Vth ،‬وﺯﻥ ﮔﺮﻩ ﺑﺎ وﺭوﺩی ﺗﺎﻻﻣﻮﺱ ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ‬
‫‪ Simulink‬ﻣﻌﺮﻓﯽ ﺷﺪ‪ .‬ﺗﻨﻈﯿﻢ ﭘﺎﺭﺍﻣﺘﺮﻫﺎی ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻫـﺎ‬ ‫و ‪ W‬وﺯﻥ ﮔﺮﻩ ﺑﺎ وﺭوﺩی ﺣﺴﯽ ﺩﺭ ﻗﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﻧـﺸﺎﻥ‬
‫‪Ar‬‬

‫ﺑﺎ ﺷﺒﯿﻪ ﺳﺎﺯی ﮐﻞ ﺳﯿﺴﺘﻢ ﺩﺭ ﻣﺤـﯿﻂ ﺷـﺒﯿﻪ ﺳـﺎﺯی ﺍﻧﺠـﺎﻡ‬
‫ﮔﺮﻓﺖ‪ .‬ﻧﺘﺎﯾﺞ ﺁﺯﻣﺎﯾـﺸﻬﺎ ﺑـﺎ ﺳـﺮو ﻣﻮﺗـﻮﺭ ﻧـﺸﺎﻥ ﺩﺍﺩﻧـﺪ ﮐـﻪ‬
‫ﮐﻨﺘﺮﻝ ﮐﻨﻨﺪﻩ ﻫﺎی ﺗﻨﻈﯿﻢ ﺷﺪﻩ ﺑﺎ ﺷﺒﯿﻪﺳﺎﺯی ﺑـﺮﺍی ﮐﻨﺘـﺮﻝ‬
‫ﺳﯿﺴﺘﻢ ﺍﺻﻠﯽ ﻣﻨﺎﺳﺐ ﻫﺴﺘﻨﺪ‪ .‬ﺍﯾﻦ ﺧﻮﺩ ﻧﺸﺎﻥ ﻣﯽﺩﻫﺪ ﮐـﻪ‬
‫ﺷﺒﯿﻪﺳﺎﺯی ﻧﺴﺒﺘﺎ ﮐﺎﻣﻞ ﺑﻮﺩﻩ و ﻗﺎﺑـﻞ ﺍﻋﺘﻤـﺎﺩ ﺍﺳـﺖ‪ .‬ﻧﺘـﺎﯾﺞ‬
‫ﺁﺯﻣﺎﯾﺶ ﺑﺮﺗﺮی ‪ BELBIC‬ﺭﺍ ﻧﺴﺒﺖ ﺑﻪ ﮐﻨﺘـﺮﻝ ﮐﻨﻨـﺪﻩ ‪PID‬‬
‫ﻧﺸﺎﻥ ﺩﺍﺩﻧﺪ‪ .‬ﺍﺯ ﻃﺮﻓﯽ ﺭوﺵ ﭘﯿـﺸﻨﻬﺎﺩ ﺷـﺪﻩ ﺑـﺮﺍی ﮐﻨﺘـﺮﻝ‬
‫ﮐــﺎﻣﭙﯿﻮﺗﺮی ﺍﺯ ﻃﺮﯾــﻖ ‪ Matlab/Simulink‬ﺑــﺮﺍی ﮐﻨﺘــﺮﻝ‬
‫ﭼﻨﯿﻦ ﺳﯿﺴﺘﻢ ﻫﺎﯾﯽ ﻣﻨﺎﺳﺐ ﺍﺭﺯﯾﺎﺑﯽ ﺷﺪ‪ .‬وﻟـﯽ ﺑـﻪ ﻫﺮﺣـﺎﻝ‬
‫ﺑﺮﻗﺮﺍﺭی ﯾﮏ ﺍﺭﺗﺒﺎﻁ ﮐﺎﻣﻼ ﺑﻼﺩﺭﻧﮓ ﺑﻪ ﻃﻮﺭی ﮐﻪ ﻫﯿﭻ ﻋﺎﻣﻞ‬
‫ﺧﺎﺭﺟﯽ )ﭘﺮﺩﺍﺯﻩﻫﺎی ﺩﯾﮕﺮی ﮐﻪ ﭘﺮﺩﺍﺯﻧﺪﻩ ﺭﺍ ﺑﺎ ﭘﺮﺩﺍﺯﻩ ﮐﻨﺘﺮﻝ‬
‫ﺑﻪ ﺍﺷﺘﺮﺍک ﮔﺬﺍﺷﺘﻪﺍﻧﺪ( ﻧﺘﻮﺍﻧـﺪ ﺩﺭ ﻓﺮﺍﯾﻨـﺪ ﮐﻨﺘـﺮﻝ ﺍﺧـﺘﻼﻝ‬
‫ﺩﺍﺩﻩ ﺷــﺪﻩ ﺍﺳــﺖ‪ .‬ﻫﻤــﺎﻧﻄﻮﺭ ﮐــﻪ ﺍﺷــﺎﺭﻩ ﺷــﺪ ﻧﻘــﺶ ﻗــﺸﺮ‬
‫ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﺑﺎﺯﺩﺍﺭﻧﺪﮔﯽ ﺍﺳﺖ‪ .‬ﺩﺭ ﺣﻘﯿﻘﺖ ﺑﺎ ﻧﺰﺩﯾﮏ ﺷـﺪﻥ‬
‫ﻣﻘﺪﺍﺭ ﺧﺮوﺟﯽ ﺑﻪ وﺭوﺩی ﻣﺮﺟﻊ ﻧﻘﺶ ﻗﺸﺮ ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ ﺍﺯ‬
‫ﻃﺮﯾﻖ ﺍﻓﺰﺍﯾﺶ ﻣﻘﺪﺍﺭ ‪ W‬ﺍﻓﺰﺍﯾﺶ ﻣﯿﯿﺎﺑﺪ‪ .‬ﺍﯾﻦ ﺑﺎﻋـﺚ ﮐـﺎﻫﺶ‬
‫ﺳــﺮﻋﺖ ﺍﻓــﺰﺍﯾﺶ ﺧﺮوﺟ ـﯽ ﻣــﯽﺷــﻮﺩ‪ .‬ﺍﺯ ﺍﯾ ـﻦ ﺭو ﺧﺮوﺟ ـﯽ‬
‫ﺳﯿﺴﺘﻢ ﺑـﺪوﻥ ﺩﺍﺷـﺘﻦ ﻓـﺮﺍﺟﻬﺶ ﺯﯾـﺎﺩ ﺑـﻪ ﻣﻘـﺪﺍﺭ ﻧﻬـﺎﯾﯽ‬
‫ﻣﯽﺭﺳﺪ‪.‬‬
‫ﺟﻤﻊﺑﻨﺪی و ﻧﺘﯿﺠﻪﮔﯿﺮی‬
‫ﺩﺭ ﺍﯾﻦ ﻣﻘﺎﻟﻪ ﭘﯿـﺎﺩﻩﺳـﺎﺯی ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ ﮐﻨﺘـﺮﻝ‬
‫ﺳﺮﻋﺖ ﯾﮏ ﺳﺮوﻣﻮﺗﻮﺭ ‪ DC‬ﺑـﺎ ﺍﺳـﺘﻔﺎﺩﻩ ﺍﺯ ‪ BELBIC‬ﻣـﻮﺭﺩ‬
‫ﺑﺮﺭﺳﯽ ﻗﺮﺍﺭ ﮔﺮﻓﺖ‪ .‬ﯾﮏ ﺭوﺵ ﺳﺎﺩﻩ ﺑـﺮﺍی ﮐﻨﺘـﺮﻝ ﺳﯿـﺴﺘﻢ‬

‫‪www.SID.ir‬‬
 ‫‪497‬‬ ‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ ‪.....‬‬

‫ﺑﺮﻗﺮﺍﺭی ﺍﺭﺗﺒﺎﻁ ﺑﻼﺩﺭﻧﮓ ﻣﯽﺑﺎﺷﺪ‪ ،‬ﮔﺎﻡ ﺑﻌﺪی ﺩﺭ ﺍﯾﻦ ﺯﻣﯿﻨﻪ‬ ‫ﺍﯾﺠﺎﺩ ﮐﻨﺪ و ﺣﺠﻢ ﻣﺤﺎﺳﺒﺎﺕ ﺍﺛﺮی ﺑﺮ ﻓﺮﺍﯾﻨﺪ ﮐﻨﺘﺮﻝ ﻧﺪﺍﺷﺘﻪ‬
‫ﺧﻮﺍﻫﺪ ﺑﻮﺩ‪ .‬ﺍﺭﺯﯾﺎﺑﯽ ‪ BELBIC‬ﺑﺮﺍی ﮐﻨﺘـﺮﻝ ﺳﯿـﺴﺘﻢ ﻫـﺎی‬ ‫ﺑﺎﺷــﺪ ﺍﻃﻤﯿﻨــﺎﻥ ﺑﯿ ـﺸﺘﺮی ﺍﯾﺠــﺎﺩ ﺧﻮﺍﻫــﺪ ﮐــﺮﺩ‪ .‬ﺍﺯ ﺍﯾ ـﻦ ﺭو‬
‫ﭘﯿﭽﯿﺪﻩﺗﺮ و ﻣﻘﺎﯾﺴﻪ ﺁﻥ ﺑﺎ ﺳـﺎﯾﺮ ﮐﻨﺘـﺮﻝﮐﻨﻨـﺪﻩﻫـﺎ ﻧﯿـﺰ ﺩﺭ‬ ‫ﺍﺳــﺘﻔﺎﺩﻩ ﺍﺯ ﮐــﺎﺭﺕ وﺍﺳــﻂ ﺑــﻪ ﻫﻤــﺮﺍﻩ ‪Real Time‬‬
‫ﺁﯾﻨﺪﻩ ﻣﻮﺭﺩ ﺗﻮﺟﻪ ﻗﺮﺍﺭ ﺧﻮﺍﻫﺪ ﮔﺮﻓﺖ‪.‬‬ ‫‪ ،Workshop‬ﮐــﻪ ﺍﺯ ﺍﻣﮑﺎﻧــﺎﺕ ﻧــﺮﻡﺍﻓــﺰﺍﺭ ‪ Matlab‬ﺑــﺮﺍی‬

‫‪D‬‬
‫)ب(‬

‫‪SI‬‬ ‫)اﻟﻒ(‬
‫‪of‬‬
‫‪ive‬‬
‫‪ch‬‬

‫)د(‬ ‫)ج(‬
‫‪Ar‬‬

‫)و(‬ ‫)ه(‬

‫ﺷﮑﻞ ‪ :8‬ﻧﺘﺎﯾﺞ ﺁﺯﻣﺎﯾﺶ ﺑﺎ ‪) .BELBIC‬ﺍﻟﻒ(‪ :‬ﺧﺮوﺟﯽ ﺳﯿﺴﺘﻢ‪) .‬ﺏ(‪ :‬ﺧﺮوﺟﯽ ﮐﻨﺘﺮﻝﮐﻨﻨﺪﻩ‪) .‬ﺝ(‪ :‬ﺳﯿﮕﻨﺎﻝ ﻋﺎﻃﻔﯽ‪) .‬ﺩ(‪ :‬وﺯﻥ ﮔﺮﻩ ﺩﺭ ﻗﺸﺮ‬
‫ﺍُﺭﺑﯿﺘﻮﻓﺮﺍﻧﺘﺎﻝ‪) .‬ﻩ(‪ :‬وﺯﻥ ﮔﺮﻩ ﺑﺎ وﺭوﺩی ﺣﺴﯽ ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ‪) .‬و(‪ :‬وﺯﻥ ﮔﺮﻩ ﺑﺎ وﺭوﺩی ﺗﺎﻻﻣﻮﺱ ﺩﺭ ﺁﻣﯿﮕﺪﺍﻻ‪.‬‬

‫‪www.SID.ir‬‬
 1384 ‫ ﺁﺑﺎﻥ ﻣﺎﻩ‬،4 ‫ ﺷﻤﺎﺭﻩ‬،39 ‫ ﺟﻠﺪ‬،‫ﻧﺸﺮﯾﻪ ﺩﺍﻧﺸﮑﺪﻩ ﻓﻨﯽ‬ 498

‫ﻣﺮﺍﺟﻊ‬
1 - Lucas C., Shahmirzadi, D. and Sheikholeslami N. (2000). “Introducing BELBIC: Brain Emotional Learning
Based Intelligent Controller.” Intern. Journal of Intelligent Automation and Soft Computing, Vol. 10, No. 1,
PP. 11-22.
2 - Custodio L., Ventura R. and Pinto-Ferreira C. (1999). Artificial Emotions and Emotion-based Control
Systems.
‫" ﭘﺎﯾﺎﻥﻧﺎﻣـﻪ ﮐﺎﺭﺷﻨﺎﺳـﯽ‬.‫ "ﺗﻮﺳﻌﻪ ﺭوﺵ ﯾﺎﺩﮔﯿﺮی ﻋﺎﻃﻔﯽ ﺑﺮﺍی ﺳﯿﺴﺘﻤﻬﺎی ﭼﻨﺪ ﻣﺘﻐﯿﺮﻩ و ﺳﯿﺴﺘﻤﻬﺎی ﺑﺎ ﺍﻫﺪﺍﻑ ﭼﻨﺪ ﮔﺎﻧﻪ‬،.‫ ﻓﺘﻮﺭﻩ ﭼﯽ ﻡ‬- 3
(1380) ‫ ﺩﺍﻧﺸﮕﺎﻩ ﺗﻬﺮﺍﻥ‬،‫ﺍﺭﺷﺪ‬
4 - Shahidi N., Esmaeilzadeh H., Abdollahi M. and Lucas C. (2004). "Memetic algorithm based path planning
for a mobile robot"” In Proc. of Computational Intelligence, Turkey, PP. 56-59.
5 - Hwang, K., Tan S. and Tsai M. (2003). "Reinforcement learning to adaptive control of nonlinear systems."
IEEE Trans. on System, Man, and Cybernetics- Part B: Cybernetics, Vol. 33, No. 3.

D
6 - Shahidi, N., Gheyratmand, M., Esmaeilzade H. and Lucas C. (2004). "UTMAC: A C++ Library for Multi-
Agent Controller Design." In Proc. Of World Automation Congress (WAC2004).

SI
7 - El-Nasr, M. S. and Skubic M. (1998). "A fuzzy emotional agent for decision-making in a mobile robot." In
Proc. of the 1998 IEEE Intern. Conference on Fuzzy Systems, Anchorage, Alaska.
8 - Milasi, R. M., Lucas, C. and Araabi, B. N. (2005). "Intelligent modeling and control of washing machine
using LLNF modeling and modified BELBIC." 5th IEEE International Conference on Control and
of
Automation, ICCA’05, Budapest Hungary. (to be presented).
9 - Rouhani, H., Milasi, R. M. and Lucas, C. (2005). "Speed control of switched reluctance motor (SRM) using
emotional learning based intelligent adaptive controller." 5th IEEE International Conference on Control and
ive

Automation, ICCA’05, Budapest Hungary. (to be presented).

10 - Rodd, M. G. and Verbruggen, H. B. (1992). "A survey of real-time AI systems." In Proc. of third Intern.
Conference on Competitive Performance Through Advanced Technology.
11 - Antonio, R. Damasio. (1994). Descartes’ Error: Emotion, Reason, and the Human Brain, New York: G.P.
ch

Putnam.
12 - Ventura, R. and Pinto-Ferreira, C. (1999). "Emotion-based control systems (preliminary report)." In Proc.
of the 1999 IEEE Intern. Symposium on Intelligent Control/Intelligent Systems and Semiotics.
Ar

13 - El-Nasr, M. S. and Yen, J. (1998). "Agents, emotional intelligence and fuzzy logic." In Proc. of the 17th
Annual Meeting of the North American Fuzzy Information.
‫" ﭘﺎﯾـﺎﻥﻧﺎﻣـﻪ ﮐﺎﺭﺷﻨﺎﺳـﯽ‬.‫ "ﺗﻮﺳﻌﻪ ﺭوﺷﻬﺎی ﯾﺎﺩﮔﯿﺮی ﺗﻘﻮﯾﺘﯽ ﺩﺭ ﮐﻨﺘﺮﻝ ﻫﻮﺷﻤﻨﺪ و ﮐﺎﺭﺑﺮﺩﻫﺎی ﺻـﻨﻌﺘﯽ و ﺁﺯﻣﺎﯾـﺸﮕﺎﻫﯽ ﺁﻥ‬،.‫ ﺟﺬﺑﯽ ﻉ‬- 14
.(1377) ‫ ﺩﺍﻧﺸﮕﺎﻩ ﺗﻬﺮﺍﻥ‬،‫ﺍﺭﺷﺪ‬
15 - Moren, J. and Balkenious, C. (2000). "A computational model of emotional learning in the amygdale." In
Proc. of the 6th Intern. Conference on the Simulation of Adaptive Behaviour.
16 - Control Engineering Staff (1997). "The personal computer takes control." Control Engineering
Online,Magazine Articles.
17 - Lim, D. and Seraji, H. (1997). "Configuration control of a mobile dexterous robot: real-time
implementation and experimentation." Int. J. Robot. Res., Vol. 16, No. 5, PP. 601–618.
18 - Gensym Corp. Ltd. (1990). "Published G2 Success Stories." GENSYM.
19 - AIIT Ltd. (1988). Sophisticated Process Monitor, AI Business.

www.SID.ir
 499 ..... ‫ﭘﯿﺎﺩﻩ ﺳﺎﺯی ﺁﺯﻣﺎﯾﺸﮕﺎﻫﯽ‬

20 - COGSYS Introductory Guide, COGSYS Ltd, 1990.

21 - Lee, C. J. and Mavroidis, C. (2001). "PC-based control of robotic and mechatronic systems under MS-
Windows NT Workstation." IEEE/ASME Trans., On Mechatrinics, Vol. 6, No. 3.
22 - Eker, J. and Cervin, A. "A matlab toolbox for real-time and control systems Co-design." In the Proc. of the
6th International Conference on Real-Time Computing Systems and Applications.
23 - Quaranta, G. and Mantegazza, P. (2001). Using matlab-simulink RTW to build real time control application
in user space with RTAI-LXRT. Presented at Realtime Linux Workshop Milano.
24 - Dixon, W. E., Dawson, D. M., Costic, B. T. and Queiroz M. S. (2001). Towards the Standardization of a
MATLAB-Based Control Systems Laboratory Experience for Undergraduate Students.
25 - Saco1, R., Pires, E. and Godfrid, C. (2002). "Real time controlled laboratory plant for control education ."
32nd ASEE/IEEE Frontiers in Education Conference.
26 - GPAD3316E User Manual, Arman Optimized System, URL: http://www.armanoptimized.com

D
27 - Arman Optimized System, URL: http://www.armanoptimized.com
28 - Feedback Technical Information, URL: http://www.fbk.com

1 - Uncertainty
SI
.(1379) ‫ ﻧﺺ‬،‫ ﺗﻬﺮﺍﻥ‬،‫" ﻣﺤﻤﻮﺩ ﺩﯾﺎﻧﯽ‬.‫ "ﻣﻬﻨﺪﺳﯽ ﮐﻨﺘﺮﻝ‬،.‫ ﺍوﮔﺎﺗﺎ ک‬- 29

‫وﺍژﻩ ﻫﺎی ﺍﻧﮕﻠﯿﺴﯽ ﺑﻪ ﺗﺮﺗﯿﺐ ﺍﺳﺘﻔﺎﺩﻩ ﺩﺭ ﻣﺘﻦ‬

of
2 - Adaptive Control
3 - Intelligent Control
4 - Emotion
5 - Neuroscience
6 - Brain Emotional Learning Based Intelligent Controller
ive

7 - Amigdala
8 - Orbitofrontal Cortex
9 - Hardware-In-Loop Simulation.
10 - Real-time
11 - Ports
ch

12 - Parallel Port
13 - Driver
14 - Client-Server
Ar

www.SID.ir