پایان نامه طراحی کنترل بهینۀ تطبیقی برای سیستم¬های با دینامیک پیچیده بر مبنای روش‌های محاسبات نرم

فهرست:

فصل 1- مقدمه. 2

1-1- پیشینۀ پژوهشی.. 3

1-2- رئوس مطالب... 5

فصل 2- مقدمه‌ای بر کنترل غیرخطی.. 8

2-1- مقدمه. 8

2-2- سیستم غیرخطی.. 9

2-3- تئوری پایداری لیاپانوف... 9

2-3-1- سیستم وابسته به زمان.. 9

2-3-2- تفاوت اصلی بین سیستم‌های متغیر با زمان و نامتغیر با زمان.. 10

2-3-3- مفهوم پایداری به بیان لیاپانوف... 10

2-3-3-1- تعریف پایداری مجانبی.. 11

2-3-3-2- تعریف پایداری نمائی.. 11

2-3-3-3- تعریف پایداری مطلق.. 11

2-4- کنترل تطبیقی.. 11

4-2-1- غیر مستقیم.. 12

2-4-2- مستقیم.. 12

فصل 3- مقدمه‌ای بر محاسبات نرم. 15

3-1- مقدمه. 15

3-2- شبکۀ عصبی مصنوعی.. 16

3-2-1- مقدمه. 16

3-2-2- الهام از بیولوژی.. 19

3-2-3- مدل نرون.. 20

3-2-4- معماری شبکۀ چند لایه. 20

3-3- کنترل فازی.. 21

3-3-1- مقدمه. 21

3-3-2- مفاهیم اولیه و تعاریف مقدماتی.. 22

3-3-3- ساختار کلی کنترل کنندۀ فازی.. 24

3-3-4- اجزای یک کنترل کنندۀ فازی.. 24

3-3-5- انواع کنترل کنندههای فازی.. 25

3-3-6- مقاسیۀ فازی نوع 1 با نوع 2. 26

3-3-6-1- نمایش عدم قطعیت سیستم‌های Type-1  بوسیله Type-2. 26

3-3-6-2- توابع عضویت در فازی نوع 2. 27

3-3-7- طراحی کنترل کننده فازی.. 28

3-3-7-1- طراحی سیستم‌های ردیاب با فیدبک حالت... 28

3-3-8- دیاگرام روش طراحی کنترل کنددۀ فازی.. 29

فصل 4- طراحی کنترل‌کننده برای بازوی رباتیک با هدف خنثی کردن اثرات اصطکاک، تداخل و ارتجاع   32

4-1- مقدمه. 32

4-2- مدل‌سازی.. 33

4-2-1- مدل‌سازی سیستم صلب: 33

4-2-2- مدل‌سازی سیستم منعطف: 34

4-3- کنترل‌کننده تطبیقی برای سیستم صلب... 37

4-3-1- شبیه‌سازی.. 40

4-3-2- نتایج.. 41

4-4- طراحی کنترل‌کننده تطبیقی با هدف خنثی کردن اصطکاک... 42

4-4-1- شبیه‌سازی.. 50

4-4-2- نتایج.. 51

4-5- طراحی کنترل کنندۀ تطبیقی بر اساس شبکۀ عصبی برای خنثی کردن اغتشاش.... 53

4-5-1- توضیح شماتیک کنترل کننده: 55

4-5-2- شبیه‌سازی و نتایج.. 55

4-6- طراحی کنترل کننده فازی برای بازوی رباتیک.... 59

4-6-1- شبیه‌سازی و نتایج.. 61

4-7- طراحی‌کننده فازی تطبیقی برای بازوی رباتیک.... 65

4-7-1- شبیه‌سازی و نتایج.. 70

4-7-2- نتیجه‌گیری.. 73

فصل 5- طراحی سیستم کنترل هوشمند بر اساس تئوری لیپانوف برای ماشین‌های سنکرون با آهنربای دائم (PMSM) 77

5-1- مقدمه. 77

5-2- مدلس‌ازی سیستم: 80

5-3- بردار تطبیقی براساس رویتگر. 81

5-3-1- تئوری تطبیقی.. 85

5-4- طراحی کنترل تطبیقی براساس رویتگر. 88

5-4-1- شبیه‌سازی.. 93

5-4-2- نتایج.. 94

5-5- طراحی سیستم کنترل تطبیقی برای سیستم با دینامیک نامعلوم. 97

5-5-1- نتایج.. 101

5-6- طراحی سیستم کنترل کنندۀ تطبیقی بدون سنسور براساس شبکه عصبی.. 104

5-6-1- شبیه‌سازی و نتایج.. 111

5-7- کنترل فازی تطبیقی.. 115

5-7-1- شبیه‌سازی و نتایج.. 121

5-8- نتیجه‌گیری.. 125

فصل 6- مدیریت و کنترل سیستم‌های تولید انرژی هوشمند.. 129

6-1- مقدمه. 129

6-1-1- مدل‌سازی سیستم.. 131

6-1-1-1- مبدل DC-DC دوطرفه. 131

6-1-1-2- باطری‌ها 133

6-2- طراحی کنترل تطبیقی فازی برای مبدل DC-DC.. 135

6-2-1- شبیه‌سازی و نتایج: 138

6-3- کنترل تطبیقی باس DC: 144

6-3-1- شبیه‌سازی و نتایج: 146

6-4- برآورد حالت شارژ (SOC) بر اساس رؤیتگر. 149

6-4-1- شبیه‌سازی و نتایج.. 151

6-5- برآورد حالت شارژ (SCC) با تئوری تطبیقی.. 155

6-5-1- شبیه‌سازی و نتایج.. 158

6-6- طراحی سیستم نظارتی فازی برای مدیریت انرژی وسایل الکتریکی با چند منبع مختلف: 161

6-6-1- شبیه‌سازی و نتایج.. 165

6-7- نتیجه‌گیری.. 168

فصل 7- نتیجه‌گیری.. 172

فهرست مراجع  174

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