استخدام الحاسب للتحكم بنظم الميكاترونيك. (دراسة حالة: نظام الكرة والعارضة)
Abstract
يصف هذا البحث تنفيذ عدد من المتحكمات المتقطعة باستخدام الكمبيوتر- متحكمات تقديم الطور، PID ، التغذية العكسية بالسرعة، التغذية العكسية بالحالة باستخدام المراقب، وأخيرا متحكم زمن التخامد المحدود- للتحكم بنظام كهروميكانيكي مخبري (نظام الكرة والعارضة).
تمت نمذجة ووصف النظام والحصول على خواص الحلقة المفتوحة باستخدام بيئة Matlab . إضافةً لذلك، تم عرض متحكمات التحكم الرقمي المباشر بنماذجها الرياضية المتقطعة المختلفة، من أجل تنفيذها بوصفها برامجاً تجعل الكمبيوتر يتصرف بصفته متحكماً رقمياً للنظام السابق.
تم البحث في العوامل التي تحدد ملاءمة الكمبيوتر للتحكم بالنظام، واختيار القيم الابتدائية لثوابت المتحكم عند سرعة تقطيع عالية بما فيه الكفاية مقارنةَ بعرض النطاق الترددي للنظام، وتم عرض الاستجابة الزمنية للنظام عند استخدام المتحكمات المختلفة لدخل الخطوة الوحدة من أجل المقارنة.
This paper describes implementation of a number of discrete controllers by using the computer-phase advance, PID, velocity feedback, state feedback using observers and finite-time settling controller-to control an electromechanical system .
The system modeling, description, and open-loop specifications, which are determined by using MATLAB are presents in the paper. As well as, the mathematical models of discrete controllers are presents in order to realization them as a programs on the computer, which work as discrete system controller.
The factors which determine the suitability of computer to control applications are investigated. The selection of initial values of controller parameters was made with assumption that the sampling rate was sufficiently fast compared to the system bandwidth and the controllers step response for comparison were presented.
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