پایان نامه تخمین عدم قطعیت در کنترل مقاوم موقعیت بازو های رباتیک

فهرست:

فصل اول: مقدمه...............................................................................................................................................................1

1-1- مروری برکارهای گذشته.....................................................................................................................2

راهبرد کنترل گشتاور.....................................................................................................2

راهبرد کنترل ولتاژ........................................................................................................6

کنترل عاطفی...............................................................................................................14

اهداف مورد نظر.............................................................................................................................16

ساختار کلی رساله.........................................................................................................................17

فصل دوم: مروری بر مدلسازی ریاضی بازوهای ماهر مکانیکی.............................................................................19

............................................................................................................................................20

سینماتیکی.....................................................................................................................20

                2-2-1-سینماتیک مستقیم................................................................................................................20

                 2-2-2-سینماتیک وارون....................................................................................................................28

                2-2-3-  سینماتیک سرعت و ماتریس ژاکوبین.............................................................................29

          2-3- مدلسازی دینامیکی..............................................................................................................................31

فصل سوم: راهبرد کنترل ولتاژ....................................................................................................................................35

          3-1- مقدمه......................................................................................................................................................36

          3-2- معادلات حرکت سیستم رباتیک ....................................................................................................37

            3-3-قانون کنترل در راهبرد کنترل ولتاژ................................................................................................39

          3-4- شبیه­سازی سیستم کنترل................................................................................................................41

3-5-نتیجه­گیری.....................................................................................................................................44

فصل چهارم: تخمین عدم قطعیت با استفاده از سری فوریه.................................................................................45

4-1- مقدمه....................................................................................................................................................................46

4-2- تقریب توابع با استفاده از سری فوریه.............................................................................................................47

4-3- طراحی کنترل­کننده مقاوم مستقل از مدل....................................................................................................48

      4-3-1- قانون کنترل پیشنهادی.......................................................................................................................49

      4-3-2- تحلیل پایداری......................................................................................................................................51

      4-3-3- تعیین دوره تناوب اساسی سری فوریه..............................................................................................55

4-4- نتایج شبیه سازی­ها............................................................................................................................................61

       4-4-1- ردگیری مسیرهای سینوسی..............................................................................................................61

       4-4-2- ردگیری مسیرهای متناوب غیر سینوسی........................................................................................64

       4-4-3- سایر دوره­های تناوب...........................................................................................................................67

         4-4-4- دوره­های تناوب اصم.......................................................................................................................68

          4-4-5-مسیرهای نامتناوب و اغتشاش خارجی.......................................................................................69

         4-4-6- مقایسه با کنترل­کننده عصبی-فازی..............................................................................................73

4-5- نتایج آزمایشگاهی...............................................................................................................................................79

         4-5-1- ردگیری مسیرهای سینوسی..........................................................................................................81

        4-5-2- ردگیری مسیرهای مربعی................................................................................................................84

4-6- مقایسه نتایج شبیه­سازی و آزمایشگاهی........................................................................................................86

4-7- نتیجه­گیری...........................................................................................................................................................87

فصل پنجم: تخمین عدم قطعیت در فضای کار با استفاده از توابع لژاندر..........................................................89

      5-1- مقدمه...........................................................................................................................................................90

      5-2- تقریب توابع با استفاده از چند­جمله­ای­های لژاندر..............................................................................91

      5-3- کنترل مقاوم کلاسیک در فضای کار با استفاده از راهبرد کنترل ولتاژ.........................................93

      5-4- تخمین عدم قطعیت با استفاده از چندجمله­ای­های لژاندر...............................................................97

     5-5- نتایج شبیه­سازی........................................................................................................................................100

         5-5-1- کنترل مقاوم کلاسیک..................................................................................................................100

         5-5-2- کنترل مقاوم پیشنهادی با استفاده از توابع لژاندر.....................................................................104

         5-5-3- مقایسه با سایر کنترل­کننده­های مبتنی بر ولتاژ [112]........................................................107

5-6- نتیجه­گیری.......................................................................................................................................................109

فصل ششم: کنترل مقاوم سیستمهای غیرخطی مرتبه اول با استفاده از یادگیری عاطفی مغز ...............111

      6-1- مقدمه........................................................................................................................................................112

    6-2- مدلسازی ریاضی یادگیری عاطفی مغز...................................................................................................112

    6-3- طراحی قانون کنترل و اثبات پایداری.....................................................................................................116

    6-4- نتایج آزمایشگاهی.......................................................................................................................................121

   6-5- نتیجه­گیری....................................................................................................................................................124

فصل هفتم: نتیجه­گیری و پیشنهادات....................................................................................................................127

    7-1-نتیجه­گیری...................................................................................................................................................128

   7-2   پیشنهادات....................................................................................................................................................131

فهرست منابع................................................................................................................................................................133

پیوست الف: مدل ریاضی بازوی ماهر اسکارا..........................................................................................................151

         پیوست ب: اثبات لم­های فصل 4................................................................................................................155

          پیوست ج: بوردها .........................................................................................................................................161

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