ﻃﺮاﺣﯽ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺑﺎزﻧﺸﺎن ﻣﻘﺎوم ﺑﺮ اﺳﺎس ﻋﻤﻠﮑﺮد ﭘﺲ ﺑﺎزﻧﺸﺎن ﺑﻬﯿﻨﻪ ﺑﻪﻣﻨﻈﻮر ﺑﻬﺒﻮد ﻋﻤﻠﮑﺮد ﺳﯿﺴﺘﻢ ﮐﻨﺘﺮل ﯾﮏ رﺑﺎت ﺻﻨﻌﺘﯽ

Design of Robust Reset Controller Based on Optimal After Reset Performance to Improve the Performance of an Industrial Robot Control

ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﺗﻨﺎﺳﺒﯽ -ﻣﺸﺘﻘﯽ-اﻧﺘﮕﺮاﻟﯽ )PID( اﺳﺘﺎﻧﺪارد، ﯾﮑﯽ از ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﻣﻄﻠﻮب ﺑﺮاي اﺗﻮﻣﺎﺳﯿﻮن ﺻﻨﻌﺘﯽ و ﭘﺮﮐﺎرﺑﺮدﺗﺮﯾﻦ ﮐﻨﺘﺮل در ﺳ ﯿ ﺴﺘﻢ ﻫﺎي ﻓﯿﺪﺑﮑﯽ ﻫ ﺴﺘﻨﺪ . ﺑﺎ اﯾﻦ وﺟﻮد ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﺧﻄﯽ داراي ﻣﺤﺪودﯾﺖﻫﺎﯾﯽ ﻫ ﺴﺘﻨﺪ ﮐﻪ ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﺑﺎزﻧﺸــﺎن ﺑﻪﻣﻨﻈﻮر ﻏﻠﺒﻪ ﺑﺮ اﯾﻦ ﻣﺤﺪودﯾﺖﻫﺎ ﻣﻮرد اﺳــﺘﻔﺎده ﻗﺮار ﻣﯽﮔﯿﺮﻧﺪ. در اﯾﻦ ﻣﻘﺎﻟﻪ ﯾﮏ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﻣﻘﺎوم ﺑﺎزﻧ ﺸﺎنِ ﻓﯿﺪﺑﮏ ﺧﺮوﺟﯽِ ﺑﻬﯿﻨﻪ ﺑﻪﻣﻨﻈﻮر ﮐﻨﺘﺮل ﯾﮏ رﺑﺎت ﺑﺎ دو درﺟﻪ آزادي ﻣﻌﺮﻓﯽ ﻣﯽ ﺷﻮد. ﺑﻪﻃﻮر ﮐﻠﯽ رﻓﺘﺎر ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﺑﺎزﻧﺸﺎن، ﻣﺸﺎﺑﻪ ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎي ﺧﻄﯽ اﺳﺖ و ﺑﻪ ﻋﺒﺎرﺗﯽ اﯾﻦ ﻧﻮع ﮐﻨﺘﺮلﮐﻨﻨﺪهﻫﺎ، ﭘﯿﺎدهﺳﺎزي راﺣﺘﯽ دارﻧﺪ. در اﯾﻦ راﺳﺘﺎ، در اﯾﻦ ﻣﻘﺎﻟﻪ ﺑﺎ اﺳـــﺘﻔﺎده از ﻣﻌﺮﻓﯽ ﯾﮏ ﮐﻨﺘﺮل ﺗﺮﮐﯿﺒﯽ ﺧﺎص ﺗﺤﺖ ﻋﻨﻮان ﮐ ﻨﺘﺮل ﻓﯿﺪﺑﮏ ﺧﺮوﺟﯽ ﺑﺎزﻧﺸـــﺎن ﻣﻘﺎوم، ﻣﻌ ﺎﯾ ﺐ ﻣﻮﺟﻮد در ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺧﻄﯽ ﺑﺮﻃﺮف ﺷﺪه و ﻫﺪف اﺻﻠ ﯽ آن ﮐﺎﻫﺶ ﻓﺮاﺟﻬﺶ و اﻓﺰاﯾﺶ ﺳﺮﻋﺖ ﭘﺎﺳﺦ و ﭘ ﺎﯾﺪاري ﺑﻬﺘﺮ ﺳ ﯿﺴﺘﻢ ﺗﺤﺖ ﮐﻨﺘﺮل ا ﺳﺖ. ﺑﻨﺎﺑﺮاﯾﻦ ﯾﮏ روش ﺳ ﯿ ﺴﺘﻤﺎﺗ ﯿﮏ ﺑﺮاي ﻃﺮاﺣﯽ ﻣﺠﺪد ﮐﻨﺘﺮلﮐﻨﻨﺪه ﺑﺎزﺧﻮرد ﺧﺮوﺟﯽ ﺑﻬﯿﻨﻪ ﻣﻌﺮﻓﯽ ﻣﯽ ﺷﻮد . ﺑﺮاي اﯾﻦ ﮐﺎر اﺑﺘﺪا ﯾﮏ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﻓﯿﺪﺑﮏ ﺧﺮوﺟﯽ ﺑﻬﯿﻨﻪ ﺑﺪون ﻋﻤﻞ ﺑﺎزﻧﺸﺎن ﻃﺮاﺣ ﯽ ﺷﺪه ﺑﻪﻃﻮريﮐﻪ ﻗﻄﺐﻫﺎي ﺳ ﯿﺴﺘﻢ ﺣﻠﻘﻪ ﺑﺴﺘﻪ در ﯾﮏ ﻣﻨﻄﻘﻪ از ﭘﯿﺶ ﺗﻌﺮﯾﻒ ﺷﺪه ﻗﺮار ﻣﯽﮔﯿﺮﻧﺪ. اﯾﻦ ﻧﺎﺣﯿﻪ ﺑﻪﮔﻮﻧﻪاي اﻧﺘﺨﺎب ﻣﯽﺷﻮد ﮐﻪ ﭘ ﺎﯾﺪاري ﻧﻤﺎﯾﯽ و زﻣﺎن رﺳ ﯿﺪن ﺣﻠﻘﻪ ﺑﺴﺘﻪ در زﻣﺎن ﻣﺤﺪود، ﺗﻀﻤ ﯿﻦ ﺷﻮد. ﺳﭙﺲ ، ﻣﻘﺪار ﭘﺲ ﺑﺎزﻧ ﺸﺎن در زﻣﺎن ﻫﺎي ﺗﻨﻈﯿﻢ ﻣﺠﺪد ﺑﺎ ﺑﻪ ﺣﺪاﻗﻞ رﺳﺎﻧﺪن ﯾﮏ ﺗﺎﺑﻊ ﻫﺰﯾﻨﻪ ﻣﻨﺎﺳﺐ ﺑﺮاي دﺳﺘ ﯿﺎﺑﯽ ﺑﻪ ﮐﺎراﯾﯽ ﺑﻬﺘﺮ ﻃﺮاﺣﯽ ﻣﯽﺷﻮد. در اﯾﻦ ﻣﻘﺎﻟﻪ ﺑﺮاي اوﻟﯿﻦ ﺑﺎر ﻣﻘﺪار ﭘﺲ ﺑﺎزﻧﺸﺎن ﺗﻨﻬﺎ ﺑﺎ اﻃﻼﻋﺎت ﺧﺮوﺟ ﯽ ﺳ ﯿﺴﺘﻢ ﻣ ﺸﺨﺺ ﺷﺪه و در اداﻣﻪ ﭘﺎﯾﺪاري ﺳﯿ ﺴﺘﻢ ﻧﯿﺰ ﺗ ﻀﻤﯿﻦ ﺧﻮاﻫﺪ ﺷﺪ. رﺑﺎت ا ﺳﺘﻔﺎده ﺷﺪه ﯾﮏ ﻧﻤﻮﻧﻪ ﮐﺎرﺑﺮدي و ﺻﻨﻌﺘﯽ ﺑﻮده ﮐﻪ داراي دو ﺑﺎزو و دو ﻣﻔ ﺼﻞ ﺑﺎ ﻗﺎﺑﻠﯿﺖ ﮐﻨﺘﺮل ﻣﺠﺰا ا ﺳﺖ . ﻣﻮﻗﻌﯿﺖ و رﻓﺘﺎر ﺑﺎزوﻫﺎ ﺑﺮ ا ﺳﺎس ﻣﻌﺎد ﻟﻪﻫﺎي و راﺑﻄﻪﻫﺎي رﯾﺎ ﺿﯽ ﺣﺎﮐﻢ، ﻧﺸــﺎندﻫﻨﺪه اﺛﺮﮔﺬاري ﻣﺴــﺘﻘﯿﻢ آن ﺑﺮ روي ﯾﮑﺪﯾﮕﺮ اﺳــﺖ. در ﭘﺎﯾﺎن ﺑﺮاي اﺛﺒﺎت ﻃﺮح ﭘﯿﺸــﻨﻬﺎدي، ﺑﺎ اﺳــﺘﻔﺎده از ﻧﺮماﻓﺰار ﻣﺘﻠﺐ ﺷﺒﯿﻪﺳﺎزي ﻋﺪدي اﻧﺠﺎم ﺷﺪه و ﻣﻘﺎﯾﺴﻪاي ﺑﯿﻦ ﮐﻨﺘﺮلﮐﻨﻨﺪه اراﺋﻪ ﺷﺪه ﺑﺎ ﮐﻨﺘﺮلﮐﻨﻨﺪه ﻣﺸﺎﺑﻪ اﻧﺠﺎم ﺧﻮاﻫﺪ ﺷﺪ.

Standard PID controllers are one of the most desirable controllers for industrial automation and the most widely used control in feedback systems. However, linear controllers have limitations that represent-tation controllers can be used to overcome these limitations. In this paper, a robust reset control based on optimal output feedback to control a robot with two degrees of freedom. In general, the behavior of reset controllers is similar to that of linear controllers, in other words, they are easy to implement. In this regard, in this paper, by introducing a special combination control called robust reset output feedback control, the disadvantages of the linear controller are eliminated and its main purpose is to reduce overexposure and increase the response speed and better stability of the controlled system. Therefore, this paper introduces a systematic method for reset optimal output feedback controller. To do this, an optimal output feedback controller is first designed without the reset action, so that the poles of the closed-loop system are located in a predefined area. This area is selected to ensure the stability of the exponential and the arrival time of the closed loop in a finite time. Then, the reset value at reset times is designed to minimize a cost-effective function for better performance. In this paper, for the first time, the reset value is specified only with the system output information and then the stability of the system will be guaranteed. The robot used in this article is a practical and industrial example that has two arms and two joints with separate control capability. The position and behavior of the arms based on the governing equations and mathematical relations indicate its direct effect on each other. Finally, to prove the proposed design, numerical simulation will be performed using Matlab software and a comparison between the proposed controller and a similar controller will be performed.