‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬

‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬

‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

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א

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‫‪Control System‬‬

‫ﰲ ﻫﺬﺍ ﺍﻟﻔﺼﻞ ﺳﻨﺘﻌﻠﻢ‪:‬‬

‫‪ .١‬ﻛﻴﻔﻴﺔ ﺇﻧﺸﺎﺀ ﻓﺮﺍﻍ ﺍﳊﺎﻟﺔ‪.‬‬
‫ﺇﻧﺸﺎﺀ ﺗﺎﺑﻊ ﺍﻟﻨﻘﻞ‪.‬‬ ‫‪.٢‬‬

‫ﺭﺑﻂ ﺍﻷﻧﻈﻤﺔ ﺑﻌﻀﻬﺎ ﺑﺒﻌﺾ‪.‬‬ ‫‪.٣‬‬

‫ﺍﻟﺘﺤﻮﻳﻞ ﺑﲔ ﺍﻟﻨﻈﺎﻡ ﺍﳌﺴﺘﻤﺮ ﻭﺍﳌﺘﻘﻄﻊ‪.‬‬ ‫‪.٤‬‬

‫ﺭﺳﻢ ﺍﻷﺻﻔﺎﺭ ﻭﺍﻷﻗﻄﺎﺏ ﻭﳐﻄﻂ ﺑﻮﺩ ﻭﻧﻴﻜﻮﻳﺴﺖ‪.‬‬ ‫‪.٥‬‬

‫ﻣﻘﺪﻣﺔ‪:‬‬
‫ﺇﻥ ﻫﺬﺍ ﺍﻟﻔﺼﻞ ﻳﺒﲔ ﻋﺪﻡ ﺇﻣﻜﺎﻧﻴﺔ ﺍﻟﻔﺼﻞ ﺑﲔ ﺍﻟﺮﻳﺎﺿﻴﺎﺕ ﻭﺍﳍﻨﺪﺳﺔ ﺣﻴﺚ ﻳﺘﻢ ﲤﺜﻴﻞ ﺍﻟﻨﻈﺎﻡ ﺍﻟﻌﻤﻠﻲ‬
‫ﲟﻌﺎﺩﻻﺕ ﺭﻳﺎﺿﻴﺔ ﻟﻠﺘﺤﻜﻢ ﺑﻪ‪.‬ﻭﺍﳌﺎﺗﻼﺏ ﰲ ﻫﺬﺍ ﺍﻟﻔﺼﻞ ﺳﻴﻘﺪﻡ ﻟﻨﺎ ﻛﻌﺎﺩﺗﻪ ﺗﻌﻠﻴﻤﺎﺕ ﻭﺃﻭﺍﻣﺮ ﺟﺎﻫﺰﺓ‬
‫ﺗﻌﻴﻨﻨﺎ ﻛﻄﻼﺏ ﻭﻣﻬﻨﺪﺳﲔ ﻋﻠﻰ ﲤﺜﻴﻞ ﻫﺬﻩ ﺍﻟﻨﻈﻢ ﺑﻮﻗﺖ ﻗﺼﲑ ﺑﺎﻟﻨﺴﺒﺔ ﻟﻠﺠﻬﺪ ﺍﻟﻴﺪﻭﻱ ﻭﺧﺎﻟﻴﺎ ﻣﻦ‬
‫ﺍﻷﺧﻄﺎﺀ ﻭﺍﻟﺘﻌﻘﻴﺪ ﺍﻟﱵ ﺗﻌﺘﺮﻳﻨﺎ ﳓﻦ ﺍﻟﺒﺸﺮ ﻓﻬﻮ ﳚﻌﻞ ﺍﻷﻣﻮﺭ ﺍﳌﻬﻤﺔ ﻟﻚ ﻛﺘﻤﺜﻴﻞ ﻧﻈﺎﻡ ﻭﺍﻟﺘﺤﻜﻢ ﺑﻪ ﺃﻣﺎ‬
‫ﺣﺴﺎﺑﺎﺕ ﺍﻟﻨﺘﺎﺋﺞ ﻓﲑﳛﻚ ﻣﻨﻬﺎ‪.‬‬
‫ﻟﺼﻨﻊ ﻓﻀﺎﺀ ﺍﳊﺎﻟﺔ ﻧﺄﺧﺬ ﺍﳌﺜﺎﻝ ﺍﻟﺘﺎﱄ‪:‬‬
‫ﻟﻨﻔﺮﺽ ﺃﻧﻪ ﻟﺪﻱ ﺁﻟﺔ ﳍﺎ ﺍﳌﻌﻄﻴﺎﺕ ﺍﻟﺘﺎﻟﻴﺔ‪:‬‬
‫‪R= 2.0 % Ohms‬‬
‫‪L= 0.5 % Henrys‬‬
‫‪Km = .015 % torque constant‬‬
‫‪Kb = .015 % emf constant‬‬
‫‪Kf = 0.2 % Nms‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫‪J= 0.02 % kg.m^2‬‬

‫ﻧﺴﺘﻄﻴﻊ ﻣﻦ ﺧﻼﳍﺎ ﺗﻜﻮﻳﻦ ﻣﺼﻔﻮﻓﺎﺕ ﺍﳊﺎﻟﺔ‪:‬‬

‫;]‪A = [-R/L -Kb/L; Km/J -Kf/J‬‬
‫;]‪B = [1/L; 0‬‬
‫;]‪C = [0 1‬‬
‫;]‪D = [0‬‬

‫ﺍﻵﻥ ﻹﻧﺸﺎﺀ ﻓﻀﺎﺀ ﺍﳊﺎﻟﺔ‪:‬‬

‫)‪sys = ss(A,B,C,D‬‬

‫ﻓﻴﻜﻮﻥ ﺍﻟﻨﺎﺗﺞ‪:‬‬
‫=‪a‬‬
‫‪x1‬‬ ‫‪x2‬‬
‫‪x1‬‬ ‫‪-4 -0.03‬‬
‫‪x2 0.75‬‬ ‫‪-10‬‬
‫=‪b‬‬
‫‪u1‬‬
‫‪x1 2‬‬
‫‪x2 0‬‬
‫=‪c‬‬
‫‪x1 x2‬‬
‫‪y1 0 1‬‬
‫=‪d‬‬
‫‪u1‬‬
‫‪y1 0‬‬
‫‪Continuous-time model.‬‬

‫ﻻﺣﻆ ﺃﻥ ﺍﻟﺮﻣﻮﺯ ﺍﻟﱵ ﻇﻬﺮﺕ ‪ u1‬ﻭ ‪ x1‬ﻭ ‪ ... y1‬ﺍﻟﱵ ﺗﻌﱪ ﻋﻦ ﺍﻟﺪﺧﻞ ﻭﺍﳋﺮﺝ ﳝﻜﻨﻚ ﺗﻐﻴﲑﻫﺎ‬
‫ﺇﺫﺍ ﺍﺗﺒﻌﻨﺎ ﺍﳋﻄﻮﺍﺕ ﺍﻟﺘﺎﻟﻴﺔ‪:‬‬
‫;}'‪states = {'beta' 'yaw' 'roll' 'phi‬‬
‫;}'‪inputs = {'rudder' 'aileron‬‬
‫;}'‪outputs = {'yaw rate' 'bank angle‬‬

‫ﻫﻨﺎ ﰎ ﺗﺴﻤﻴﺘﻬﺎ ﺑﺄﲰﺎﺀ ﺟﺪﻳﺪﺓ‪.‬ﺍﻵﻥ ﻧﻘﻮﻡ ﺑﺈﺩﺧﺎﻝ ﻫﺬﻩ ﺍﻷﲰﺎﺀ ﻋﻠﻰ ﺍﻟﻨﻈﺎﻡ‪:‬‬
‫‪A = [-0.0558 -0.9968‬‬ ‫‪0.0802‬‬ ‫‪0.0415‬‬
‫‪0.5980 -0.1150 -0.0318‬‬ ‫‪0‬‬
‫‪-3.0500‬‬ ‫‪0.3880 -0.4650‬‬ ‫‪0‬‬
‫‪0‬‬ ‫‪0.0805‬‬ ‫‪1.0000‬‬ ‫;]‪0‬‬
‫‪B = [ 0.0073‬‬ ‫‪0‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫‪-0.4750‬‬ ‫‪0.0077‬‬
‫‪0.1530‬‬ ‫‪0.1430‬‬
‫‪0‬‬ ‫;]‪0‬‬
‫‪C = [0‬‬ ‫‪1‬‬ ‫‪0‬‬ ‫‪0‬‬
‫‪0‬‬ ‫‪0‬‬ ‫‪0‬‬ ‫;]‪1‬‬
‫‪D = [0‬‬ ‫‪0‬‬
‫‪0‬‬ ‫;]‪0‬‬
‫…‪sys_mimo = ss(A,B,C,D,'statename',states,'inputname',inputs,‬‬
‫;)‪'outputname',outputs‬‬

‫ﻧﻔﺬ ﻭﻻﺣﻆ ﺍﻟﻔﺮﻕ‪.‬‬

‫ﺇﻧﺸﺎﺀ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ ﻟﻔﻀﺎﺀ ﺣﺎﻟﺔ ﻣﺎ‪:‬‬
‫)‪>> sys_tf=tf(sys‬‬
‫‪Transfer function:‬‬
‫‪1.5‬‬
‫‪------------------‬‬
‫‪s^2 + 14 s + 40.02‬‬

‫ﻭﺗﺴﺘﻄﻴﻊ ﺇﻧﺸﺎﺀ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ ﺇﻥ ﻛﻨﺖ ﺗﻌﺮﻓﻪ ﻣﺒﺎﺷﺮﺓ ﺑﺈﺩﺧﺎﻝ ﺃﻣﺜﺎ ﻛﺜﲑ ﺍﳊﺪﻭﺩ ﺑﺎﻟﺒﺴﻂ ﻭﺃﻣﺜﺎﻟﻪ‬
‫ﺑﺎﳌﻘﺎﻡ‪:‬‬
‫)]‪>> sys_tf = tf([2 3.6],[5 1 4‬‬
‫‪Transfer function:‬‬
‫‪2 s + 3.6‬‬
‫‪-------------‬‬
‫‪5 s^2 + s + 4‬‬

‫ﻭﺗﺴﺘﻄﻴﻊ ﰲ ﺍﻟﻨﻈﺎﻡ ﺍﳌﺴﺘﻤﺮ ﺇﺿﺎﻓﺔ ﺗﺄﺧﲑ ﺯﻣﲏ ﻋﻠﻰ ﺍﻟﺸﻜﻞ ﺍﻟﺘﺎﱄ‪:‬‬

‫)‪>> sys_tfdelay = tf(1.5, [1 14 40.02],'inputdelay',0.05‬‬
‫‪Transfer function:‬‬
‫‪1.5‬‬
‫‪exp(-0.05*s) * ------------------‬‬
‫‪s^2 + 14 s + 40.02‬‬

‫ﻭﻫﻨﺎ ﻃﺮﻳﻘﺔ ﺃﺧﺮﻯ ﻭﺫﻟﻚ ﺑﺘﻌﺮﻳﻒ ﻣﺘﻐﲑ ﻣﺎ ﰒ ﺇﺩﺧﺎﻝ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ‪:‬‬

‫;)'‪>> s = tf('s‬‬
‫)‪sys_tf = 5*s^2/(s^3+4*s+2‬‬
‫‪Transfer function:‬‬
‫‪5 s^2‬‬
‫‪-------------‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
031 2461729 ‫ﻣﻮﻓﻖ ﴰﺎ‬.‫ﻡ‬
00963 966 344 685 ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

s^3 + 4 s + 2

:‫ﺭﲟﺎ ﻳﻜﻮﻥ ﻟﺪﻳﻚ ﻧﻈﺎﻡ ﻣﺘﻘﻄﻊ ﻓﻴﻪ ﻓﻮﺍﺻﻞ ﺯﻣﻨﻴﺔ ﻓﻤﺎﻋﻠﻴﻚ ﺇﻻ ﺃﻥ ﺗﻨﻈﺮ ﻟﻸﺳﻔﻞ ﻣﻦ ﻫﺬﺍ ﺍﻟﺴﻄﺮ‬
>> sys_disc = tf(2, [5 8], .01)
Transfer function:
2
-------
5z+8
Sampling time: 0.01

:‫ﻭﺇﺿﺎﻓﺔ ﺗﺄﺧﲑ ﺯﻣﲏ ﻟﻴﺴﺖ ﲟﺴﺘﺤﻴﻠﺔ ﺗﺎﺑﻊ ﺍﻟﺴﻄﺮ ﺍﻟﺘﺎﱄ‬

>> sys_delay = tf(3, [4 1], 0.02,'outputdelay',5)
Transfer function:
3
z^(-5) * -------
4z+1
Sampling time: 0.02

:‫ﺇﻥ ﺍﳌﺜﺎﻝ ﺍﻷﺧﲑ ﰲ ﺇﻧﺸﺎﺀ ﻓﺮﺍﻍ ﺣﺎﻟﺔ ﺳﻴﺘﻢ ﺇﻧﺸﺎﺀ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ ﻟﻪ‬

tf(sys_mimo)
Transfer function from input "rudder" to output...
-0.475 s^3 - 0.2479 s^2 - 0.1187 s - 0.05633
yaw rate: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674
0.1148 s^2 - 0.2004 s - 1.373
bank angle: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674
Transfer function from input "aileron" to output...
0.0077 s^3 - 0.0005372 s^2 + 0.008688 s + 0.004523
yaw rate: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674
0.1436 s^2 + 0.02737 s + 0.1104
bank angle: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674

:‫ﰲ ﺣﺎﻝ ﻭﺟﻮﺩ ﻧﻈﺎﻡ ﺑﺪﺧﻞ ﻭﺣﻴﺪ ﻭﺧﺮﺟﲔ ﻓﺈﻥ ﺗﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﻟﻜﻞ ﺧﺮﺝ ﺳﻴﻨﺸﺊ‬
>> h11 = tf([1 -1],[1 1]);
h21 = tf([1 2],[1 4 5]);
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫]‪>> H = [h11; h21‬‬

‫‪Transfer function from input to output...‬‬
‫‪s-1‬‬
‫‪#1: -----‬‬
‫‪s+1‬‬
‫‪s+2‬‬
‫‪#2: -------------‬‬
‫‪s^2 + 4 s + 5‬‬

‫ﻭﳝﻜﻦ ﺑﻄﺮﻳﻘﺔ ﺃﺧﺮﻯ ﺇﻧﺸﺎﺀ ﻣﺎﲢﻘﻖ ﻗﺒﻞ ﻗﻠﻴﻞ‪.‬ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﺼﻔﻮﻓﺎﺕ ﺍﻟـ‪:cell‬‬

‫;}]‪>> N = {[1 -1];[1 2‬‬
‫;}]‪D = {[1 1];[1 4 5‬‬
‫)‪H = tf(N,D‬‬
‫‪Transfer function from input to output...‬‬
‫‪s-1‬‬
‫‪#1: -----‬‬
‫‪s+1‬‬
‫‪s+2‬‬
‫‪#2: -------------‬‬
‫‪s^2 + 4 s + 5‬‬

‫ﺗﺴﺘﻄﻴﻊ ﺍﳊﺼﻮﻝ ﻋﻠﻰ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ ﺑﺸﻜﻞ ﻳﻈﻬﺮ ﺍﻷﺻﻔﺎﺭ‪:‬‬

‫)‪>> sys_zpk = zpk(sys‬‬
‫‪Zero/pole/gain:‬‬
‫‪1.5‬‬
‫‪-------------------‬‬
‫)‪(s+4.004) (s+9.996‬‬

‫ﰲ ﺣﺎﻝ ﻣﻌﺮﻓﺘﻚ ﻟﻸﺻﻔﺎﺭ ﺗﻜﺘﺐ ﺑﺎﻟﺸﻜﻞ ﺍﻟﻘﺎﺩﻡ‪:‬‬

‫)‪>> sys_zpk = zpk([],[-9.996 -4.004], 1.5‬‬
‫‪Zero/pole/gain:‬‬
‫‪1.5‬‬
‫‪-------------------‬‬
‫)‪(s+9.996) (s+4.004‬‬

‫ﺍﺳﺘﺠﺎﺑﺔ ﺍﻟﻨﻈﺎﻡ ﻟﻠﻘﻔﺰﺓ ﺍﻟﻮﺍﺣﺪﻳﺔ‪:‬‬

 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫ﻧﺴﺘﻄﻴﻊ ﺗﻌﺮﻳﻒ ﻋﺪﺓ ﺃﻧﻈﻤﺔ ﺧﻄﻴﺔ ﰲ ﻣﺪﺧﻞ ﻭﺍﺣﺪ ﺃﻭ ﻣﺘﻐﲑ ﻭﺍﺣﺪ ﻭﻳﺘﻢ ﺫﻟﻚ ﰲ ﺣﺎﻝ ﻣﺮﺍﻗﺒﺘﻚ‬
‫ﻟﻠﻤﺜﺎﻝ ﺍﻟﺘﺎﱄ‪:‬‬
‫; ‪R= 2.0‬‬
‫; ‪L= 0.5‬‬
‫; ‪Km = .015‬‬
‫; ‪Kb = .015‬‬
‫; ‪Kf = 0.2‬‬
‫; ‪J= 0.02‬‬
‫;]‪B = [1/L; 0‬‬
‫;]‪C = [0 1‬‬
‫;]‪D = [0‬‬
‫;]‪K = [0.1 0.15 0.2‬‬
‫;]‪A1 = [-R/L -K(1)/L; K(1)/J -Kf/J‬‬
‫;]‪A2 = [-R/L -K(2)/L; K(2)/J -Kf/J‬‬
‫;]‪A3 = [-R/L -K(3)/L; K(3)/J -Kf/J‬‬

‫ﻻﺣﻆ ﺃﻧﻪ ﰎ ﺗﻌﺮﻳﻒ ﺛﻼﺛﺔ ﻣﺼﻔﻮﻓﺎﺕ ‪ A‬ﺍﻵﻥ ﺳﻴﺘﻢ ﺇﻧﺸﺎﺀ ﻓﺮﺍﻍ ﺍﳊﺎﻟﺔ ﻟﻸﻧﻈﻤﺔ ﺍﻟﺜﻼﺛﺔ ﻣﻌﹶﺎ‪:‬‬
‫;)‪sys_lti(:,:,1)= ss(A1,B,C,D‬‬
‫;)‪sys_lti(:,:,2)= ss(A2,B,C,D‬‬
‫;)‪sys_lti(:,:,3)= ss(A3,B,C,D‬‬

‫ﻟﻴﻜﻮﻥ ﺍﻟﻨﺎﺗﺞ ﻫﻜﺬﺍ‪:‬‬

‫‪sys_lti‬‬
‫)‪Model sys_lti(:,:,1,1‬‬
‫======================‬
‫=‪a‬‬
‫‪x1‬‬ ‫‪x2‬‬
‫‪x1‬‬ ‫‪-4 -0.2‬‬
‫‪x2‬‬ ‫‪5 -10‬‬
‫=‪b‬‬
‫‪u1‬‬
‫‪x1 2‬‬
‫‪x2 0‬‬
‫=‪c‬‬
‫‪x1 x2‬‬
‫‪y1 0 1‬‬
‫=‪d‬‬
‫‪u1‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
031 2461729 ‫ﻣﻮﻓﻖ ﴰﺎ‬.‫ﻡ‬
00963 966 344 685 ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

y1 0
Model sys_lti(:,:,2,1)
======================
a=
x1 x2
x1 -4 -0.3
x2 7.5 -10
b=
u1
x1 2
x2 0
c=
x1 x2
y1 0 1
d=
u1
y1 0
Model sys_lti(:,:,3,1)
======================
a=
x1 x2
x1 -4 -0.4
x2 10 -10
b=
u1
x1 2
x2 0
c=
x1 x2
y1 0 1
d=
u1
y1 0
3x1 array of continuous-time state-space models.

:‫ﺍﻵﻥ ﺗﺴﺘﻄﻴﻊ ﻣﻌﺮﻓﺔ ﺍﺳﺘﺠﺎﺑﺔ ﺍﻷﻧﻈﻤﺔ ﺍﻟﺜﻼﺛﺔ ﻟﻠﻘﻔﺰﺓ ﺍﻟﻮﺍﺣﺪﻳﺔ‬

>> step(sys_lti)
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫ﺭﺑﻂ ﺍﻷﻧﻈﻤﺔ ﺑﻌﻀﻬﺎ ﺑﺒﻌﺾ‪:‬‬

‫ﺗﺴﺘﻄﻴﻊ ﺗﻨﻔﻴﺬ ﺍﻟﻌﻤﻠﻴﺎﺕ ﺍﳊﺴﺎﺑﻴﺔ ﻋﻠﻰ ﺗﻮﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ ﻛﻤﺎﻳﻠﻲ‪:‬‬
‫)]‪>> tf(3,[5 2])+tf([1 2],[4 7‬‬
‫‪Transfer function:‬‬
‫‪5 s^2 + 24 s + 25‬‬
‫‪------------------‬‬
‫‪20 s^2 + 43 s + 14‬‬
‫)]‪>> tf1=5*tf(3,[5 2])*tf([1 2],[4 7‬‬
‫‪Transfer function:‬‬
‫‪15 s + 30‬‬
‫‪------------------‬‬
‫‪20 s^2 + 43 s + 14‬‬

‫ﻣﻦ ﺍﳌﻌﻠﻮﻡ ﻟﺪﻳﻚ ﺭﲟﺎ ﺃﻧﻪ ﻋﻨﺪ ﻭﺟﻮﺩ ﻧﻈﺎﻣﲔ ﻋﻠﻰ ﺍﻟﺘﻔﺮﻉ ﻓﻴﺘﻢ ﲨﻊ ﺗﺎﺑﻌﻲ ﺍﻻﻧﺘﻘﺎﻝ ﻭﻋﻠﻰ‬
‫ﺍﻟﺘﺴﻠﺴﻞ ﻳﺘﻢ ﺍﻟﻀﺮﺏ‪.‬‬
‫ﺗﺴﺘﻄﻴﻊ ﺑﻮﺍﺳﻄﺔ ﺃﻣﺮ ‪ series‬ﺃﻥ ﲢﺼﻞ ﻋﻠﻰ ﻧﺎﺗﺞ ﺭﺑﻂ ﻧﻈﺎﻣﲔ ﺗﺴﻠﺴﻠﻴﹶﺎ‪:‬‬
‫))]‪>> series(tf(1,[5 9 3.2]),tf([1 6],[4 5 3‬‬
‫‪Transfer function:‬‬
‫‪s+6‬‬
‫‪---------------------------------------‬‬
‫‪20 s^4 + 61 s^3 + 72.8 s^2 + 43 s + 9.6‬‬

‫ﻭﰲ ﺣﺎﻝ ﻛﺎﻥ ﺍﻟﺮﺑﻂ ﺗﻔﺮﻋﻴﺎ ﻓﺈﻥ ﻛﻠﻤﺔ ‪ parallel‬ﻫﻲ ﺍﳊﻞ‪:‬‬

 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫))]‪>> parallel(tf(1,[5 9 3.2]),tf([1 6],[4 5 3‬‬

‫‪Transfer function:‬‬
‫‪5 s^3 + 43 s^2 + 62.2 s + 22.2‬‬
‫‪---------------------------------------‬‬
‫‪20 s^4 + 61 s^3 + 72.8 s^2 + 43 s + 9.6‬‬

‫ﺇﺫﺍ ﻛﺎﻥ ﻟﺪﻱ ﺗﻐﺬﻳﺔ ﻋﻜﺴﻴﺔ ﻭﻫﻲ ﲣﺘﻠﻒ ﺑﻄﺒﻴﻌﺔ ﺍﳊﺎﻝ ﻋﻦ ﺍﻟﻮﺻﻞ ﺍﻟﺘﻔﺮﻋﻲ ﻓﻠﺪﻳﻨﺎ ﺃﻭﻣﺮ ﻣﺴﺘﻌﺪ‬
‫ﻟﻠﻘﻴﺎﻡ ﺑﺎﳌﻬﻤﺔ‪:‬‬
‫))]‪>> sys_f = feedback(tf(1,[1 0]), tf([1 1],[1 2‬‬
‫‪Transfer function:‬‬
‫‪s+2‬‬
‫‪-------------‬‬
‫‪s^2 + 3 s + 1‬‬

‫ﺍﻟﺘﺤﻮﻳﻞ ﺑﲔ ﺍﻟﻨﻈﺎﻡ ﺍﳌﺴﺘﻤﺮ ﻭﺍﳌﺘﻘﻄﻊ‪:‬‬

‫ﻟﻴﻜﻦ ﻟﺪﻱ ﻧﻈﺎﻡ ﻣﺴﺘﻤﺮ ﻋﻠﻰ ﺍﻟﺸﻜﻞ ﺍﻟﺘﺎﱄ‪:‬‬
‫)]‪>> H = tf([1 -1],[1 4 5‬‬
‫‪Transfer function:‬‬
‫‪s-1‬‬
‫‪-------------‬‬
‫‪s^2 + 4 s + 5‬‬

‫ﻟﺘﺤﻮﻳﻠﻪ ﻟﻨﻈﺎﻡ ﻣﺘﻘﻄﻊ ﺃﻛﺘﺐ ﺍﻟﻌﺒﺎﺭﺓ ﺍﻟﺘﺎﻟﻴﺔ‪:‬‬

‫)‪>>p=c2d(H,0.01‬‬
‫‪Transfer function:‬‬
‫‪0.009752 z - 0.009851‬‬
‫‪---------------------‬‬
‫‪z^2 - 1.96 z + 0.9608‬‬
‫‪Sampling time: 0.01‬‬

‫ﻭﻟﻠﺘﺄﻛﺪ ﻣﻦ ﺻﺤﺔ ﺍﻟﺘﺤﻮﻳﻞ ﻧﺮﺳﻢ ﺍﻻﺳﺘﺠﺎﺑﺔ ﻟﻜﻠﻴﻬﻤﺎ‪:‬‬

‫)‪>> step(p,H‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫ﻭﻟﻠﻘﻴﺎﻡ ﺑﺎﻟﻌﻤﻠﻴﺔ ﺍﻟﻌﻜﺴﻴﺔ ﺗﻜﺘﺐ ﺍﻷﻣﺮ ‪ c2d‬ﺩﻭﻥ ﻭﺟﻮﺩ ﺯﻣﻦ ﺗﻘﻄﻴﻊ‪.‬‬

‫ﺭﺳﻢ ﺍﻷﺻﻔﺎﺭ ﻭﺍﻷﻗﻄﺎﺏ ﻭﳐﻄﻂ ﺑﻮﺩ ﻭﻧﻴﻜﻮﻳﺴﺖ‪:‬‬
‫)‪>> pzmap(H‬‬

‫ﻭﻟﺮﺳﻢ ﳐﻄﻂ ﺑﻮﺩ ﻓﺈﻥ ﺍﻷﻣﺮ ﺑﺴﻴﻂ ﺟﺪﹶﺍ‪:‬‬

‫)‪bode(H‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫ﻭﻟﺮﺳﻢ ﳐﻄﻂ ﺑﻮﺩ ﺍﳌﻄﺎﱄ ﻓﻘﻂ‪:‬‬

‫)‪bodemag(H‬‬

‫ﻭﳐﻄﻂ ﻧﻴﻜﻮﻳﺴﺖ‪:‬‬
‫)‪>> nyquist(H‬‬

‫ﺍﻻﺳﺘﺠﺎﺑﺔ ﺍﻟﺘﺮﺩﺩﻳﺔ ﻟﻌﺪﺓ ﺗﺮﺩﺩﺍﺕ‪:‬‬

‫)]‪>> H1 = freqresp(H,[1 10 100‬‬
‫= )‪H1(:,:,1‬‬
‫‪0 + 0.2500i‬‬
‫= )‪H1(:,:,2‬‬
‫‪0.0466 - 0.0856i‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫= )‪H1(:,:,3‬‬
‫‪0.0005 - 0.0100i‬‬

‫ﺃﻣﺜﻠﺔ ﻋﻠﻰ ﻛﻴﻔﻴﺔ ﺍﺳﺘﺨﺮﺍﺝ ﺗﺎﺑﻊ ﺍﻟﻨﻘﻞ ﻟﻨﻈﺎﻡ ﻣﻌﲔ‪:‬‬

‫ﻣﺜﺎﻝ ﺩﺍﺭﺓ ﻛﻬﺮﺑﺎﺋﻴﺔ ﲢﻮﻱ ﻣﻘﺎﻭﻣﺔ ﻭﻣﻜﺜﻒ‪:‬‬

‫ﺑـ)‪ e(t‬واج ـ‬ ‫ﺳﻴﺘﻢ ﺑﺈﺫﻥ ﺍﷲ ﺗﻌﺎﱃ ﲤﺜﻴﻞ ﻫﺬﻩ ﺍﻟﺪﺍﺭﺓ ﺑﺘﺎﺑﻊ ﺍﻧﺘﻘﺎﻝ ﺣﻴﺚ ﺃﻥ ﺍﻟﺪﺧﻞ ﻳﺘﻤﺜﻞ‬
‫)‪. v(t‬‬

‫ﺣﺴﺐ ﻛﲑﺷﻮﻑ ﺳﻴﺘﻜﻮﻥ ﻟﺪﻳﻨﺎ ﺍﻟﻌﻼﻗﺔ ﺍﻟﺘﺎﻟﻴﺔ‪:‬‬

‫)‪vr(t) + v(t) = e(t‬‬

‫ﻧﻌﻮﺽ ﻋﻦ ﺍﳉﻬﺪ ﻋﻠﻰ ﺍﳌﻘﺎﻭﻣﺔ ﺑﺎﻟﺘﻴﺎﺭ ﰲ ﺍﳌﻘﺎﻭﻣﺔ‬

‫)‪vr(t) = Ri(t‬‬

‫ﰲ ﺍﻟﺴﻄﺮ ﺍﻟﻘﺎﺩﻡ ﺳﺘﻘﺮﺃ ﺍﻟﻌﻼﻗﺔ ﺑﲔ ﺍﻟﺘﻴﺎﺭ ﻭﺟﻬﺪ ﺍﳌﻜﺜﻒ‪:‬‬

‫)‪i(t) = Cv' (t‬‬

‫ﻧﻌﻮﺽ ﰲ ﺍﻟﻌﻼﻗﺔ ﺍﻟﺮﺋﻴﺴﻴﺔ‪:‬‬

‫)‪RCv' (t) + v(t) = e(t‬‬

‫ﻧﺄﺧﺬ ﻻﺑﻼﺱ ﺍﻟﻄﺮﻓﲔ‪:‬‬

‫))‪L(RCv' (t) + v(t)) = L(e(t‬‬
‫)‪RCsV(s) +V (s) = E(s‬‬

‫ﻧﻨﺴﺐ ﺍﳋﺮﺝ ﺇﱃ ﺍﻟﺪﺧﻞ ﻟﻴﻨﺘﺞ ﻟﺪﻳﻨﺎ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ‪:‬‬

 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫)‪V (s‬‬ ‫‪1‬‬

‫= )‪G ( s‬‬ ‫=‬
‫‪E ( s ) RCs + 1‬‬
‫‪R=100 KΩ , C=10µF: C‬‬ ‫ﺳﺄﻓﺮﺽ ﻗﻴﻢ ﻟـ‪ R‬ﻭ‬
‫ﺍﻵﻥ ﻟﺘﻤﺜﻴﻠﻪ ﻋﻠﻰ ﺍﳌﺎﺗﻼﺏ‪:‬‬
‫;‪>> R=100e3‬‬
‫;‪>> C=10e-6‬‬
‫)]‪>> sys1=tf(1,[R*C 1‬‬
‫‪Transfer function:‬‬
‫‪1‬‬
‫‪-----‬‬
‫‪s+1‬‬

‫ﺃﻭﺟﺪﻧﺎ ﺗﺎﺑﻊ ﺍﻻﻧﺘﻘﺎﻝ‪.‬ﺍﻵﻥ ﺃﺭﻳﺪ ﺃﻥ ﺃﺣﺼﻞ ﻋﻠﻰ ﺧﺮﺝ ﻫﺬﻩ ﺍﻟﺪﺍﺭﺓ ﻋﻨﺪ ﺇﺷﺎﺭﺍﺕ ﳐﺘﻠﻔﺔ‪:‬‬
‫ﺇﺷﺎﺭﺓ ﺟﻴﺒﻴﺔ‪:‬ﻣﻄﺎﳍﺎ ‪ ١‬ﻭﺗﺮﺩﺩﻫﺎ ‪٠.٥‬ﻫﺮﺗﺰ‬
‫;‪>> t=0:0.01:10‬‬
‫‪>> f=0.5;%Hz‬‬
‫‪>> w=2*pi*f;%rad/sec‬‬
‫;)‪>> y=sin(w*t‬‬
‫)‪>> lsim(sys1,y,t‬‬

‫ﰲ ﺣﺎﻝ ﻛﺎﻥ ﺍﻟﺪﺧﻞ ﺇﺷﺎﺭﺓ ﻣﺮﺑﻌﺔ‪:‬ﳍﺎ ﻧﻔﺲ ﺍﻟﺘﺮﺩﺩ ﻭﺍﳌﻄﺎﻝ ﻟﻠﺠﻴﺒﻴﺔ ﺍﻟﺴﺎﺑﻘﺔ‪:‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫;‪>> t=0:0.01:10‬‬
‫‪>> f=0.5;%Hz‬‬
‫‪>> w=2*pi*f;%rad/sec‬‬
‫;)‪>> y=square(w*t‬‬
‫)‪>> lsim(sys1,y,t‬‬

‫ﺇﺷﺎﺭﺓ ﺳﻦ ﻣﻨﺸﺎﺭ ﺃﻳﻀﺎ ﳍﺎ ﻧﻔﺲ ﻣﻮﺍﺻﻔﺎﺕ ﺍﻹﺷﺎﺭﺗﲔ ﺍﻟﺴﺎﺑﻘﺘﲔ‪:‬‬

‫;‪>> t=0:0.01:10‬‬
‫‪>> f=0.5;%Hz‬‬
‫‪>> w=2*pi*f;%rad/sec‬‬
‫;)‪>> y=sawtooth(w*t‬‬
‫)‪>> lsim(sys1,y,t‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫ﺇﺷﺎﺭﺓ ﻣﺜﻠﺜﻴﺔ ﺗﺮﺩﺩﻫﺎ ‪ ١‬ﻫﺮﺗﺰ ﻭﻣﻄﺎﳍﺎ ‪:١‬‬

‫;‪>> t=0:0.01:10‬‬
‫;‪>> d=0.5:10‬‬
‫;)'‪>> y=pulstran(t,d,'tripuls‬‬
‫)‪>> lsim(sys1,y,t‬‬

‫ﺇﻥ ﺗﻌﻠﻴﻤﺔ ‪ pulstran‬ﺑﺎﺭﻣﺘﺮﺍ‪‬ﺎ ﳐﺘﻠﻔﺔ ﻋﻤﺎ ﺳﺒﻖ ﻹ‪‬ﺎ ﺗﻘﻮﻡ ﺑﺘﻜﺮﺍﺭ ﺇﺷﺎﺭﺓ ﻣﺎ ﺑﻌﺪﺩ ﻳﺴﺎﻭﻱ ﻋﺪﺩ‬
‫ﻋﻨﺎﺻﺮ ‪ d‬ﺿﻤﻦ ﳎﺎﻝ ‪ t‬ﻭﺑﻌﺪ ﺫﻟﻚ ﲣﺘﺎﺭ ﺍﺳﻢ ﺍﻹﺷﺎﺭﺓ ﺍﻟﱵ ﺗﺮﻳﺪ ﺗﻜﺮﺍﺭﻫﺎ ﻭﻟﺪﻳﻚ ﺛﻼﺙ ﺧﻴﺎﺭﺍﺕ‬
‫ﻓﻘﻂ ﻭﻫﻲ‪. gauspuls, rectpuls, tripuls:‬‬
 ‫ﺍﳌﺮﻛﺰ ﺍﳍﻨﺪﺳﻲ ﺍﻟﺘﺨﺼﺼﻲ‬
‫‪031 2461729‬‬ ‫ﻡ‪.‬ﻣﻮﻓﻖ ﴰﺎ‬
‫‪00963 966 344 685‬‬ ‫ﺩﻭﺭﺍﺕ ﻛﻤﺒﻴﻮﺗﺮ ﲣﺼﺼﻴﺔ‬

‫)‪[u,t] = gensig(type,tau,Tf,Ts‬‬