Introduction To

Mechatronics And
Mechatronics System
Design

‫ﻣﻘﺪﻣﺔ ﻋﻦ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
‫و ﺗﺼﻤﻴﻢ اﻟﻨﻈﺎم اﻟﻤﻴﻜﺎﺗﺮوﻧﻰ‬
 ‫ﻧﻈﺮﻩ ﻋﺎﻣﻪ ﻋﻠﻰ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
‫‪Overview of Mechatronics‬‬

‫ﻣﺎ هﻲ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ؟‬
‫اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت ه ﻲ آﻠﻤ ﻪ ﺗﺠﻤ ﻊ وﺗ ﺼﻒ اﻟﺘﻜﺎﻣ ﻞ ﺑ ﻴﻦ اﻟﻤﻴﻜﺎﻧﻴﻜ ﺎ‬
‫واﻻﻟﻜﺘﺮوﻧﻴ ﺎت و ﺗﻜﻨﻮﻟﻮﺟﻴ ﺎ اﻟﻜﻤﺒﻴ ﻮﺗﺮ ﻓ ﻲ ﻋﻤﻠﻴ ﺎت اﻟﺘ ﺼﻤﻴﻢ اﻟﻤﻌﻘ ﺪ‬
‫ﻟﻠﻤﻨﺘﺠﺎت ‪.‬‬
‫وﻳﻜﻮن هﺬا اﻟﺘﻜﺎﻣﻞ ﺗﻜﺎﻣﻞ ﻓﻌﺎل ﻣﻦ اﺟﻞ اﻟﺰﻳﺎدة و ﺗﻌﺘﺒ ﺮ أﻳ ﻀﺎ ﻓﻠ ﺴﻔﻪ‬
‫ﻓﻲ ﻋﻤﻠﻴﻪ اﻟﺘﺼﻤﻴﻢ و ﺗﻤﺜﻞ هﺬﻩ اﻟﻔﻠ ﺴﻔﺔ اﻻﺳ ﺘﺨﺪام اﻷﻣﺜ ﻞ ﻟﻠﺘﻜﻨﻮﻟﻮﺟﻴ ﺎ‬
‫اﻟﻤﺘﺎﺣﺔ ‪.‬‬
‫ﺗﻌﺮﻳﻔﺎت اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
‫ﻗﺎﻣ ﺖ ﺷ ﺮآﻪ ﻳﻮﺳ ﻮآﺎوا ﺑﻮﺿ ﻊ اﻟﺘﻌﺮﻳ ﻒ اﻷﺻ ﻠﻲ ﻣ ﻦ اﻟﻤﻼﺣﻈ ﺔ‬
‫‪brushless‬‬ ‫ﻟﻠﺘﻜﺎﻣ ﻞ اﻟﻔﻌ ﺎل ﺑ ﻴﻦ اﻟﻤﻴﻜﺎﻧﻴﻜ ﺎ واﻻﻟﻜﺘﺮوﻧﻴ ﺎت ﻓ ﻲ‬
‫‪ motor‬وﻋ ﺮف ﻳﻮﺳ ﻮآﺎوا اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت ﻋﻠ ﻰ أﻧﻬ ﺎ ﺗﺘﻜ ﻮن ﻣ ﻦ‬
‫و "‪ "tronics‬ﻣ ﻦ‬ ‫‪mechanism‬‬ ‫"‪ "mech‬وﻓ ﻰ ﻣ ﻦ‬
‫‪1960‬ﺑﻮاﺳ ﻄﺔ ﺷ ﺮآﻪ‬ ‫‪ electronics‬وﻗ ﺪﻣﺖ ﻟﻠﻌ ﺎﻟﻢ ﻓ ﻲ ﻧﻬﺎﻳ ﺔ‬
‫ﻳﻮﺳﻮآﺎوا اﻟﻴﺎﺑﺎﻧﻴﺔ ‪.‬‬
‫واﻟﺴﺆال هﻨ ﺎ ه ﻞ آ ﺎن ﻗﺒ ﻞ ‪1960‬ﻳﻮﺟ ﺪ ﻣﻴﻜﺎﺗﺮوﻧﻴ ﺎت ؟ اﻹﺟﺎﺑ ﺔ ﻧﻌ ﻢ‬
‫وﻟﻜ ﻦ ﺑ ﺪون اﺳ ﻢ ﻟ ﻦ ﺑﻌ ﺾ اﻟﻨ ﺎس ﻳﻌﺘﻘ ﺪون أن اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت ﻟﻴ ﺴﺖ‬
‫ﺳﻮى هﻨﺪﺳﺔ ﺟﻴﺪﻩ أو ﺗﺼﻤﻴﻢ ﺟﻴﺪ‬
‫وﺑﻌﺪ ﻳﻮﺳﻮآﺎوا ﺗﻮاﻟ ﺖ اﻟﺘﻌﺮﻳﻔ ﺎت وآ ﺎن ﻣ ﻦ أهﻤﻬ ﺎ اﻟﺘﻌﺮﻳ ﻒ اﻟﺨ ﺎص‬
‫ﺑﻬﺎراﺷ ﻴﻤﺎ و ﺗﻮﻣﻮزوآ ﺎ وﻓﺎآ ﺎدا ﻓ ﻲ أوراﻗﻬ ﻢ وه ﻮ اﻟﺘﻜﺎﻣ ﻞ اﻟﻔﻌ ﺎل‬
‫ﻟﻸﻧﻈﻤﺔ اﻟﻄﺒﻴﻌﻴ ﺔ ﻣ ﻊ ﺗﻜﻨﻮﻟﻮﺟﻴ ﺎ اﻟﻤﻌﻠﻮﻣ ﺎت و اﺗﺨ ﺎذ اﻟﻘ ﺮار اﻟ ﺼﻌﺐ‬
‫ﻓ ﻲ ﻋﻤﻠﻴ ﺎت اﻟﺘ ﺼﻨﻴﻊ و اﻟﺘ ﺼﻤﻴﻢ وإﻧﺘ ﺎج اﻟﻤﻨﺘﺠ ﺎت اﻟ ﺼﻨﺎﻋﻴﺔ و‬
‫اﻟﻌﻤﻠﻴﺎت اﻟﺼﻨﺎﻋﻴﺔ أﻳﻀﺎ وﻋﺮف هﺬا اﻟﺘﻌﺮﻳ ﻒ ﺑﺘﻌﺮﻳ ﻒ ﺳ ﻨﻪ ‪2000‬‬
‫أو ‪ Y2K‬وﻳﻮﺿ ﺢ ه ﺬا اﻟﺘﻌﺮﻳ ﻒ أن ﺗﻜﻨﻮﻟﻮﺟﻴ ﺎ اﻟﻤﻌﻠﻮﻣ ﺎت ﺗﻠﻌ ﺐ‬
‫دور ﻣﺘﺰاﻳ ﺪ ﻓ ﻲ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت و ﻳ ﺸﻤﻞ ﻋﻠ ﻰ اﻟﻜﻤﺒﻴ ﻮﺗﺮ و ﻣﻌﺎﻟﺠ ﻪ‬
‫اﻹﺷﺎرات اﻟﺮﻗﻤﻴﺔ ‪ DSP‬و اﻟﺘﺼﻤﻴﻢ ﺑﻮاﺳﻄﺔ اﻟﻜﻤﺒﻴﻮﺗﺮ ‪. CAD‬‬
‫وﻣﻦ ﻧﺎﺣﻴﺔ أﺧﺮى ﻓﺎن ﻋﻤﻠﻴﻪ اﺗﺨ ﺎذ اﻟﻘ ﺮار ﺗ ﺸﻤﻞ اﻟﻄ ﺮق واﻟﻨﻈﺮﻳ ﺎت‬
‫‪feedback design‬‬ ‫ﻣﺜ ﻞ ﻧﻈﺮﻳ ﻪ ﺗ ﺼﻤﻴﻢ اﻟﺘﻐﺬﻳ ﺔ أو اﻟﺮاﺟ ﻊ‬
‫‪ theory‬وﻧﻈﺮﻳ ﻪ اﻟ ﺘﺤﻜﻢ وآ ﻼ ه ﺬﻳﻦ اﻷﺳﺎﺳ ﻴﻦ اﻟﺘﻜﻨﻮﻟ ﻮﺟﻴﻴﻦ‬
‫وأﺳ ﺎس اﻟﻤﻌﺮﻓ ﺔ ﻓ ﻲ ﻋﻤﻠﻴ ﻪ اﺗﺨ ﺎذ اﻟﻘ ﺮار اﻟ ﺼﻌﺐ اﻧﺘ ﺸﺮ ﺟ ﺪا ﺧ ﻼل‬
‫اﻟﻌﻘ ﻮد اﻟﺜﻼﺛ ﺔ اﻟﻤﺎﺿ ﻴﺔ واﻟ ﺬي أدى إﻟ ﻰ ﺗﻮﺳ ﻴﻊ ﻣﺠ ﺎل ﺗﻄﺒﻴﻘ ﺎت‬
‫اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ‪.‬‬
Auslander and Kempf at ‫وﺑﻌﺪ ذﻟﻚ ﺗﻮاﻟﺖ اﻟﺘﻌﺮﻳﻔ ﺎت ﻣﺜ ﻞ‬
. ‫ وهﻮ آﻤﺎ ﻳﺄﺗﻲ‬1996
"Mechatronics is the application of complex
decision making to the operation of physical
systems."
1997 ‫وهﻨﺎك ﺗﻌﺮﻳﻒ أﺧﺮ ﻇﻬﺮ ﺳﻨﻪ‬
" Mechatronics is a methodology used for the
optimal design of electromechanical products."
Bolton ‫وهﻨﺎك ﺗﻌﺮﻳﻒ أﺧﺮ ﻗﺎم ﺑﻪ‬
"A Mechatronics system is not just a marriage
of electrical and mechanical systems and is
more than just a control system it is a complete
integration of all of them and Mechatronics
engineering appears modern concurrent
engineering design practices.
‫وﻟﺬﻟﻚ ﻳﻤﻜﻦ اﻋﺘﺒﺎر اﻟﺘﻌﺮﻳ ﻒ اﻟﻤﺒ ﺴﻂ ﻟﻠﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت وه ﻮ ﻣ ﻦ ﻓ ﺮوع‬
‫اﻟﻬﻨﺪﺳ ﺔ و ﻟ ﻴﺲ ﻣ ﺸﺘﻖ ﻣ ﻦ اﻟﻬﻨﺪﺳ ﺔ اﻟﻤﻴﻜﺎﻧﻴﻜﻴ ﺔ أو اﻟﻜﻬﺮﺑﻴ ﺔ و اﻟ ﺬي‬
‫ﻳﺘﻌﺎﻣﻞ ﻣﻊ اﻟﻤﻴﻜﺎﻧﻴﻜﺎ واﻻﻟﻜﺘﺮوﻧﻴﺎت و ﺗﻜﻨﻮﻟﻮﺟﻴﺎ اﻟﻤﻌﻠﻮﻣﺎت‬
‫و اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ﺗﻘﺪﻣﺖ آﺜﻴﺮا ﺧﻼل ال ‪ 25‬ﺳﻨﻪ اﻟﻤﺎﺿ ﻴﺔ و اﻧﺘ ﺸﺮت‬
‫اﻧﺘﺸﺎر واﺳﻊ ﻣﻦ ﺧﻼل اﻟﻤﻨﺘﺠﺎت اﻟﺬآﻴﺔ واﻟﺼﻨﺎﻋﺎت اﻟﺠﺪﻳﺪة ‪.‬‬
‫ﻣﻜﻮﻧﺎت اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
‫ﺗﺘﻜﻮن اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ﻣﻦ ﻣﻘﻴﺎس أﻋﻠ ﻰ ﻣ ﻦ اﻷﻧﻈﻤ ﺔ اﻟﻤﻴﻜﺎﻧﻴﻜﻴ ﺔ وه ﻮ‬
‫اﻷﻧﻈﻤ ﺔ اﻟﻄﺒﻴﻌﻴ ﺔ آﻠﻬ ﺎ و ﻋﻨﺎﺻ ﺮ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت ﺗ ﺸﻤﻞ اﻟﻤﺠ ﺴﺎت‬
‫‪ actuators and microcontrollers‬اﻟﻤ ﺸﻐﻼت ‪sensors‬‬
‫)‪(microprocessors‬‬ ‫‪and‬‬ ‫‪real‬‬ ‫‪time‬‬ ‫‪control‬‬
‫‪software.‬‬
‫وﺗﻜﻮن اﻟﻤﺸﻐﻼت ‪ actuators‬ﻋﺎﻟﻴ ﺔ اﻟﺪﻗ ﺔ ﻣﺜ ﻞ اﻟﻤ ﻮاﺗﻴﺮ اﻟﻜﻬﺮﺑﻴ ﺔ‬
‫ﻋﺎﻟﻴﺔ اﻟﺪﻗﺔ وال ‪solenoids‬‬
‫وهﻨ ﺎك اﻟﻌﺪﻳ ﺪ ﻣ ﻦ أل ‪ sensors‬وﻳ ﺴﺘﺨﺪم آ ﻞ ﻧ ﻮع ﻣﻨﻬ ﺎ ﺣ ﺴﺐ‬
‫اﻟﺘﻄﺒﻴﻖ وﺗﺸﻤﻞ ﺣﺴﺎﺳﺎت ﻟﻠﻀﻮء و اﻟﻌﺠﻠﺔ و اﻟﻮزن و اﻟﻠ ﻮن ودرﺟ ﻪ‬
‫اﻟﺤﺮارة و اﻟﺼﻮرة ‪.‬‬
‫أذن ﻳﻤﻜﻨﺎ اﻟﻘﻮل أن اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ت ﺗﺘﻜﻮن ﻣﻦ ﺛ ﻼث أﺷ ﻴﺎء رﺋﻴ ﺴﻴﻪ‬
‫و ﻣﻮﺿﺢ دور آﻞ ﻣﻨﻬﺎ آﻞ ﻣﻨﻬﺎ ﻓﻲ اﻟﻨﻈﺎم‬
1- Sensor perceive environmental
2- Actuators make decision
3- Controllers take action
‫وﻓﻰ اﻟﺸﻜﻞ اﻟﺘﺎﻟﻰ ﻧﻼﺣﻆ ﻣﻜﻮﻧﺎت اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
 ‫وﻳﻤﻜﻦ ﺗﺤﻠﻴﻞ ﻋﻨﺎﺻﺮ هﺬا اﻟﺸﻜﻞ اﻟﻤﻮﺟﻮدﻩ ﻓﻰ آﻞ ﺟﺰء‬
1- Physical system modeling

‫وﺗﺸﺘﻤﻞ ﻋﻠﻰ‬
• mechanics of solids
• translation and rotational systems
• fluid systems
• electrical systems
• thermal systems
• micro and nano systems
• rotational electromagnetic MEMS

2- Sensors and actuators

‫ اﻟﻰ ﻋﺪﻩ اﻧﻮاع‬sensors ‫وﺗﻨﻘﺴﻢ ال‬

1- optical
ex * photodiodes
* phototransistor
2- magnetic
* hall effect device
3- acceleration
• MEMS ACCELEROMETERS
4- force
• strain gauge and load cell (strain gauge
are hard to mount on flexures
• prefab load cells are expensive
• very accurate
• very stiff
• multiaxis load cells are available
‫وهﺬﻩ ﺑﻌﺾ اﺷﻜﺎل ال ‪sensors‬‬
MEMS
4- Actuators

• Elctro-mechanical actuators
• Motors
DC motors
AC motors
Stepper motors
• Piezoelectric actuators
• pneumatic and hydraulic actuators
• micro and nana actuators
5- Signals and systems

• Mechatronics modeling
• Signals and systems in Mechatronics
• Response of dynamic systems
• Root locus method
• Frequency response method
• State variable method
• Stability , controllability and observability
• Observers and kalman filters
• Design of digital filter
• Optimal control design
• Adaptive and non-linear control design
• Neural networks and fuzzy design
• Intelligent control for Mechatronics
• Identification and design optimization

6- Software and data acquisition

• Data acquisition systems

• Transducers and measurement systems
• A/D , D/A conversion
• Amplifiers and signals conditioning
• Computer based instrumentation system
• Software engineering
• Data recording
6- Computer and logic systems
• Digital logic
• Communication systems
• Fault detection
• Logic system design
• Asynchronous and synchronous
sequential
• Computer architectures and
microprocessors
• System interfaces
• Programmable logic controllers PLC
• Embedded control computer
 Introduction of Mechatronics Design

The following figure show the modern Mechatronics

system

And this also show the Mechatronics but in

general view.
 ‫ﻣﻦ اﻟﺸﻜﻠﻴﻦ اﻟﺴﺎﺑﻘﻴﻦ ﻻﺣﻈﻨﺎ أن اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ﺗﺒﺪأ ﺑﻔﻜﺮﻩ واﺿﺤﺔ‬
‫ﻋﻦ ﻃﺒﻴﻌﺔ اﻟﻨﻈﺎم اﻟﻄﺒﻴﻌﻲ و ﻻ ﻳﺸﺘﺮط أن ﻳﻜﻮن اﻟﻨﻈﺎم ﻣﻴﻜﺎﻧﻴﻜﻲ أو‬
‫آﻬﺮﺑﻲ ‪.‬‬
 ‫وﻋﻤﻠﻴﻪ اﻟﺘﺼﻤﻴﻢ ﺗﺘﻜﻮن ﻣﻦ ﻣﺠﻤﻮﻋﻪ ﻣﻦ اﻟﺨﻄﻮات هﻲ‬
‫‪ -1‬اﺧﺘﻴﺎر اﻟﻌﻨﺎﺻﺮ ﻓﻲ ﺟﻤﻴﻊ اﻟﻤﻜﺎن أو اﺧﺘﻴﺎر ﻣﻜﻮﻧﺎت اﻟﻨﻈﺎم‬
‫‪ -2‬ﻧﻤﺬﺟﺔ و ﺗﺤﻠﻴﻞ و ﺗﺸﺨﻴﺺ ﺳﻠﻮك ه ﺬﻩ اﻟﻌﻨﺎﺻ ﺮ و ﺗ ﺸﺨﻴﺺ‬
‫ﺳﻠﻮآﻬﺎ أﻳﻀﺎ ﻋﻨﺪ ﺗﺠﻤﻴﻌﻬﺎ ﻣﻊ ﺑﻌﻀﻬﺎ‬
‫‪ -3‬ﺣ ﺴﺎب اﻟﻨ ﻮاﺗﺞ اﻟﻨﺎﺷ ﺌﺔ ﻣ ﻦ ﻋﻤﻠﻴ ﺎت اﻟ ﺪﻣﺞ ﺑ ﻴﻦ اﻟﻌﻨﺎﺻ ﺮ و‬
‫هﻞ هﻲ ﺗﺤﻘﻖ اﻟﻤﻄﻠﻮب أم ﻻ ؟‬
‫وأﻳ ﻀﺎ آ ﻞ ﻣﻨ ﺘﺞ أو ﻋﻤﻠﻴ ﻪ ﻓ ﻲ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت ﻳﻜ ﻮن وﺣﻴ ﺪ ﻓ ﻲ‬
‫اﻟﻮﻇﻴﻔ ﺔ و اﻟ ﺸﻜﻞ و ﻟﻜ ﻦ ه ﺬﻩ اﻟﻤﻨﺘﺠ ﺎت واﻟﻌﻤﻠﻴ ﺎت ﺗ ﺸﺘﺮك ﻓ ﻲ‬
‫اﻟﺘﺮآﻴﺐ ﻋﻨﺪﻣﺎ ﻧﻨﻈﺮ إﻟﻴﻬﺎ ﻋﻠﻰ هﻴﺌﻪ ﺗﺒﻴﻦ وﻇﺎﺋﻒ ﻣﻜﻮﻧﺘﻬﺎ ‪.‬‬
‫واﻟﺘﺼﻤﻴﻢ ﻳ ﺮﺗﺒﻂ ﺑﺎﻻﺧﺘﻴ ﺎر اﻷﻣﺜ ﻞ و اﻟﺘ ﺼﻤﻴﻢ اﻟﺠﻴ ﺪ اﻟ ﺬي ﻳ ﺴﺘﺜﻤﺮ‬
‫ﺟﻤﻴ ﻊ اﻟﻌﻨﺎﺻ ﺮ اﻟﻤﻮﺟ ﻮدة ﻓ ﻲ اﻟﻨﻈ ﺎم اﻟﻤﻴﻜ ﺎﺗﺮوﻧﻰ و ه ﺬا ﻳ ﻮدى‬
‫ﺑﻨﻈ ﺎم اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت إﻟ ﻰ اﻟﺘﻜﺎﻣ ﻞ اﻟ ﺬي ه ﻮ أﺳ ﺎس هﻨﺪﺳ ﺔ‬
‫اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت و ﺗﻜﻮن ﺻ ﻮر اﻟﺘﻜﺎﻣ ﻞ ﻓ ﻲ اﻟﻤﻜﻮﻧ ﺎت اﻟﻤﻴﻜﺎﻧﻴﻜﻴ ﺔ و‬
‫اﻟﻤﻜﻮﻧﺎت اﻟﻜﻬﺮﺑﻴﺔ و ﻓﻲ ﺗﻜﻨﻮﻟﻮﺟﻴﺎ اﻟﻤﻌﻠﻮﻣﺎت أﻳﻀﺎ ‪.‬‬
‫ﻓﻨﺤﻦ ﻧﺮى أن هﻨﺎك ﻣﺎآﻴﻨ ﺎت ﺗﺘﻜﺎﻣ ﻞ ﻣ ﻊ اﻻﻟﻜﺘﺮوﻧﻴ ﺎت وذﻟ ﻚ ﻣﺜ ﻞ‬
‫ﻣﺎآﻴﻨﺎت أﻧﺘﺎج اﻟﻘﺪرة ﻣﺜﻞ‬
‫‪electrical drives, pneumatic‬‬ ‫‪and hydraulic‬‬
‫‪drives‬‬
‫واﻟﻤﺎآﻴﻨ ﺎت اﻟﻤ ﺴﺘﻬﻠﻜﺔ ﻟﻠﻘ ﺪرة ﻣﺜ ﻞ اﻟﻤﻮﻟ ﺪات و اﻟﻤ ﻀﺨﺎت و‬
‫اﻟﻜﻤﺒﻴﺮوﺳ ﻮر و أﻳ ﻀﺎ ﻳﺘﺘ ﻀﺢ اﻟﺘﻜﺎﻣ ﻞ ﻓ ﻲ ﻣﺨﺘﻠ ﻒ اﻟﻤﺮآﺒ ﺎت‬
‫آﺎﻟﺴﻴﺎرات و اﻟﻐﻮاﺻﺎت و اﻟﻄﺎﺋﺮات‪.‬‬
‫و اﻟﻤﺎآﻴﻨﺎت اﻟﺪﻗﻴﻘﺔ ﺗﻮﺟﺪ ﺑﻬﺎ اﻟﻜﺘﺮوﻧﻴﺎت ﻃﺒﻌ ﺎ ﻓ ﻲ ﺻ ﻮرﻩ ﺗﻜﺎﻣﻠﻴ ﺔ‬
‫ﻣﺜﻞ أﺟﻬ ﺰﻩ اﻻﺗ ﺼﺎﻻت و أﺟﻬ ﺰﻩ ﻣﻌﺎﻟﺠ ﻪ اﻟﺒﻴﺎﻧ ﺎت و اﻟﺤ ﺴﺎﺳﺎت و‬
‫اﻟﻤﺸﻐﻼت و اﻻﺟﻬﺰﻩ اﻟﺒﺼﺮﻳﺔ و اﻻﺟﻬﺰﻩ اﻟﻄﺒﻴﺔ ‪.‬‬
‫وﺗﻜﺎﻣﻞ اﻻﻟﻜﺘﺮوﻧﻴﺎت ﻓﻲ هﺬﻩ اﻻﺟﻬ ﺰﻩ ﻳ ﺴﻤﺢ ﻟﻠﻌﺪﻳ ﺪ ﻣ ﻦ اﻟﻮﻇ ﺎﺋﻒ‬
‫اﻟﺠﺪﻳﺪة و اﻟﻤﺤﺴﻨﺔ ﻣﺜﻞ‬
‫ﺗﺤﻜﻢ اﻟﺴﺮﻋﺔ اﻟ ﺪﻗﻴﻖ ﻓ ﻲ ﻣﺨﺘﻠ ﻒ اﻟﻈ ﺮوف و اﻟﻌﻤﻠﻴ ﺎت ﻓ ﻰ أﺟ ﻮاء‬
‫ﻏﻴﺮ ﻣﺴﺘﻘﺮﻩ أو ﺧﻄﺮﻩ ‪.‬‬
‫ه ﺬﻩ اﻷﻣﺜﻠ ﺔ ﺗﻮﺿ ﺢ اﻟﺘﻜﺎﻣ ﻞ ﺑ ﻴﻦ ﻣﻜﻮﻧ ﺎت اﻟﻤﻴﻜﺎﺗﺮوﻧﻴ ﺎت و ه ﺬا‬
‫اﻟﺘﻜﺎﻣﻞ ﻳﺘﻤﺜﻞ ﻓﻰ ﻧﻮﻋﺎن و هﻤﺎ‬
‫‪ -1‬اﻟﺘﻜﺎﻣﻞ ﻓﻰ اﻟﻤﻜﻮﻧﺎت‬
‫‪ -2‬اﻟﺘﻜﺎﻣﻞ ﻓﻰ ﻣﻌﺎﻟﺠﻪ اﻟﻤﻌﻠﻮﻣﺎت‬
‫أوﻻ اﻟﺘﻜﺎﻣﻞ ﻓﻰ اﻟﻤﻜﻮﻧﺎت أو ﻣﺎ ﻳﺴﻤﻰ‬
‫)‪ (hardware integration‬وه ﺬا ﻳﻨ ﺘﺞ ﻋﻨ ﺪ ﺗ ﺼﻤﻴﻢ ﻧﻈ ﺎم‬
‫ﻣﻴﻜﺎﺗﺮوﻧﻰ آﻨﻈﺎم ﻋﺎم أو ﺷﺎﻣﻞ ‪ overall system‬و ﻳﻜﻮن ﻋﺒﺎرة‬
‫‪ sensors‬و اﻟﻤ ﺸﻐﻼت‬ ‫ﻋ ﻦ وﺿ ﻊ و ﺗﺮآﻴ ﺐ اﻟﺤ ﺴﺎﺳﺎت‬
‫‪ actuators‬واﻟﻤﻌﺎﻟﺠﺎت اﻟﺮﻗﻤﻴﺔ اﻟﺪﻗﻴﻘ ﺔ ‪microprocessors‬‬
‫ﻓﻰ اﻟﻨﻈﺎم اﻟﻤﻴﻜﺎﻧﻴﻜﻰ ‪.‬‬
‫و اﻟﻤﻴﻜﺮوﺑﺮوﺳﻴ ﺴﻮر ﻳﺘﻜﺎﻣ ﻞ أﻳ ﻀﺎ ﻣ ﻊ اﻟﻤ ﺸﻐﻼت و ﻣ ﻊ اﻟﺤ ﺴﺎﺳﺎت‬
‫ﻓﻴﻤﺎ ﺑﻴﻨﻬﻢ آﻤﺎ ﻳﺘﻜﺎﻣﻠﻮن ﻣﻊ اﻟﻨﻈﺎم ‪.‬‬
‫وهﺬا ﻳﻮدى إﻟ ﻰ ﺣ ﺴﺎﺳﺎت ذآﻴ ﻪ و ﻣ ﺸﻌﻼت ذآﻴ ﻪ و ﻣﺘﻜﺎﻣﻠ ﺔ و ﻳﻜ ﻮن‬
‫اﻟﺮﺑﻂ ﺑﻴﻨﻬﻢ ﺑﻮاﺳﻄﺔ اﻟﺒﺎص ‪ bus connection‬ﺑﺪﻻ ﻣﻦ اﻟﻜﺎﺑﻼت‬
‫اﻟﻤﻌﻘﺪة ‪.‬‬
‫وﻣ ﻦ هﻨ ﺎ ﻧﺠ ﺪ اﻹﻣﻜﺎﻧﻴ ﺎت اﻟﻤﺘﻌ ﺪدة ﻟﺒﻨ ﺎء ﻧﻈ ﺎم ﻋ ﺎم و ﺷ ﺎﻣﻞ ﻣﺘﻜﺎﻣ ﻞ‬
‫ﺑﻮاﺳﻄﺔ ﺗﻜﺎﻣﻞ اﻟﻤﻜﻮﻧﺎت‬
‫)‪ (hardware integration‬واﻟﻨ ﻮع اﻟﺜ ﺎﻧﻲ ﻣ ﻦ اﻟﺘﻜﺎﻣ ﻞ وه ﻮ‬
‫‪ software integration‬وه ﺬا ﻳﻌﺘﻤ ﺪ ﻋﻠ ﻰ ﺧ ﺼﺎﺋﺺ اﻟ ﺘﺤﻜﻢ و‬
‫اﺧﺘﻴﺎر اﻟﻄﺮﻳﻘﺔ اﻟﻤﺜﻠﻲ ﻟﺬﻟﻚ‬
‫‪Modeling and simulation of Mechatronics‬‬
‫‪system‬‬
‫اﻟﺘﻄﺒﻴﻘﺎت اﻟﻤﺤﺪدة واﻟﻤﺘﻨﻮﻋﺔ ﻏﺎﻟﺒﺎ ﺗﺤﺪد ﻣﺘﻄﻠﺒﺎت اﻟﻨﻈﺎم اﻟﻤﻴﻜﺎﺗﺮوﻧﻰ‬
‫و ﺧﺼﺎﺋﺺ ﻧﻈﺎم اﻟﺘﺤﻜﻢ‬
‫وﺗﻜﻮن ﺧ ﺼﺎﺋﺺ ه ﺬﻩ اﻟﺘﻄﺒﻴﻘ ﺎت أو ﻣﺘﻄﻠﺒﺘﻬ ﺎ اﻷداء اﻟﻌ ﺎﻟﻲ وه ﺬا ﻣ ﺎ‬
‫ﻳﺘﻴﺢ ﻟﻨﺎ ﻋﻤﻮﻣﺎ ﺗﺤﺪﻳﺎت ﺟﺪﻳﺪة ﻓﻰ ﻋﻤﻠﻴﺎت اﻟﺘﺼﻤﻴﻢ و ﺗﻜﺎﻣﻞ اﻟﺘ ﺼﻤﻴﻢ‬
‫ﻣﻊ اﻟﺘﺤﻜﻢ ‪.‬‬
‫وﻓ ﻰ ﻋﻤﻠﻴ ﺎت اﻟ ﺘﺤﻜﻢ ﺗ ﺴﺎﻋﺪ اﻟﺮﺳ ﻮم اﻟﺒﻴﺎﻧﻴ ﺔ ﻓ ﻰ ﻧﻤﺬﺟ ﺔ دﻳﻨﺎﻣﻴﻜﻴ ﺔ‬
‫اﻟﻨﻈﺎم اﻟﻄﺒﻴﻌﻲ و اﻟﺬي ﻳﻜﻮن ﺿﺮوري ﻟﺘﺤﻘﻴﻖ اﻟﺘﻜﺎﻣﻞ ‪.‬‬
‫وهﺬﻩ اﻟﺮﺳ ﻮم ﻣﺜ ﻞ ‪ bond graph representation‬اﻟﺘ ﻲ ﺗﺘ ﻴﺢ‬
‫ﺗﻘﻨﻴﺎت ﻣﺜﻞ ﺗﻌﺪﻳﻞ ﺧﺼﺎﺋﺺ اﻟﻨﻈﺎم اﻟﺘﻲ ﺗﻮدي إﻟﻰ اﻟﻨﻈﺎم اﻷﻣﺜﻞ ‪.‬‬
‫وهﺬﻩ اﻟﻤﺒﺎدىء ﺗﻄﺒ ﻖ أﻳ ﻀﺎ ﻓ ﻰ اﻟﻤﺠ ﺎﻻت ذات اﻟﻄﺎﻗ ﺔ اﻟﻤﺘﻌ ﺪدة اﻟﺘ ﻲ‬
‫ﺗﺸﺘﻤﻞ ﻋﻠﻰ ﻣﺠﺎل أو أآﺜﺮ ﻣﻦ ﻣﺠﺎﻻت اﻟﻄﺎﻗﺔ اﻷﺗﻴﺔ اﻟﻄﺎﻗ ﺔ اﻟﻜﻬﺮﺑﻴ ﺔ‬
‫واﻟﻄﺎﻗﺔ اﻟﻤﻴﻜﺎﻧﻴﻜﻴﺔ أو اﻟﻤﻐﻨﺎﻃﻴﺴﻴﺔ أو اﻟﻜﻴﻤﻴﺎﺋﻴﺔ‪.‬‬
‫ﻧﻤﺬﺟﺔ ﻧﻈﺎم اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت ﻳﺠﺐ أن ﺗﺒ ﺪأ ﺑﻔﻜ ﺮﻩ واﺿ ﺤﺔ ﻋ ﻦ اﻟ ﺴﻠﻮك‬
‫اﻟﺪﻳﻨﺎﻣﻴﻜﻲ ﻟﻠﻨﻈﺎم و ﺧﺼﺎﺋﺺ اﻷداء‪performance‬‬
‫‪Modeling perspectives‬‬
‫‪(A) System properties‬‬
‫ﻳﺘﺤﻘﻖ ﺳﻠﻮك اﻟﻨﻈ ﺎم اﻟﻤﻨﺎﺳ ﺐ ﺑﺎﻻﻋﺘﻤ ﺎد ﻋﻠ ﻰ ﺗﻜ ﻮﻳﻦ ﻣﻜﻮﻧ ﺎت اﻟﻨﻈ ﺎم‬
‫اﻟﻤﺎدﻳ ﺔ و ﻧﻈ ﺎم اﻟ ﺘﺤﻜﻢ وﻋﻤﻮﻣ ﺎ اﻟﺤ ﺪود ﻓ ﻰ أداء اﻟﻨﻈ ﺎم ﺗﺤ ﺪد‬
‫ﺑﺎﻟﻤﻜﻮﻧﺎت و اﻟﻌﻼﻗﺎت ﻓﻴﻤﺎ ﺑﻴﻨﻬ ﺎ وﻋﻠ ﻰ اﻟ ﺮﻏﻢ ﻣ ﻦ ﻋ ﺮض دﻳﻨﺎﻣﻴﻜﻴ ﺔ‬
‫اﻟﻨﻈ ﺎم اﻟﺘ ﻲ ﻻ ﺗﺤﺘ ﻮى ﻋﻠ ﻰ ﺗﺮآﻴ ﺐ اﻟﻨﻈ ﺎم ﻓﻘ ﻂ و ﺳ ﺒﺐ ه ﺬا اﻧ ﻪ‬
‫‪synthesis‬‬ ‫ﻳﺘ ﻀﻤﻦ ﻣﻤﻴ ﺰات ﻟﻌﻤﻠﻴ ﻪ اﻟﺘ ﺮاﺑﻂ أو اﻟﺘﺠﻤﻴ ﻊ‬
‫‪.process‬‬
‫اﻟﻤﻌﻠﻮﻣﺎت اﻹﻧ ﺸﺎﺋﻴﺔ اﻟﺘ ﻲ ﺗ ﺸﻤﻞ اﻟﻌﻼﻗ ﺎت اﻟﻄﺒﻴﻌﻴ ﺔ ﺑ ﻴﻦ اﻟﻤﻜﻮﻧ ﺎت و‬
‫اﻷﻧﻈﻤ ﺔ اﻟﻔﺮﻋﻴ ﺔ ‪ subsystem‬واﻟﺘ ﻲ ﻳﻮﺿ ﺤﻬﺎ ﻟﻨ ﺎ رﺳ ﻢ اﻟ ﺮواﺑﻂ‬
‫‪ bond graph‬و ﻳﻮﺿﺢ أﻳﻀﺎ ﻋﻤﻠﻴﺎت اﻧﺘﻘﺎل اﻟﻄﺎﻗ ﺔ و ﺗﺒﺎدﻟﻬ ﺎ ﺑ ﻴﻦ‬
‫هﺬﻩ اﻷﻧﻈﻤﺔ و ﻣﻜﻮﻧﺎﺗﻬﺎ ‪.‬‬
‫اﻟﻤﻌﻠﻮﻣﺎت هﻲ اﻟﻤﻔﺘﺎح ﻓﻰ ﻋﻤﻠﻴﻪ ﺗﺤﻠﻴ ﻞ اﻟﻨﻈ ﺎم و ﻓ ﻰ ﻋﻤﻠﻴ ﻪ اﻟﺘﺠﻤﻴ ﻊ‬
‫أو ﻋﻤﻠﻴ ﻪ اﻟﺘ ﺼﻤﻴﻢ وه ﺬﻩ اﻟﻤﻌﻠﻮﻣ ﺎت أو اﻟﺒﻴﺎﻧ ﺎت ﺗ ﺸﻤﻞ ﻋﻠ ﻰ‬
‫اﻟﺨ ﺼﺎﺋﺺ اﻹﻧ ﺸﺎﺋﻴﺔ ﻟﻠﻨﻈ ﺎم ﻣﺜ ﻞ اﻟﻘ ﺪرة ﻋﻠ ﻰ ﻋﻤ ﻞ اﻟ ﺘﺤﻜﻢ‬
‫‪ controllability‬واﻟﻘﺪرة ﻋﻠﻰ ﻣﻼﺣﻈﻪ اﻟﻨﻈ ﺎم ‪observability‬‬
‫وﺗﺤﺪﻳﺪ هﻮﻳﺔ اﻷﻧﻈﻤﺔ اﻟﻔﺮﻋﻴﺔ اﻟﻤﻮﺟﻮدة ﻓﻰ اﻟﻨﻈﺎم اﻷﺳﺎﺳﻲ اﻟﻤﺨﺘﻠﻔ ﺔ‬
‫ﻓﻰ ﻣﻘﻴﺎس اﻟﺰﻣﻦ ‪.time scale‬‬
‫و ﺗﻄﻮﻳﺮ هﺬﻩ اﻟﻘﻮاﻋﺪ أو اﻟﺒﻴﺎﻧﺎت ﻳﺘﺒﻊ ﻃﺮﻳﻘﻪ ﻟﻠﺘﺤﻠﻴﻞ و اﻟﺘﺼﻤﻴﻢ ﻣﺜ ﻞ‬
‫ﺗﺤﺪﻳﺪ أﻣﺎآﻦ اﻟﻤﺸﻐﻼت ‪ actuators‬وأﻣﺎآﻦ اﻟﻤﺠﺴﺎت ‪sensors‬‬
‫و اﻟﺘ ﻲ ﺗﻌﺘﺒ ﺮ ﻣ ﻦ أه ﻢ اﻟﻌﻤﻠﻴ ﺎت ﻓ ﻰ ﺗ ﺼﻤﻴﻢ اﻟﻤﺎآﻴﻨ ﺎت و اﻟ ﺘﺤﻜﻢ‬
‫واﻟﻤ ﺸﻐﻼت ﺗﻌﺘﻤ ﺪ ﻋﻠ ﻰ اﻟﻌﻤﻠﻴ ﺎت اﻟﺘ ﻲ ﺗﻘ ﻮم ﺑﻬ ﺎ اﻟﻤﺎآﻴﻨ ﺎت و ﺗﻌﺘﻤ ﺪ‬
‫أﻳ ﻀﺎ ﻋﻠ ﻰ ﻋﻼﻗ ﺎت اﻟ ﺮﺑﻂ ﺑ ﻴﻦ اﻟﻤﻜﻮﻧ ﺎت و اﻷﻧﻈﻤ ﺔ اﻟﻔﺮﻋﻴ ﺔ و‬
‫اﻹﺷﺎرات اﻟﺪاﺧﻠﺔ‪ input signals‬اﻟﻘﺎدﻣﺔ ﻣﻦ اﻟﻤﺠﺴﺎت‬
‫‪(B) Achievable performance‬‬
‫آﻤ ﺎ ذآﺮﻧ ﺎ ﺳ ﺎﺑﻘﺎ أن ﺗﻜﺎﻣ ﻞ اﻟﺘ ﺼﻤﻴﻢ واﻟ ﺘﺤﻜﻢ ﻓ ﻰ اﻟﻨﻈ ﺎم اﻟﻄﺒﻴﻌ ﻲ‬
‫ﺿﺮوري ﺟﺪا ﻟﺘﺤﻘﻴﻖ اﻷداء اﻟﻤﻄﻠﻮب ‪.‬‬
‫اﻟﻤ ﺼﻤﻤﻮن ﻋ ﺎدﻩ ﻳ ﻀﻌﻮن ﻓ ﻰ اﻋﺘﺒ ﺎرهﻢ ﻣﻈﻬ ﺮ اﻟﻨﻈ ﺎم ‪aspects‬‬
‫ﻟﺘﺄآﻴﺪ أن اﻷداء اﻟﻤﻄﻠﻮب ﻗﺪ ﺗﺤﻘ ﻖ و ﻣ ﻦ اﻟ ﻀﺮوري أﻳ ﻀﺎ ﻣﻼﺣﻈ ﻪ‬
‫ﺗﺤﻘﻴ ﻖ اﻷداء اﻟﻤﻄﻠ ﻮب وﻳﻌﺘﻤ ﺪ ذﻟ ﻚ ﻋﻠ ﻰ ﺣ ﺪود ﻣﻜﻮﻧ ﺎت اﻟﻨﻈ ﺎم‬
‫‪ hardware‬ﺛ ﻢ ﺑﻌ ﺪ ذﻟ ﻚ ﻧﻘ ﻮم ﺑﺎﻟﺒﺤ ﺚ ﻧﻈ ﺎم اﻟ ﺘﺤﻜﻢ‬ ‫اﻟﻤﺎدﻳ ﺔ‬
‫اﻟﻤﻨﺎﺳﺐ ‪.‬‬
‫اﻟﻤﻔﺘﺎح اﻟﺮﺋﻴﺴﻲ ﻓﻰ ﻋﻤﻠﻴﺎت اﻟﺘﺤﻜﻢ واﻟﺘﺼﻤﻴﻢ ه ﻮ ﺗﺤﺪﻳ ﺪ اﻟﺨ ﺼﺎﺋﺺ‬
‫اﻟﻄﺒﻴﻌﻴﺔ ﻟﻠﻨﻈﺎم و اﻟﺨﺼﺎﺋﺺ اﻟﻤﻤﻴﺰة ‪ characteristics‬ﻟﻠﻤﻜﻮﻧﺎت‬
‫اﻟﻤﺎدﻳﺔ اﻟﺘﻲ ﻋﻠﻰ أﺳﺎﺳﻬﺎ ﻧﺤﻘﻖ اﻷداء اﻟﻤﻄﻠﻮب ‪.‬‬
‫و ﻟﺘ ﺼﻤﻴﻢ ﻧﻈ ﺎم ﻣﻴﻜ ﺎﺗﺮوﻧﻰ ﻳﻌﻄ ﻰ ﻟﻨ ﺎ أداء آ ﺎﻓﻲ ﻳﺠ ﺐ أن ﻳﻘ ﻮم‬
‫اﻟﻤ ﺼﻤﻢ ﺑﺄﺗﺒ ﺎع اﻷﺗ ﻲ وه ﻮ ﺗﻄﺒﻴ ﻖ ﻋﻤﻠﻴ ﺎت اﻟﻄ ﺮق أو اﻟﻨﻤ ﺎذج‬
‫‪ methodology‬ﻟﺘﺤﺪﻳﺪ ﺛﻮاﺑﺖ ‪ parameters‬اﻟﻤﻜﻮﻧ ﺎت اﻟﻤﺎدﻳ ﺔ‬
‫اﻟﻼزﻣﺔ و اﻟﺨﺼﺎﺋﺺ اﻟﻄﺒﻴﻌﻴﺔ ﻟﻜﻞ ﺛﺎﺑﺖ وهﺬا ﺑﺎﻟﺘﺄآﻴﺪ ﻳﺴﺎﻋﺪ ﻣﻬﻨﺪس‬
‫اﻟﻨﻈ ﺎم ﻻﺧﺘﻴ ﺎر اﻟﺜﻮاﺑ ﺖ اﻟﻤﻨﺎﺳ ﺒﺔ ﻓ ﻰ اﻟﺘ ﺼﻤﻴﻢ واﻟﻤﻨﺎﺳ ﺒﺔ ﻟﻜ ﻞ اﻟﻨﻈ ﺎم‬
‫وﻗﺪرﺗﻬﺎ ‪ inherent‬ﻟﺘﺤﻘﻴﻖ اﻷداء اﻟﻤﻄﻠﻮب‪.‬‬
‫‪( C ) Control system design‬‬
‫اﻟﻨﻈ ﺎم اﻟﻤﻴﻜ ﺎﺗﺮوﻧﻰ ﻳ ﺸﻤﻞ ﻣﺠ ﺎﻻت ﻋﺪﻳ ﺪة و ﻇ ﺮوف ﺗ ﺸﻐﻴﻞ ﻣﺘﻌ ﺪدة‬
‫وﻟ ﺬﻟﻚ ﻳﺠ ﺐ أن ﻳﻜ ﻮن اﻟ ﺘﺤﻜﻢ ﻋﻤﻠ ﻲ ‪ practical‬وﻳﺘ ﻀﻤﻦ ﻋﻠ ﻰ‬
‫اﻟﺘﻨﻔﻴ ﺬ ‪ implementation‬و اﻟﺜﺒ ﺎت ‪ maintainer‬وان ﻳﺤﻘ ﻖ‬
‫أﻳﻀﺎ ﺗﻜﻠﻔﻪ اﻗﻞ‬
‫وﻋﺎﻣﻞ اﻟﺘﻜﻠﻔﺔ ﺣﻘﺎ ﻳﻌﺘﺒﺮ ﻣﻦ أهﻢ اﻟﻌﻮاﻣﻞ اﻟﺘﻲ داﺋﻤﺎ ﺗﻜﻮن ﻣﻬﻤﻠﺔ‬
‫وﻣﻦ ﻧﺎﺣﻴﺔ أﺧﺮى أن ﻳﻜﻮن ﻟﺪﻳﻪ اﻟﻘﺪرة أﻳﻀﺎ ﻋﻠ ﻰ ﺗ ﺼﺤﻴﺢ ﻧﻔ ﺴﻪ ﻓ ﻰ‬
‫ﺣﺎﻟ ﻪ اﻟ ﻀﺮورة ﻟﻴﺘﻮاآ ﺐ ﻣ ﻊ اﻟﺘﻐﻴ ﺮ اﻟ ﺴﺮﻳﻊ ﻓ ﻰ دﻳﻨﺎﻣﻴﻜﻴ ﺔ اﻟﻨﻈ ﺎم‬
‫واﻟﻨﻤﺎذج اﻟﻐﻴﺮ ﻣﻜﺮرﻩ وﻟﺬﻟﻚ ﻳﺠﺐ أن ﻳﻜﻮن أﻟﺠ ﻮرﻳﺜﻢ ‪algorithm‬‬
‫اﻟ ﺘﺤﻜﻢ ﻋﻤﻠ ﻲ وان ﻳﺘﻌﺎﻣ ﻞ ﻣ ﻊ ﻋ ﺪم اﻻﺳ ﺘﻘﺮار وﻋ ﺪم اﻟﺜﺒ ﺎت واﻟﺘﻐﻴ ﺮ‬
‫اﻟ ﺴﺮﻳﻊ واﻷﻧﻈﻤ ﺔ اﻟﻐﻴ ﺮ ﺧﻄﻴ ﻪ و اﻷﻧﻈﻤ ﺔ اﻟﻐﻴ ﺮ ﻣﺆآ ﺪة أو اﻟﻐﻴ ﺮ‬
‫واﺿﺤﺔ ‪.‬‬
 ‫ﺗﻄﺒﻴﻘﺎت هﻨﺪﺳﺔ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت‬
‫أﻧﻈﻤﺔ اﻟﺘﺤﻜﻢ اﻷﺗﻮﻣﺎﺗﻴﻜﻴﺔ ﻓﻰ اﻟﺴﻴﺎرات ﻋﻠﻰ اﻟﻄﺮق اﻟﺴﺮﻳﻌﺔ‬
‫اﻷﺗﻮﻣﺎﺗﻴﻜﻴﺔ‬
‫‪Automated steering systems for vehicles on‬‬
‫‪automated highways‬‬

‫ﻓﻜﺮﻩ اﻟﻄﺮق اﻟﺴﺮﻳﻌﺔ اﻷﺗﻮﻣﺎﺗﻴﻜﻴﺔ‬

‫‪ automated‬ﻋﺮﻓ ﺖ‬ ‫‪highways systems‬‬ ‫)‪(AHS‬‬
‫آﻄﺮﻳﻘ ﺔ ﻋﻤﻠﻴ ﺔ و ﻓﻌﺎﻟ ﺔ ﻓ ﻰ ﺣ ﻞ ﻣ ﺸﻜﻠﺔ اﻟﺰﺣ ﺎم اﻟﻤ ﺮوري و ﻣ ﺸﻜﻠﺔ‬
‫آﺜﺮة اﻟﺤﻮادث ﻋﻠﻰ اﻟﻄﺮق اﻟﺴﺮﻳﻌﺔ إﻟﻰ ﺟﺎﻧﺐ ﺗﺤ ﺴﻴﻦ آﻔ ﺎءة اﻟﻄ ﺮق‬
‫اﻟ ﺴﺮﻳﻌﺔ ﻣ ﻦ ﺧ ﻼل اﻋﺘﺒ ﺎرات آﺜﻴ ﺮة ﻣﻨﻬ ﺎ اﻷﻣ ﺎن ﻋﻠ ﻰ اﻟﻄﺮﻳ ﻖ و‬
‫ﻣﺸﻜﻼت اﻟﻮﻗﻮد و اﻗﺘﺼﺎدﻳﺎت اﻟﺘﻠﻮث ‪.‬‬
‫وﺗﻌﺘﺒﺮ هﺬﻩ اﻟﻄﺮق اﻟﺴﺮﻳﻌﺔ اﻷﺗﻮﻣﺎﺗﻴﻜﻴﺔ )‪ (AHS‬واﺣﺪﻩ ﻣ ﻦ أﺷ ﻜﺎل‬
‫اﻟ ﺬآﺎء ﻓ ﻰ اﻟﻨﻈ ﺎم اﻟﻤﻴﻜ ﺎﺗﺮوﻧﻰ ﻓ ﻰ وﺳ ﺎﺋﻞ اﻟﻤﻮاﺻ ﻼت ﻓﻜ ﻞ ﻣﺮآﺒ ﺔ‬
‫ﻋﻠﻰ هﺬﻩ اﻟﻄﺮق )‪ (AHS‬ﺗﻜﻮن ﻣ ﺰودة ﺑﺤﺎآﻤ ﺎت ﻣﺜﺒﺘ ﺔ ﻓ ﻰ اﻷﺗﺠ ﺎة‬
‫و ﺣﺎآﻤ ﺎت أﻳ ﻀﺎ ﻓ ﻰ اﻷﺗﺠ ﺎة اﻟﻌﺮﺿ ﻲ‬ ‫اﻟﻄ ﻮﻟﻲ ‪longitudal‬‬
‫‪. lateral‬‬
‫واﻟﺤﺎآﻤ ﺎت اﻟﻤﺜﺒﺘ ﺔ ﻓ ﻰ اﻻﺗﺠ ﺎﻩ اﻟﻄ ﻮﻟﻲ وﻇﻴﻔﺘﻬ ﺎ اﻟﺤﻔ ﺎظ ﻋﻠ ﻰ ﻣ ﺴﺎﻓﺔ‬
‫ﺛﺎﺑﺘﺔ أو زﻣﻦ ﺛﺎﺑﺖ ‪ time headway‬ﺑﻴﻦ اﻟ ﺴﻴﺎرة و اﻷﺧ ﺮى اﻟﺘ ﻲ‬
‫أﻣﺎﻣﻬﺎ وﺗﻜﻮن هﺬﻩ اﻟﻤﺴﺎﻓﺔ ﻣﺤﺪدﻩ ﺑﻘﻴﻤﻪ ﻣﻌﻴﻨﻪ ﺗﺒﻌﺎ ﻟﻨﻮع اﻟﻄﺮﻳﻖ ‪.‬‬

‫واﻟﺤﺎآﻤﺎت اﻟﻤﺜﺒﺘﺔ ﻓﻰ اﻻﺗﺠﺎﻩ اﻟﻌﺮﺿﻲ ﺗﺤﺎﻓﻆ ﻋﻠﻰ أن ﺗﻜﻮن اﻟ ﺴﻴﺎرة‬

‫ﻓﻰ ﻣﺴﺎر ﺛﺎﺑﺖ ‪ lane‬ﺑﻄﻮل اﻟﻄﺮﻳﻖ ‪.‬‬
‫وﻓﻰ اﻟﺸﻜﻞ اﻟﺘﺎﻟﻲ ﻧﻼﺣﻆ هﺬا‬
‫وﻣﻦ وﺟﻬﻪ ﻧﻈﺮ اﻟﻤﻴﻜﺎﺗﺮوﻧﻴﺎت أن هﺬﻩ اﻟﻄ ﺮق اﻟ ﺴﺮﻳﻌﺔ اﻻﺗﻮﻣﺎﺗﻴﻜﻴ ﺔ‬
‫)‪ (AHS‬ﺗﻌﺘﺒ ﺮ ﻣﺜ ﺎل راﺋ ﻊ ﻋﻠ ﻰ ﺗﻜﺎﻣ ﻞ اﻟﻨﻈ ﺎم ﻣ ﻊ ﻣﻜﻮﻧﺎﺗ ﻪ وﺗﻜﺎﻣ ﻞ‬
‫اﻟﻤﻜﻮﻧﺎت ﻣﻊ ﺑﻌﻀﻬﺎ آﻤﺎ ﺗﺤﺪﺛﻨﺎ ﺳﺎﺑﻘﺎ ‪.‬‬
‫وﻣ ﻦ اﻟﻤﻬ ﻢ أﻳ ﻀﺎ ﻓ ﻰ ه ﺬﻩ اﻟﻄ ﺮق آﻴﻔﻴ ﻪ ﻗﻴ ﺎس ﻣﻮﺿ ﻊ اﻟ ﺴﻴﺎرة و‬
‫إﺣﺪاﺛﻴﺘﻬﺎ ﺑﺎﻟﻨﺴﺒﺔ ﻟﻠﻄﺮﻳﻖ ‪.‬‬
‫وﻗﺪ ﻗﺎﻣﺖ )‪(PATH‬‬
‫‪The Partners For‬‬ ‫‪Transit and Highways‬‬
‫‪Advanced‬‬
‫‪magnetic‬‬ ‫ﺑﻮﺿ ﻊ ﻣﻌ ﺎﻳﻴﺮ ﻋﺎﻟﻤﻴ ﻪ ﻟﻨﻈ ﺎم ﻋﻼﻣ ﺎت ﻣﻐﻨﺎﻃﻴ ﺴﻴﺔ‬
‫‪ marker‬وﻳﻜ ﻮن ﻣﺜﺒ ﺖ ﺑﻬ ﺎ أﻳ ﻀﺎ ﻋﻠ ﻰ اﻟﻄﺮﻳ ﻖ‬ ‫)‪(nail‬‬
‫‪ magnetometers‬و ﺗ ﺪﻓﻦ ه ﺬﻩ اﻟﻤﺠﻤﻮﻋ ﺔ ﻋﻠ ﻰ ﻣ ﺴﺎﻓﺎت‬
‫ﻣﺘﺴﺎوﻳﺔ ﻓﻰ آﻞ ﻣﺴﺎر و ﻋﻠﻰ ﻓﺘﺮات ﻋﻠﻰ ﻃﻮل اﻟﻄﺮﻳﻖ اﻟﺴﺮﻳﻊ ‪.‬‬
‫وﻳﻌﺘﻤ ﺪ ﻧﻈ ﺎم اﻟﺤ ﺴﺎﺳﺎت ﻋﻠ ﻰ أن ﺗﻜ ﻮن ﻣﺜﺒﺘ ﻪ ﻋﻨ ﺪ ﻗﻴﻤ ﻪ ﻣﻌﻴﻨ ﻪ‬
‫‪ reference‬و ﻳﻜﻮن هﺬا ﻣﺤﺪد ﻋﻠﻰ أﺳ ﺎس اﻟﻌﻼﻣ ﺎت اﻟﻤﻐﻨﺎﻃﻴ ﺴﻴﺔ‬
‫وﻣﻦ اﻟﻤﻤﻜ ﻦ أن ﺗ ﺆدى إﻟ ﻰ إﻏ ﻼق اﻟﻨﻈ ﺎم واﻟﺘ ﺄﺛﻴﺮ ﻋﻠ ﻰ ﻧﻈ ﺎم ﺿ ﺒﻂ‬
‫اﻟﻤﺤ ﺎور ﻓ ﻰ اﻟ ﺴﻴﺎرة ‪ steering‬وأﻳ ﻀﺎ ﻣ ﻦ اﻟﻤﻤﻜ ﻦ ﻓ ﻰ اﻟﺤ ﺎﻻت‬
‫اﻟﺤﺮﺟﺔ أن ﺗﺆﺛﺮ ﻋﻠﻰ ﻧﻈﺎم اﻟﻔﺮاﻣﻞ اﻟﻤﻮﺟﻮد ﻓﻰ اﻟﺴﻴﺎرة و ﺗﻮدي إﻟﻰ‬
‫ﺗﻮﻗﻔﻬﺎ ﺗﻤﺎﻣﺎ ‪.‬‬
‫وﺗﻜﻮن هﻨﺎك أﻳ ﻀﺎ ﺣ ﺴﺎﺳﺎت أو ﻣﺠ ﺴﺎت ﻣﺜﺒﺘ ﻪ ﻓ ﻰ اﻟ ﺴﻴﺎرة وﻟﻨﺘﺨﻴ ﻞ‬
‫إذا ﺛﺒﺘﻨﺎ هﺬﻩ اﻟﻤﺠﺴﺎت ﻋﻨﺪ اﻹآ ﺼﺪام اﻷﻣ ﺎﻣﻲ ﻓﻬ ﺬا ﻳ ﻮدى إﻟ ﻰ ﻧﻈ ﺮﻩ‬
‫‪ look ahead‬ﺻ ﻐﻴﺮﻩ ﺑﺎﻟﻤﻘﺎرﻧ ﺔ ﺑﻤﺮآ ﺰ ﺛﻘ ﻞ اﻟ ﺴﻴﺎرة وﻣ ﻦ ﻧﺎﺣﻴ ﺔ‬
‫أﺧ ﺮى ﻓ ﺎن اﻟﻜ ﺎﻣﻴﺮا اﻟﺘ ﻲ ﺗﻜ ﻮن ﻣﺜﺒﺘ ﻪ أﻳ ﻀﺎ ﻓ ﻰ اﻟ ﺴﻴﺎرة ﺗﻌ ﺮف ه ﺬا‬
‫‪ look ahead‬ﺑﻤﻘ ﺪار ﺻ ﻐﻴﺮ وﻟﻜ ﻦ إذا ﺛﺒﺘﻨ ﺎ‬ ‫اﻟﺒﻌ ﺪ أو اﻟﻨﻈ ﺮة‬
‫اﻟﻤﺠﺴﺎت ﻋﻠﻰ ارﺗﻔﺎع ﺧﻤﺴﺔ أﻣﺘ ﺎر ﻣ ﻦ اﻟ ﺴﻴﺎرة ﻓ ﺎن اﻟﻜ ﺎﻣﻴﺮا ﺗﻌﻄﻴﻨ ﺎ‬
‫ﻣﻘﺪار آ ﺎﻓﻲ ﻣ ﻦ اﻟ ﺼﻮرة اﻟﺒﻌﺪﻳ ﺔ ﻟﻠﻄﺮﻳ ﻖ و ﻟﻜ ﻦ ه ﺬا ﻏﻴ ﺮ ﺣﻘﻴﻘ ﻲ و‬
‫ﻳﺴﺘﺤﻴﻞ ﺗﻨﻔﻴﺬﻩ ‪.‬‬
‫وﻟ ﺬﻟﻚ اﻟﻌﻠﻤ ﺎء واﻟﺒ ﺎﺣﺜﻴﻦ ﻓ ﻰ )‪ (PATH‬وﺟ ﺪوا ﺣ ﻼ ﻟﻬ ﺬﻩ ﻟﻤ ﺸﻜﻠﻪ‬
‫وذﻟﻚ ﺑﻮﺿﻊ ﻋﺪد اآﺒﺮ ﻣﻦ اﻟﻤﺠﺴﺎت ﻓﻰ ﻣﺨﺘﻠﻒ أﻧﺤﺎء اﻟ ﺴﻴﺎرة و ﻓ ﻰ‬
‫اﻹآﺼﺪام اﻷﻣﺎﻣﻲ و اﻟﺨﻠﻔﻲ‪.‬‬
‫و ﺗﺼﻤﻴﻢ ﻧﻈﺎم اﻟﺘﺤﻜﻢ ﻟﻬﺬا اﻟﻨﻈﺎم اﻟﻤﻴﻜﺎﺗﺮوﻧﻰ آﻤ ﺎ ﻋﺮﻓﻨ ﺎ ﻳﻌﺘﻤ ﺪ أوﻻ‬
‫ﻋﻠ ﻰ ﺗﺤﺪﻳ ﺪ ﻃﺒﻴﻌ ﺔ اﻟﻨﻈ ﺎم و ه ﺬا ﻣ ﺎ ﻗﻤﻨ ﺎ ﺑ ﻪ أﻻن و اﻟﺨﻄ ﻮة اﻟﺘﺎﻟﻴ ﺔ‬
‫ﺗﻜﻮن اﺧﺘﻴﺎر ﻧﻈﺎم اﻟﺘﺤﻜﻢ اﻟﺬي ﻳﻀﻤﻦ ﻟﻨﺎ اﻟﺘﻜﺎﻣﻞ اﻟﻔﻌﺎل ﺑ ﻴﻦ ﻣﺨﺘﻠ ﻒ‬
‫ﻣﻜﻮﻧﺎت اﻟﻨﻈ ﺎم ﻣﺜ ﻞ اﻟﻤﺠ ﺴﺎت و ﺗﻮزﻳﻌﻬ ﺎ و اﻟﻤ ﺸﻐﻼت واﻟﺘ ﻲ ﺗﻜ ﻮن‬
‫ﻣﻮﺟﻮدة ﻓﻰ اﻟﺴﻴﺎرة و اﻟﺘﻲ ﺗﺘﺤﻜﻢ ﻓﻰ ﻧﻈ ﺎم اﻟﻤﺤ ﺎور و اﻟﻔﺮاﻣ ﻞ وﻣ ﻦ‬
‫ﺧﻼل اﻟﺸﻜﻞ اﻟﺘﺎﻟﻲ ﻳﻤﻜﻨﻨ ﺎ ﻣﻼﺣﻈ ﻪ ﻣﻜﻮﻧ ﺎت اﻟﻨﻈ ﺎم اﻟﻤﺨﺘﻠﻔ ﺔ و ﺗﻮﻗ ﻊ‬
‫ﻧﻈﺎم اﻟﺘﺤﻜﻢ‬