پديد آورنده :
غازاريان، سواك
عنوان :
طراحي وپياده سازي كنترل كننده فازي - وفقي براي مكانيزم ربات سه درجه آزادي تري گلايد
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
هفده، 117ص: مصور، جدول، نمودار، عكس
يادداشت :
ص.ع. به: فارسي و انگليسي
استاد راهنما :
مهدي كشميري
توصيفگر ها :
خطي سازي معادلات ديناميك , كنترل كننده مفاصل مجزا
تاريخ نمايه سازي :
26/10/88
استاد داور :
محمد جعفر صديق، محمد دانش
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتال
چكيده انگليسي :
Adaptive Fuzzy Controller Design and Implementation of 3 DOF Triglide Parallel Robots Sevak Ghazarian Sevak ghazarian@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 triglide mechanism withelectrical actuators have been studied Kinematics equations were derived from the constraint equationsalgebraically as well as differentially The dynamic equations were developed with the Lagrangemethod for constrained systems By using the orthogonal complement matrix the Lagrange multipliershave been omitted and the equations of motion have been transformed to the reduced form for thepurpose of controller design The equations are linearized based on independent generalizedcoordinates in order to use them in fuzzy control approach 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 The controllers have been implemented in the Isfahan University of Technology Moving PlatformMechanism IUT MPM and their performance have been studied practically as well as numericallyusing numerical simulation through SIMULINK toolbox of MATLAB The adaptive fuzzy showed anexcellent performance even for tripling the moving platform mass and for applying unknown externalforce on moving platform 1 Degree Of Freedom
استاد راهنما :
مهدي كشميري
استاد داور :
محمد جعفر صديق، محمد دانش
