پديد آورنده :
نصيري، مجيد
عنوان :
طراحي و پياده سازي كنترل كننده هاي فازي وفقي براي مكانيزم سه درجه آزادي
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
شانزده، 125ص: مصور،جدول،نمودار،عكس
يادداشت :
ص.ع. به: فارسي و انگليسي
استاد راهنما :
مهدي كشميري
توصيفگر ها :
روش لاگرانژ , خطي سازي معادلات ديناميك , كنترل كننده مفاصل مجزا
تاريخ نمايه سازي :
26/10/88
استاد داور :
محمد جعفر صديق، مصطفي غيور
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
Adaptive Fuzzy Controller Design and Implementation of 3 DOF Parallel Robots Majid Nasiri nasiri iut@gmail com 1388 03 27 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language Farsi Mehdi Keshmiri mehdik@cc iut ac irAbstract In this thesis kinematics dynamics and control of a 3 DOF1 parallel mechanism with newarchitecture with linear hydraulic actuators have been studied The system is consisted of a fixedplatform a moving platform and three hydraulic jacks and a supporting and guiding prismaticcolumn The two platforms are connected through the hydraulic jacks and the prismatic column Theprismatic column which the moving platform center to fixed platform center confined the movingplatform motion to heave motion as well as both pith and roll motion with respect to the fixed platform Kinematics equations were derived from the constraint equations algebraically as well as differentially The dynamic equations were developed with the Lagrange method for constrained systems By usingthe orthogonal complement matrix the Lagrange multipliers have been omitted and the equations ofmotion have been transformed to the reduced form for the purpose of controller design The equationsare linearized based on independent generalized coordinates in order to use them in fuzzy controlapproach In the control synthesis initially a separate joint algorithm has been used to control the system Inthe next step a Takagi Sugeno fuzzy controller has been designed The main feature of the Takagi Sugeno fuzzy model is to express the nonlinear local dynamics by a linear system model The overallfuzzy controller of the system is achieved by fuzzy composition of each local system controller Stability of the controller has been analyzed by Lyapunov method using Linear Matrix Inequality LMI approach Based on this fuzzy controller a model reference adaptive fuzzy controller has beendeveloped in order to deal with structured as well as unstructured uncertainty 1 Degree Of Freedom
استاد راهنما :
مهدي كشميري
استاد داور :
محمد جعفر صديق، مصطفي غيور
