1. ‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬‫ﻃﻮﻟﯽ‬‫اﻧﺪازه‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬ ‫ﺑﺪون‬ ‫و‬ ‫ﺟﺪﯾﺪ‬ ‫ﺗﺨﻤﯿﻨﮕﺮ‬ ‫دو‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺧﻮدرو‬‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﮔﯿﺮي‬
‫ﻣﻌﺎوﻧﯽ‬ ‫ﺑﯿﮋن‬1*
،‫رﻗﯿﻪ‬ ‫ﺧﺴﺮوي‬ ‫ﻣﻬﺪي‬‫آﺑﺎد‬2
،‫ﻧﺼﯿﺮي‬ ‫ﺻﯿﺎد‬3
،‫اﻣﯿﺮي‬ ‫ﻣﻠﯿﮑﺎ‬4
1-‫اﺳﺘﺎد‬‫ﯾﺎر‬‫راه‬ ‫ﻣﻬﻨﺪﺳﯽ‬ ‫داﻧﺸﮑﺪه‬ ،‫آﻫﻦ‬،‫اﯾﺮان‬ ‫ﺻﻨﻌﺖ‬ ‫و‬ ‫ﻋﻠﻢ‬ ‫داﻧﺸﮕﺎه‬‫ﺗﻬﺮان‬ ،
2-‫ارﺷﺪ‬ ‫ﮐﺎرﺷﻨﺎﺳﯽ‬،‫ﻋﻼﺋﻢ‬ ‫و‬ ‫ﮐﻨﺘﺮل‬ ‫ﻣﻬﻨﺪﺳﯽ‬‫اﯾﺮان‬ ‫ﺻﻨﻌﺖ‬ ‫و‬ ‫ﻋﻠﻢ‬ ‫داﻧﺸﮕﺎه‬‫ﺗﻬﺮان‬ ،
3-‫ﻣﺮﺑﯽ‬،‫ﺑﺨﺶ‬‫ﺧﻮدرو‬ ‫ﻣﮑﺎﻧﯿﮏ‬،‫ﺷﺮﯾﻒ‬ ‫ﺻﻨﻌﺘﯽ‬ ‫داﻧﺸﮕﺎه‬ ،‫ﺗﻬﺮان‬
4-‫ارﺷﺪ‬ ‫ﮐﺎرﺷﻨﺎﺳﯽ‬‫ﻣﻬﻨﺪﺳﯽ‬‫اﻟﮑﺘﺮوﻧﯿﮏ‬،‫واﺣﺪ‬‫ﻋﻠﻮم‬‫و‬‫ﺗﺤﻘﯿﻘﺎت‬،‫آزاد‬ ‫داﻧﺸﮕﺎه‬،‫اﺳﻼﻣﯽ‬‫ﺗﻬﺮان‬
*‫ﺗﻬﺮان‬،‫ﭘﺴﺘﯽ‬ ‫ﺻﻨﺪوق‬16846،b_moaveni@iust.ac.ir
‫ﭼﮑﯿﺪه‬
‫اﻫﻤﯿﺖ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫زﻣﺎن‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺪار‬ ‫ﺳﺮﯾﻊ‬ ‫و‬ ‫دﻗﯿﻖ‬ ،‫ﺻﺤﯿﺢ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫وﯾﮋه‬‫ﺳﯿﺴﺘﻢ‬ ‫ﺻﺤﯿﺢ‬ ‫ﻋﻤﻠﮑﺮد‬ ‫در‬ ‫اي‬‫دارد‬ ‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﻫﺎي‬.‫اﯾﻦ‬ ‫از‬‫ﺣﻮزه‬ ‫در‬ ‫ﻣﺘﻨﻮﻋﯽ‬ ‫ﺗﺤﻘﯿﻘﺎت‬ ‫رو‬
‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﺻﻮرت‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬.‫ﻣﺴﺎﻟﻪ‬ ‫وﻟﯿﮑﻦ‬‫اﮐ‬ ‫ﮐﻪ‬ ‫اي‬‫ﭘﮋوﻫﺶ‬ ‫ﺜﺮ‬‫ﺑﻮده‬ ‫ﻣﻮاﺟﻪ‬ ‫آن‬ ‫ﺑﺎ‬ ‫ﺣﻮزه‬ ‫اﯾﻦ‬ ‫در‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﺻﻮرت‬ ‫ﻫﺎي‬‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﻣﻘﺪار‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ،‫اﻧﺪ‬
‫ﺗﺨﻤﯿﻦ‬ ‫در‬ ‫ﻣﻌﻠﻮم‬ ‫ورودي‬‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫ﮔﺮ‬.‫ﭘﮋوﻫﺶ‬ ‫اﯾﻦ‬‫ﻣﯽ‬ ‫راﻫﮑﺎر‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬ ‫ﺣﺎﻟﯽ‬ ‫در‬ ‫ﻫﺎ‬‫ﭘﺮداﺧﺘﻪ‬‫اﻧﺪازه‬ ‫ﮐﻪ‬ ‫اﻧﺪ‬‫ﺳﺎده‬ ‫ﮐﺎر‬ ‫اﯾﻨﮑﻪ‬ ‫ﺑﺮ‬ ‫ﻋﻼوه‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﮔﯿﺮي‬‫ﺳﻨﺴﻮ‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬ ‫و‬ ‫ﻧﺒﻮده‬ ‫اي‬‫رﻫﺎي‬
‫ﻫﺰﯾﻨﻪ‬ ‫اﻓﺰاﯾﺶ‬ ‫ﻣﻮﺟﺐ‬ ،‫دارد‬ ‫اﺿﺎﻓﯽ‬‫ﻣﯽ‬ ‫ﻧﯿﺰ‬ ‫ﻧﮕﻬﺪاري‬ ‫و‬ ‫ﺗﻌﻤﯿﺮ‬ ‫ﻣﺴﺎﺋﻞ‬ ‫ﺑﻪ‬ ‫ﺑﯿﺸﺘﺮ‬ ‫ﺗﻮﺟﻪ‬ ‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬ ‫ﻫﺎ‬‫ﮔﺮدد‬.‫روﯾﮑﺮد‬ ‫دو‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬،‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ورودي‬ ‫ﺑﺎ‬‫ﻧﺎ‬‫ﻣﺸﺨﺺ‬
)UIIEKF(‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺷﺪه‬ ‫اﺻﻼح‬)MANF(،‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬‫ﻧﯿﺎزي‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﻣﻘﺪار‬ ‫ﺑﻪ‬ ‫ﯾﮏ‬ ‫ﻫﯿﭻ‬ ‫در‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬
‫و‬ ‫ﺑﻮد‬ ‫ﻧﺨﻮاﻫﺪ‬‫دﻗﺖ‬ ‫داراي‬ ‫روش‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﮐﻪ‬ ‫ﺣﺎﻟﯿﺴﺖ‬ ‫در‬ ‫اﯾﻦ‬‫ﻣﯽ‬ ‫ﻗﺒﻮﻟﯽ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻫﺎي‬‫ﺑﺎﺷﻨﺪ‬.‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫اﯾﻦ‬ ‫روش‬ ‫دو‬ ‫اﯾﻦ‬ ‫ﻋﻤﺪه‬ ‫ﺗﻔﺎوت‬‫در‬UIIEKF‫ﻣﻌﺎد‬ ‫ﺑﻪ‬‫ﺣﯿﻦ‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﻻت‬
،‫اﺳﺖ‬ ‫ﻧﯿﺎز‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬‫روش‬ ‫در‬ ‫ﺣﺎﻟﯿﮑﻪ‬ ‫در‬MANF‫ﺑﻪ‬‫ﻧﯿﺴﺖ‬ ‫ﻧﯿﺎزي‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬ ‫ﻣﺪل‬.‫ﺗﺴﺖ‬ ‫اﻧﺠﺎم‬ ‫ﺑﺎ‬ ‫ﭘﯿﺸﻨﻬﺎدي‬ ‫روش‬ ‫دو‬‫ﺟﻨﺒﻪ‬ ‫از‬ ‫ﺧﻮدرو‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺗﺠﺮﺑﯽ‬ ‫ﻫﺎي‬‫و‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﻣﻮرد‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬
‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ﺑﺮرﺳﯽ‬‫آن‬ ‫ﺿﻌﻒ‬ ‫و‬ ‫ﻗﻮت‬ ‫ﻧﻘﺎط‬ ‫اﻧﺘﻬﺎ‬ ‫در‬ ‫و‬ ‫اﻧﺪ‬‫اراﺋﻪ‬ ‫ﻧﯿﺰ‬ ‫ﯾﮑﺪﯾﮕﺮ‬ ‫ﺑﺎ‬ ‫ﻣﻘﺎﯾﺴﻪ‬ ‫در‬ ‫ﻫﺎ‬‫ﺷﺪ‬‫اﺳﺖ‬ ‫ه‬.
‫ﮐﻠﯿ‬‫ﺪ‬‫واژﮔ‬‫ﺎن‬
،‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﺳﯿﺴﺘﻢ‬‫ﺗﺨﻤﯿﻦ‬،‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﻣﮑﺮر‬ ‫ي‬‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬،‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺷﺪه‬ ‫اﺻﻼح‬
Vehicle longitudinal velocity estimation using two new estimators and without measuring the
braking torque
Bijan Moaveni1*, Mahdi Khosravi Roqaye Abad1, Sayyad Nasiri 2, Melika Amiri3
1- Iran University of Science and Technology, Tehran, Iran.
2- Sharif University of Technology, Tehran, Iran.
3- Islamic Azad University, Tehran, Iran.
* 16846 Tehran, Iran, b_moaveni@iust.ac.ir
Abstract
The accurate, correct, and quick calculation of vehicle longitudinal velocity during braking plays a vital role in the precise operation of Anti-lock
Brake System (ABS). Therefore, different researches have been conducted in the field of vehicle longitudinal velocity estimation. But, most these
researches have been faced with a problem so called using braking torque as a known input to an estimator. These researches have addressed the issue
while measuring the braking torque is not easy and needs expensive and additional sensors which causes the increase of costs and also requires more
attention to maintenance and repair problems. In this paper, two approaches, Unknown Input Iterated Extended Kalman Filter (UIIEKF) and Modified
Nonlinear Adaptive Filter (MANF) are proposed in order to estimate vehicle longitudinal velocity so that they do not need a braking torque and both
methods have acceptable accuracy. The main difference between these two approaches is that the UIIEKF requires the dynamic model of vehicle
motion during the braking process to estimate the longitudinal velocity while the MANF is model-free. Different aspects of both methods are
analyzed by experimental tests on the vehicle and finally advantages and disadvantages of the both methods are compared.
Keywords
Antilock Brake System (ABS), Longitudinal Velocity Estimation of Vehicle, Unknown Input Iterated Extended Kalman Filter (UIIEKF), Modified Adaptive
Nonlinear Filter (MANF).

2. 2
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
1-‫ﻣﻘﺪﻣﻪ‬
‫ﮐﺎﻫﺶ‬ ‫ﻟﺰوم‬‫ﺟﺎده‬ ‫ﺷﺮاﯾﻂ‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺑﺎ‬ ‫راﻧﻨﺪﮔﯽ‬ ‫ﻫﻨﮕﺎم‬ ‫ﺧﻄﺎ‬ ‫و‬ ‫رﯾﺴﮏ‬‫اي‬
‫ﻣﺎﺳﻪ‬ ،‫ﺑﺮف‬ ،‫ﯾﺦ‬ ‫ﻣﺎﻧﻨﺪ‬ ‫ﻣﺘﻔﺎوت‬‫اﻧﮕﯿﺰه‬ ،‫ﺧﯿﺲ‬ ‫ﯾﺎ‬ ‫و‬‫ﺗﻮﺳﻌﻪ‬ ‫ﺑﺮاي‬ ‫اي‬‫ﺳﯿﺴﺘﻢ‬ ‫ي‬‫ﻫﺎي‬
‫اﻟﮑﺘﺮوﻧﯿﮑﯽ‬ ‫ﭘﺎﯾﺪاري‬ ‫ﮐﻨﺘﺮل‬‫ﻣﯽ‬ ‫ﺧﻮدرو‬‫ﺑﺎﺷﺪ‬.‫ﺳﯿﺴﺘﻢ‬ ‫اﯾﻦ‬‫در‬ ‫ﻣﻬﻤﯽ‬ ‫ﻧﻘﺶ‬ ‫ﮐﻪ‬ ‫ﻫﺎ‬
‫ﻣﯽ‬ ‫اﯾﻔﺎ‬ ‫راﻧﻨﺪﮔﯽ‬ ‫ﺗﺼﺎدﻓﺎت‬ ‫ﮐﺎﻫﺶ‬‫ﺳﯿﺴﺘﻢ‬ ‫اﺻﻞ‬ ‫در‬ ،‫ﻧﻤﺎﯾﻨﺪ‬‫ﺣﻠﻘﻪ‬ ‫ﮐﻨﺘﺮل‬ ‫ﻫﺎي‬
‫ﺑﺴﺘﻪ‬‫ﻣﯽ‬ ‫اي‬‫اﻧﺪازه‬ ‫اﻧﺠﺎم‬ ‫ﺑﺎ‬ ‫ﮐﻪ‬ ‫ﺑﺎﺷﻨﺪ‬‫ﮔﯿﺮي‬‫و‬ ‫ﺳﻨﺴﻮرﻫﺎ‬ ‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﻫﺎي‬
‫اﻟﮕﻮرﯾﺘﻢ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬‫ﻣﯽ‬ ‫اﻓﺰاﯾﺶ‬ ‫را‬ ‫ﺣﺮﮐﺖ‬ ‫اﯾﻤﻨﯽ‬ ‫ﺿﺮﯾﺐ‬ ،‫ﮐﺎرآﻣﺪ‬ ‫ﻫﺎي‬‫دﻫﻨﺪ‬]1،
2[.
‫از‬ ‫ﯾﮑﯽ‬‫ﭘﺮداﺧﺘﻪ‬ ‫آن‬ ‫ﺑﻪ‬ ‫دﯾﺮﺑﺎز‬ ‫از‬ ‫ﭘﮋوﻫﺸﮕﺮان‬ ‫ﮐﻪ‬ ‫ﻣﻮﺿﻮﻋﺎﺗﯽ‬‫اﻧﺪ‬،‫اﻧﺪازه‬‫ﮔﯿﺮي‬
‫ﻟﻐﺰش‬،‫زﻣﯿﻦ‬ ‫و‬ ‫ﺗﺎﯾﺮ‬ ‫ﺑﯿﻦ‬‫ﺷﺘﺎب‬ ‫ﺷﺮاﯾﻂ‬ ‫ﺗﺤﺖ‬‫اﺳﺖ‬ ‫ﻣﻨﻔﯽ‬ ‫و‬ ‫ﻣﺜﺒﺖ‬ ‫ﮔﯿﺮي‬]2[.
‫و‬ ‫ﺟﺎده‬ ‫ﺑﯿﻦ‬ ‫اﺻﻄﮑﺎك‬ ‫ﮐﻪ‬ ‫زﻣﺎﻧﯽ‬ ‫ﺧﺼﻮص‬ ‫ﺑﻪ‬ ‫ﻟﻐﺰش‬‫ﺗﺎﯾﺮ‬‫اﻫﻤﯿﺖ‬ ‫ﺑﺴﯿﺎر‬ ‫اﺳﺖ‬ ‫ﮐﻢ‬
‫دارد‬.‫ﻗﻔ‬‫اﺳﺖ‬ ‫ﻟﻐﺰش‬ ‫وﻗﻮع‬ ‫ﻋﻤﺪه‬ ‫دﻻﯾﻞ‬ ‫از‬ ‫ﯾﮑﯽ‬ ‫ﺗﺮﻣﺰي‬ ‫ﺷﺮاﯾﻂ‬ ‫در‬ ‫ﭼﺮخ‬ ‫ﺷﺪن‬ ‫ﻞ‬.
‫ﭼﺮخ‬ ‫ﺷﺪن‬ ‫ﻗﻔﻞ‬‫ﺻﺪﻣﻪ‬ ‫ﺟﺎده‬ ‫و‬ ‫ﭼﺮخ‬ ‫ارﺗﺒﺎﻃﯽ‬ ‫ﺳﻄﻮح‬ ‫ﺑﻪ‬ ‫اﯾﻨﮑﻪ‬ ‫ﺑﺮ‬ ‫ﻋﻼوه‬ ‫ﻫﺎ‬
‫ﻣﯽ‬‫ﻓﺮﻣﺎن‬ ‫و‬ ‫ﭘﺎﯾﺪاري‬ ‫ﮐﺎﻫﺶ‬ ‫ﻣﻮﺟﺐ‬ ،‫زﻧﺪ‬‫ﺗﺮﻣﺰي‬ ‫ﻣﺴﺎﻓﺖ‬ ‫اﻓﺰاﯾﺶ‬ ،‫ﺧﻮدرو‬ ‫ﭘﺬﯾﺮي‬
‫و‬‫ﻧﻬﺎﯾﺖ‬ ‫در‬‫ﻣﯽ‬ ‫ﻧﺎﮔﻮار‬ ‫ﺣﻮادث‬ ‫وﻗﻮع‬ ‫و‬ ‫ﻋﺎﺑﺮﯾﻦ‬ ‫و‬ ‫ﺳﺮﻧﺸﯿﻨﺎن‬ ‫اﯾﻤﻨﯽ‬ ‫ﮐﺎﻫﺶ‬‫ﺷﻮد‬
]1[.‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﺳﯿﺴﺘﻢ‬ ،‫ﻣﯿﺎن‬ ‫اﯾﻦ‬ ‫در‬1
)ABS(‫ﺣﻞ‬ ‫در‬ ‫ﻣﻮﻓﻖ‬ ‫راﻫﮑﺎري‬
‫ﺷﺪن‬ ‫ﻗﻔﻞ‬ ‫از‬ ‫ﺟﻠﻮﮔﯿﺮي‬ ‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺣﯿﻦ‬ ‫در‬ ‫ﻟﻐﺰش‬ ‫ﻣﺴﺎﻟﻪ‬
‫ﭼﺮخ‬‫ﻫﺎ‬‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬]3،4[.
‫ﭼﺮخ‬ ‫ﻟﻐﺰش‬ ،‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﺳﯿﺴﺘﻢ‬)λ(‫را‬‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫اﺧﺘﻼف‬ ‫از‬
‫ﭼﺮخ‬‫ﺷ‬ ‫ﻧﺮﻣﺎﻻﯾﺰ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫و‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬ ‫ﻫﺎ‬‫راﺑﻄﻪ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ،‫ﺪه‬‫ي‬
)1(‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﮐﻨﺘﺮل‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﻧﻤﻮدن‬ ‫ﻓﯿﺪﺑﮏ‬ ‫از‬ ‫و‬ ‫ﮐﺮده‬ ‫ﻣﺤﺎﺳﺒﻪ‬
‫ﻣﯽ‬ ‫اﺳﺘﻔﺎده‬‫ﻧﻤﺎﯾﺪ‬]1،3[.
)1(=
−
‫ﮐﻪ‬‫آن‬ ‫در‬،‫ﺛﺎﻧﯿﻪ‬ ‫ﺑﺮ‬ ‫ﻣﺘﺮ‬ ‫ﺣﺴﺐ‬ ‫ﺑﺮ‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ،ω‫ﺳﺮﻋﺖ‬
‫زاوﯾﻪ‬‫و‬ ‫ﺛﺎﻧﯿﻪ‬ ‫ﺑﺮ‬ ‫رادﯾﺎن‬ ‫ﺣﺴﺐ‬ ‫ﺑﺮ‬ ‫ﭼﺮخ‬ ‫اي‬‫ﻣﺘﺮ‬ ‫ﺣﺴﺐ‬ ‫ﺑﺮ‬ ‫ﭼﺮخ‬ ‫ﺷﻌﺎع‬
‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.‫ﻧﯿﺮوي‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ارﺗﺒﺎط‬ ،‫ﻟﻐﺰش‬ ‫ﮐﻨﺘﺮل‬ ‫در‬ ‫ﺗﻮﺟﻪ‬ ‫ﻗﺎﺑﻞ‬ ‫و‬ ‫ﻣﻬﻢ‬ ‫ﻧﮑﺘﻪ‬
‫اﺳﺖ‬ ‫ﻟﻐﺰش‬ ‫ﭘﺎراﻣﺘﺮ‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﺷﺪﯾﺪ‬ ‫واﺑﺴﺘﮕﯽ‬ ‫و‬ ‫ﺟﺎده‬ ‫و‬ ‫ﺗﺎﯾﺮ‬ ‫ﺑﯿﻦ‬ ‫اﺻﻄﮑﺎك‬.
‫ﺑﯿﺸﺘﺮﯾﻦ‬‫ﺟﺎده‬ ‫ﺷﺮاﯾﻂ‬ ‫در‬ ‫اﺻﻄﮑﺎك‬‫ﻣﯽ‬ ‫رخ‬ ‫ﻫﻨﮕﺎﻣﯽ‬ ،‫ﻣﺨﺘﻠﻒ‬ ‫اي‬‫ﻟﻐ‬ ‫ﮐﻪ‬ ‫دﻫﺪ‬‫ﺰش‬
‫ﻣﺤﺪوده‬ ‫در‬ ‫ﭼﺮخ‬‫ي‬08/0‫ﺗﺎ‬3/0‫ﻣﯽ‬ ‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﻟﺬا‬ ،‫ﺑﺎﺷﺪ‬‫ﺑﺎﯾﺴﺖ‬
‫ﺣﻔﻆ‬ ‫ﻣﺤﺪوده‬ ‫اﯾﻦ‬ ‫در‬ ‫را‬ ‫ﭼﺮخ‬ ‫ﻟﻐﺰش‬‫ﮐﻨﺪ‬]3[.
‫ﭘﯿﺶ‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫ﺳﯿﺴﺘﻢ‬ ‫در‬ ‫ﻟﻐﺰش‬ ‫ﮐﻨﺘﺮل‬ ‫اﻟﮕﻮرﯾﺘﻢ‬ ،‫ﺷﺪ‬ ‫اﺷﺎره‬ ‫ﻧﯿﺰ‬ ‫ﺗﺮ‬
‫ﺧﻮدر‬ ‫و‬ ‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﻪ‬ ‫ﻗﻔﻞ‬ ‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬‫دارد‬ ‫ﻧﯿﺎز‬ ‫و‬.‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬‫ﻫﺎ‬
‫اﻧﺪازه‬ ‫ﺑﺎ‬‫زاوﯾﻪ‬ ‫ﺳﺮﻋﺖ‬ ‫ﮔﯿﺮي‬‫ﭼﺮخ‬ ‫اي‬‫زاوﯾﻪ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫ﮐﻤﮏ‬ ‫ﺑﻪ‬ ،‫ﻫﺎ‬‫اي‬
‫ﻗﺎﺑﻞ‬ ‫ﭼﺮخ‬ ‫ﺷﻌﺎع‬ ‫ﺑﻮدن‬ ‫ﻣﺸﺨﺺ‬ ‫و‬ ‫ﭼﺮخ‬‫اﺳﺘﺨﺮاج‬‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺑﺮاي‬‫ي‬
‫ﻣﯽ‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬‫ﺳﺮﻋﺖ‬ ‫از‬ ‫ﺗﻮان‬‫ﺳﻨﺞ‬‫زﯾﺮ‬ ‫دﺳﺘﻪ‬ ‫دو‬ ‫ﺑﻪ‬ ‫ﮐﻪ‬ ‫ﮐﺮد‬ ‫اﺳﺘﻔﺎده‬ ‫ﻫﺎ‬
‫ﺷﻮﻧﺪ‬ ‫ﻣﯽ‬ ‫ﺗﻘﺴﯿﻢ‬]2[:
‫اﻟﻒ‬:‫ﺗﻤﺎﺳﯽ‬ ‫روش‬)‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫ﻣﺎﻧﻨﺪ‬(]5[.
‫ب‬:‫ﺗﻤﺎس‬ ‫ﺑﺪون‬ ‫روش‬)‫ﻧﻮر‬ ‫اﻧﻌﮑﺎس‬ ‫ﺣﺴﮕﺮﻫﺎي‬ ‫ﻣﺎﻧﻨﺪ‬(]6،7[.
‫روش‬‫ﻣﯽ‬ ‫اﺳﺘﻔﺎده‬ ‫ﺧﻮدروﻫﺎ‬ ‫اﻏﻠﺐ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﺗﻤﺎﺳﯽ‬ ‫ﻫﺎي‬‫ﺑﻪ‬ ‫ﻣﻘﺮون‬ ،‫ﺷﻮﻧﺪ‬
‫و‬ ‫ﺑﻮده‬ ‫ﺻﺮﻓﻪ‬‫ﻣﯽ‬ ‫اﻋﺘﻤﺎد‬ ‫ﻗﺎﺑﻞ‬‫ﺑﺎﺷﻨﺪ‬.‫دﻗﺖ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ،‫ﺳﻨﺴﻮرﻫﺎ‬ ‫اﯾﻦ‬
‫ﻣﯽ‬ ‫اﺧﺘﯿﺎر‬ ‫در‬ ‫ﮐﺎﻓﯽ‬‫زﻣﺎن‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﻌﯿﯿﻦ‬ ‫در‬ ‫وﻟﯿﮑﻦ‬ ‫ﮔﺬارﻧﺪ‬
‫ﭼﺮخ‬ ‫ﻟﻐﺰش‬،‫ﻧﻤﯽ‬ ‫دﻗﯿﻖ‬‫ﺑﺎﺷﻨﺪ‬.‫روش‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬‫روش‬ ‫ﻣﺎﻧﻨﺪ‬ ،‫ﺗﻤﺎس‬ ‫ﺑﺪون‬ ‫ﻫﺎي‬
‫ﻧﻮري‬ ‫ﻫﻤﺒﺴﺘﮕﯽ‬2
]7[‫ﻓﯿ‬ ‫روش‬ ‫و‬‫ﻣﺠﺰا‬ ‫ﻠﺘﺮﯾﻨﮓ‬3
]6[‫ﻣﯽ‬ ‫دﻗﯿﻖ‬ ‫ﺑﺴﯿﺎر‬‫ﺑﺎﺷﻨﺪ‬
،‫زﯾﺎد‬ ‫ﺣﺠﻢ‬ ‫و‬ ‫ﺳﻨﮕﯿﻨﯽ‬ ‫دﻟﯿﻞ‬ ‫ﺑﻪ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﭘﺮﻫﺰﯾﻨﻪ‬ ‫ﺑﺴﯿﺎر‬ ‫ﺣﺎل‬ ‫ﻋﯿﻦ‬ ‫در‬ ‫وﻟﯿﮑﻦ‬
1. Antilock Brake System
2. Optical Correlation
3. Spatial Filtering
‫ﻣﻮرد‬ ‫ﻋﻤﻞ‬ ‫در‬ ‫ﮐﻤﺘﺮ‬ ،‫ﻧﮕﻬﺪاري‬ ‫و‬ ‫ﺗﻤﯿﺰﮐﺎري‬ ‫ﺑﻪ‬ ‫ﻣﮑﺮر‬ ‫اﺣﺘﯿﺎج‬ ‫و‬ ‫ﭘﯿﭽﯿﺪﮔﯽ‬
‫ﻣﯽ‬ ‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬‫ﮔﯿﺮﻧﺪ‬]8[.‫اﻧﺪازه‬ ‫اﮔﺮﭼﻪ‬‫ﺑﺴﯿﺎر‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﮔﯿﺮي‬
‫دﻻﯾﻞ‬ ‫ﺑﻪ‬ ‫وﻟﯿﮑﻦ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬ ‫ﻧﯿﺰ‬ ‫ﻣﺘﻨﻮﻋﯽ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫و‬ ‫ﺑﻮده‬ ‫ﺿﺮوري‬
‫ﺑﻪ‬ ‫زﻣﯿﻨﻪ‬ ‫اﯾﻦ‬ ‫ﭘﮋوﻫﺸﮕﺮان‬ ‫ﻫﻤﭽﻨﺎن‬ ‫ﻧﯿﺴﺖ‬ ‫ﺗﺤﻘﯿﻖ‬ ‫اﯾﻦ‬ ‫ﻣﻮﺿﻮع‬ ‫ﮐﻪ‬ ‫ﻣﺨﺘﻠﻒ‬
‫ﺳﻨﺴﻮ‬ ‫ﺳﺎﺧﺖ‬ ‫و‬ ‫ﻃﺮاﺣﯽ‬ ‫دﻧﺒﺎل‬‫دﻗﯿﻖ‬ ‫رﻫﺎي‬‫ﻣﯽ‬ ‫ﮐﺎرآﻣﺪﺗﺮ‬ ‫و‬ ‫ﺗﺮ‬‫ﺑﺎﺷﻨﺪ‬]2[.
‫روش‬ ‫ﺗﺎﮐﻨﻮن‬ ،‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬‫ﻣﺨﺘﻠﻔﯽ‬ ‫ﻫﺎي‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬.‫ﻣﻬﻢ‬ ‫ﺟﻤﻠﻪ‬ ‫از‬ ‫ﮐﻪ‬‫آن‬ ‫ﺗﺮﯾﻦ‬‫ﻣﯽ‬ ‫ﻫﺎ‬‫ﺑﻪ‬ ‫ﺗﻮان‬‫اﺷﺎره‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬
‫ﻧﻤﻮد‬.‫ﭘﮋوﻫﺶ‬‫ﺗﺨﻤﯿﻦ‬ ‫در‬ ،‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﻪ‬ ‫زﯾﺎدي‬ ‫ﻫﺎي‬‫دﻗﯿﻖ‬ ‫ﻫﺎي‬‫از‬
‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﺧﻮدرو‬]2،9[‫در‬ ‫ﻣﻮﺛﺮ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬ ‫ﺳﺎﯾﺮ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬
‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫دﯾﻨﺎﻣﯿﮏ‬]1،10،11[‫ﭘﺮداﺧﺘﻪ‬‫اﻧﺪ‬.‫در‬]1[،‫ري‬،‫ﻫﻤﮑﺎراﻧﺶ‬ ‫و‬
‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﯾﮏ‬4
(EKF)‫ﻧﯿﺮوﻫﺎي‬ ‫و‬ ‫ﺣﺎﻟﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬ ‫را‬
‫و‬ ‫ﻋﺮﺿﯽ‬‫ﻣﺪل‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺗﺎﯾﺮ‬ ‫ﻃﻮﻟﯽ‬9‫آزادي‬ ‫درﺟﻪ‬‫ﺧﻮدرو‬‫ﭘﯿﺎده‬ ،‫ﺳﺎزي‬
‫ﮐﺮده‬‫اﻧﺪ‬.‫آﻟﻮارز‬‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ،‫ﺧﻮدرو‬‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫را‬
‫اﺳﺖ‬ ‫داده‬ ‫ﻗﺮار‬ ‫ﺗﻮﺟﻪ‬ ‫ﻣﻮرد‬ ،‫آزادي‬ ‫درﺟﻪ‬ ‫ﻫﻔﺖ‬ ‫ﻣﺪل‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬]2[.‫در‬ ،‫ﻫﻤﭽﻨﯿﻦ‬
‫ﺳﺎل‬2011]9[،‫ﮔﺌﻮ‬‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ،‫ﻫﻤﮑﺎراﻧﺶ‬ ‫و‬
‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫روي‬ ‫ﺑﺮ‬ ‫و‬ ‫ﻧﻤﻮده‬ ‫اﺳﺘﻔﺎده‬ ‫ﺧﻮدرو‬FPGA5‫ﭘﯿﺎده‬‫ﮐﺮده‬ ‫ﺳﺎزي‬‫اﻧﺪ‬.
‫ﭘﮋوﻫﺶ‬ ‫اﯾﻦ‬ ‫ﺗﻤﺎﻣﯽ‬ ‫ﺧﺼﻮص‬ ‫در‬ ‫ﻣﻬﻢ‬ ‫ﻧﮑﺘﻪ‬‫داده‬ ‫داﺷﺘﻦ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫اﯾﻦ‬ ‫ﻫﺎ‬‫ﻫﺎي‬
‫ﺷﺘﺎب‬‫ﺧﻮد‬ ‫ﺷﺘﺎب‬ ‫ﮐﻪ‬ ‫ﺳﻨﺠﯽ‬‫اﻧﺪازه‬ ‫ﻟﺤﻈﺎت‬ ‫ﺗﻤﺎﻣﯽ‬ ‫در‬ ‫را‬ ‫رو‬‫ﺿﺮوري‬ ‫ﻧﻤﺎﯾﺪ‬ ‫ﮔﯿﺮي‬
‫اﺳﺖ‬ ‫ﺑﻮده‬.
‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻫﻤﺰﻣﺎن‬،‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫از‬‫ﺑﺮﺧﯽ‬‫از‬
‫ﭘﮋوﻫﺸﮕﺮان‬‫ﺗﺎ‬ ‫داﺷﺘﻪ‬ ‫آن‬ ‫ﺑﺮ‬ ‫ﺳﻌﯽ‬‫ﺗﺨﻤﯿﻦ‬‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﻃﺮﯾﻖ‬ ‫از‬ ‫را‬ ‫ﺧﻮدرو‬
‫ﻟﻐﺰﺷﯽ‬ ‫ﻣﺪ‬ ‫رؤﯾﺘﮕﺮ‬ ‫ﭼﻮن‬ ‫دﯾﮕﺮي‬ ‫رؤﯾﺘﮕﺮﻫﺎي‬ ‫ﺑﮑﺎرﮔﯿﺮي‬]12،13[‫ﻓﯿﻠﺘﺮ‬ ،
‫ﻏﯿﺮﺧﻄﯽ‬‫ﺗﻄﺒﯿﻘﯽ‬]3،14،15[‫ﻏﯿﺮﺧﻄﯽ‬ ‫رؤﯾﺘﮕﺮﻫﺎي‬ ‫و‬]16،17[،‫اﻧﺠﺎم‬
‫دﻫﻨﺪ‬.‫ﺗﻮاﻧﺴﺘﻪ‬ ‫ﺗﺨﻤﯿﻨﮕﺮﻫﺎ‬ ‫اﯾﻦ‬ ‫اﮔﺮﭼﻪ‬‫دﻗﺖ‬ ‫ﺑﻪ‬ ‫اﻧﺪ‬‫ﻗﺎﺑﻞ‬ ‫ﻫﺎي‬‫در‬ ‫ﻗﺒﻮﻟﯽ‬
‫ﺷﺒﯿﻪ‬‫ﺳﺎزي‬‫آن‬ ‫ﭘﯿﭽﯿﺪﮔﯽ‬ ‫وﻟﯿﮑﻦ‬ ‫ﯾﺎﺑﻨﺪ‬ ‫دﺳﺖ‬ ‫ﻫﺎ‬‫ﭘﯿﺎده‬ ‫در‬ ‫ﻫﺎ‬‫ﺳﺎزي‬‫ﻋﺪم‬ ‫و‬ ‫ﻫﺎ‬
‫ﻣﻘﺎوم‬‫ﺑﻮدن‬‫آن‬‫ﻧﺎﻣﻌﯿﻨﯽ‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬ ‫ﻫﺎ‬‫آن‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ،‫ﻣﺪل‬ ‫ﺑﺮ‬ ‫ﺣﺎﮐﻢ‬ ‫ﻫﺎي‬‫در‬ ‫را‬ ‫ﻫﺎ‬
‫ﭼﺎﻟﺶ‬ ‫ﺑﺎ‬ ‫ﻋﻤﻞ‬‫اﺳﺖ‬ ‫ﻧﻤﻮده‬ ‫ﻣﻮاﺟﻪ‬ ‫ﺟﺪي‬ ‫ﻫﺎي‬]9[.
‫دﻗﺖ‬ ‫ﺑﺎ‬ ‫ﻧﺘﺎﯾﺞ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫روش‬ ‫در‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬‫از‬ ‫ﺑﺮﺧﯽ‬ ،‫ﻣﺬﮐﻮر‬ ‫ﻫﺎي‬
‫روش‬ ‫اﻃﻼﻋﺎت‬ ‫ﺗﺮﮐﯿﺐ‬ ‫در‬ ‫ﺳﻌﯽ‬ ‫ﭘﮋوﻫﺸﮕﺮان‬‫روش‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬
‫ﺗﻠﻔﯿﻖ‬‫داده‬‫داﺷﺘﻪ‬‫اﻧﺪ‬]14،15،18[‫ﮐﻪ‬]18[‫از‬ ‫ﺣﺎﺻﻞ‬ ‫اﻃﻼﻋﺎت‬ ،‫ﻓﯿﻠﺘﺮ‬
‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬‫و‬ ‫ﮐﺮده‬ ‫ﺗﻠﻔﯿﻖ‬ ‫را‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫و‬‫ﺗﺨﻤﯿﻦ‬‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﺑﺎ‬ ‫را‬
‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﻣﯽ‬ ‫اﻧﺠﺎم‬‫دﻫﻨﺪ‬.‫اﻟﮕﻮرﯾﺘﻢ‬ ‫ﻋﻤﻠﮑﺮد‬ ‫ﻣﻘﺎﯾﺴﻪ‬‫ﻫﺎي‬‫ﻣﺨﺘﻠﻒ‬‫داده‬ ‫ﺗﺮﮐﯿﺐ‬
‫ﻫﻤﺎﻧﻨﺪ‬‫ﻣﯿﺎﻧﮕﯿﻦ‬ ‫روش‬‫اﻧﺪازه‬ ‫ﺗﺮﮐﯿﺐ‬ ‫روش‬ ‫و‬ ‫ﺳﺮي‬ ‫ﺗﺮﮐﯿﺐ‬ ،‫ﮔﯿﺮي‬‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﺎ‬ ‫ﮔﯿﺮي‬
‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫و‬ ‫ﺗﻄﺒﯿﻘﯽ‬‫ﻃﻮﻟﯽ‬‫در‬]14[‫ﺷﺪه‬ ‫اﻧﺠﺎم‬ ،
‫اﺳﺖ‬.
‫از‬ ‫دﯾﮕﺮي‬ ‫دﺳﺘﻪ‬‫اﺧﯿﺮ‬ ‫ﻫﺎي‬ ‫ﺳﺎل‬ ‫در‬ ‫ﭘﺬﯾﺮﻓﺘﻪ‬ ‫ﺻﻮرت‬ ‫ﺗﺤﻘﯿﻘﺎت‬‫از‬ ‫اﺳﺘﻔﺎده‬ ،
‫را‬ ‫اﯾﻨﺮﺳﯽ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬،‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﮔﯿﺮي‬ ‫اﻧﺪازه‬ ‫ﺑﺎ‬ ‫ﻫﻤﺰﻣﺎن‬‫ﻧﻤﻮده‬ ‫ﭘﯿﺸﻨﻬﺎد‬‫اﻧﺪ‬.
‫ﺗﻮان‬ ‫ﻣﯽ‬ ‫ﺗﺤﻘﯿﻘﺎت‬ ‫اﯾﻦ‬ ‫ﻣﻬﻤﺘﺮﯾﻦ‬ ‫ﺟﻤﻠﻪ‬ ‫از‬‫ﺑﻪ‬]19[‫ﯾﮏ‬ ‫از‬ ‫آن‬ ‫در‬ ‫ﮐﻪ‬ ‫ﮐﺮد‬ ‫اﺷﺎره‬
‫اﯾﻨﺮﺳﯽ‬ ‫ﮔﯿﺮي‬ ‫اﻧﺪازه‬ ‫واﺣﺪ‬6
‫ﺑﺎ‬6‫آزادي‬ ‫درﺟﻪ‬‫ر‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬‫ؤ‬‫ﭼ‬ ‫ﯾﺘﮕﺮﻫﺎي‬‫ﻨﺪﮔﺎﻧﻪ‬‫ﺑﻪ‬
‫در‬ ‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬3‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬ ‫اﺻﻠﯽ‬ ‫ﻣﺤﻮر‬.‫در‬
]20[‫ر‬ ‫ﻃﺮاﺣﯽ‬ ‫ﺑﺎ‬ ‫ﻧﯿﺰ‬‫ؤ‬‫اﻧﺪازه‬ ‫ﺑﺎ‬ ‫و‬ ‫ﻣﺪل‬ ‫ﺑﺮ‬ ‫ﻣﺒﺘﻨﯽ‬ ‫ﺧﻄﯽ‬ ‫ﻏﯿﺮ‬ ‫ﯾﺘﮕﺮ‬‫ﺳﺮﻋﺖ‬ ‫ﮔﯿﺮي‬
‫ﭼﺮخ‬‫اﻧﺪازه‬ ‫و‬ ‫ﻫﺎ‬‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﻪ‬ ‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬ ‫ﻣﺤﻮرﻫﺎي‬ ‫در‬ ‫ﺷﺘﺎب‬ ‫ﮔﯿﺮي‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﺮداﺧﺘﻪ‬ ‫ﺧﻮدرو‬ ‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬.‫ﭘﺎﯾﺪا‬ ‫ﻣﺴﺎﻟﻪ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬‫ري‬
‫ﺗﺨﻤﯿﻦ‬‫اﻏﺘﺸﺎش‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬ ‫آن‬ ‫ﺑﻮدن‬ ‫ﻣﻘﺎوم‬ ‫و‬ ‫ﮔﺮ‬‫ﺗﺤﻠﯿﻞ‬ ‫و‬ ‫ﺑﺮرﺳﯽ‬ ‫ﻣﻮرد‬ ‫ﻧﯿﺰ‬ ‫ﻫﺎ‬
‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬.‫در‬]21[‫ﻧﯿﺰ‬‫ﭘﯿﺸﻨﻬﺎد‬‫ﺷﺪه‬‫ﮐﻪ‬ ‫اﺳﺖ‬‫از‬‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ‫ﺧﺎﺻﯽ‬ ‫ﻧﻮع‬
4. Extended Kalman Filter
5 Field-Programmable Gate Array
6 Inertial Measurement Unit (IMU)

3. 3
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﻣﺠﻤﻮﻋﻪ‬ ‫ﯾﮏ‬ ‫ﻫﻤﺮاه‬ ‫ﺑﻪ‬ ‫ﮐﺎﻟﻤﻦ‬1
GPS2/INS‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﻗﯿﻤﺖ‬ ‫ارزان‬‫ﺗﺨﻤﯿﻦ‬
،‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬‫ﺟﺎﻧﺒﯽ‬ ‫ﻟﻐﺰش‬ ‫و‬ ‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫ﺟﻬﺖ‬‫ﮔ‬ ‫اﺳﺘﻔﺎده‬ ‫آن‬‫ﺮدد‬.
‫در‬ ‫ﻫﻤﭽﻨﯿﻦ‬]22[‫ر‬ ‫ﯾﮏ‬ ‫ﻧﯿﺰ‬‫ؤ‬‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﻣﺮﺗﺒﻪ‬ ‫ﮐﺎﻫﺶ‬ ‫ﯾﺘﮕﺮ‬
‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬ ‫ﻣﺤﻮرﻫﺎي‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬.
‫ﺣﺎﻟﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬،‫رؤﯾﺘﮕﺮ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﯾﮏ‬ ‫ﻫﺎي‬
‫ﻣﯽ‬ ‫ﻓﺮض‬ ‫ﻣﻌﻤﻮﻻ‬‫ﮐﻪ‬ ‫ﺷﻮد‬‫ﺗﻤﺎﻣﯽ‬‫ورودي‬‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫و‬ ‫ﻣﺸﺨﺺ‬ ‫ﻫﺎ‬،‫ﻫﺴﺘﻨﺪ‬ ‫ﮔﯿﺮي‬
،‫ﻋﻤﻞ‬ ‫در‬ ‫اﻣﺎ‬‫ﺷﺮاﯾﻂ‬‫ورودي‬ ‫از‬ ‫ﺑﺮﺧﯽ‬ ‫ﮐﻪ‬ ‫دارﻧﺪ‬ ‫وﺟﻮد‬ ‫زﯾﺎدي‬‫ﮐﺎﻣﻼ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﻫﺎي‬
‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫ﻏﯿﺮ‬‫ﻣﯽ‬ ‫اﺿﺎﻓﯽ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫ﻧﯿﺎزﻣﻨﺪ‬ ‫ﯾﺎ‬ ‫و‬ ‫ﮔﯿﺮي‬‫ﺑﺎﺷﻨﺪ‬]23[.‫اﯾﻦ‬ ‫ﺑﺮ‬
‫ﭘﮋوﻫﺶ‬ ‫اﮐﺜﺮ‬ ‫در‬ ‫ﻣﺘﺎﺳﻔﺎﻧﻪ‬ ،‫اﺳﺎس‬‫ﻫﺎي‬‫ﺳﺮ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺣﻮزه‬‫ورودي‬ ‫از‬ ،‫ﺧﻮدرو‬ ‫ﻋﺖ‬
‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬3
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬]1،2،9[‫ﺣﺎﻟﯿ‬ ‫در‬‫اﻧﺪازه‬ ‫ﮑﻪ‬‫ﺑﺮاي‬ ‫آن‬ ‫ﮔﯿﺮي‬
‫ﻣﯽ‬ ‫دﺷﻮار‬ ‫ﭼﺮخ‬ ‫ﻫﺮ‬‫ﺑﺎﺷﺪ‬،‫ﺳﯿﺴﺘﻢ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﭼﺮا‬‫ﺿﺪ‬ ‫ﺗﺮﻣﺰ‬ ‫ﻫﺎي‬،‫ﻣﺮﺳﻮم‬ ‫ﻗﻔﻞ‬
‫اﻧﺪازه‬ ‫ﺗﺮﻣﺰ‬ ‫ﻫﯿﺪروﻟﯿﮏ‬ ‫ﻣﺎﯾﻊ‬ ‫ﻓﺸﺎر‬ ‫ﺳﯿﮕﻨﺎل‬‫ﻧﻤﯽ‬ ‫ﮔﯿﺮي‬‫ﺷﻮد‬،‫ﺑﺎﯾﺪ‬ ‫ﯾﺎ‬ ‫ﺑﻨﺎﺑﺮاﯾﻦ‬
‫ﻧﺼﺐ‬ ‫ﺧﻮدرو‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﻫﺎي‬ ‫ﭼﺮخ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺳﻨﺞ‬ ‫ﻓﺸﺎر‬ ‫ﺳﻨﺴﻮرﻫﺎي‬‫ﺷﻮد‬‫ﺑﺘﻮان‬ ‫ﺗﺎ‬
‫ﭼﺮخ‬ ‫ﻫﺮ‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﻣﯿﺰان‬‫را‬‫و‬ ‫ﻟﻨﺖ‬ ‫ﺑﯿﻦ‬ ‫اﺻﻄﮑﺎك‬ ‫ﺿﺮﯾﺐ‬ ‫داﺷﺘﻦ‬ ‫ﺑﺎ‬
‫ﭼﺮخ‬ ‫ﮐﺎﺳﻪ‬ ‫ﯾﺎ‬ ‫دﯾﺴﮏ‬‫ﮐﺮد‬ ‫ﻣﺤﺎﺳﺒﻪ‬،‫ﺷﺘﺎب‬ ‫ﺳﻨﺴﻮر‬ ‫ﻧﺼﺐ‬ ‫ﺑﺎ‬ ‫اﯾﻨﮑﻪ‬ ‫ﯾﺎ‬ ‫و‬،‫ﺳﻨﺞ‬
‫اﻧﺪازه‬ ‫را‬ ‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺷﺘﺎب‬‫ﮐﻞ‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫آن‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫و‬ ،‫ﮐﺮده‬ ‫ﮔﯿﺮي‬
‫اﻓﺰاﯾﺶ‬ ‫ﺑﻪ‬ ‫ﻣﻨﺠﺮ‬ ‫ﻣﻮرد‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﮐﻪ‬ ‫ﮐﺮد‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺗﻘﺮﯾﺒﯽ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫را‬ ‫ﺧﻮدرو‬
‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺗﻤﺎم‬ ‫ﻫﺰﯾﻨﻪ‬‫اﻧﺪازه‬ ‫در‬ ‫دﻗﺖ‬ ‫ﻋﺪم‬‫ﻣﯽ‬ ‫ﭘﺎراﻣﺘﺮ‬ ‫اﯾﻦ‬ ‫ﮔﯿﺮي‬،‫ﮔﺮدد‬
‫اﺻﻄﮑﺎك‬ ‫ﺿﺮﯾﺐ‬ ‫ﺟﻤﻠﻪ‬ ‫از‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﺧﻄﯽ‬ ‫ﻏﯿﺮ‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫از‬ ‫ﺑﺮﺧﯽ‬ ‫ﮐﻪ‬ ‫ﭼﺮا‬
‫ﻣﺎ‬‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫ﭼﺮخ‬ ‫ﮐﺎﺳﻪ‬ ‫ﯾﺎ‬ ‫دﯾﺴﮏ‬ ‫و‬ ‫ﻟﻨﺖ‬ ‫ﺑﯿﻦ‬‫ﻧﻤﯽ‬ ‫ﮔﯿﺮي‬‫ﺑﺎﺷﺪ‬.
‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﮐﻨﻮن‬ ‫ﺗﺎ‬ ‫ﮐﻪ‬ ‫راﻫﮑﺎري‬ ‫ﺗﻨﻬﺎ‬‫ﻃﻮﻟﯽ‬‫ﺑﺪون‬ ‫ﺧﻮدرو‬
‫و‬ ‫ﺳﻨﺞ‬ ‫ﺷﺘﺎب‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬‫ا‬ ‫ﯾﺎ‬‫ﻧﺪازه‬‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﮔﯿﺮي‬
،‫اﺳﺖ‬‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬‫ﻏﯿﺮ‬‫ﺧﻄﯽ‬‫ﺗﻄﺒﯿﻘﯽ‬(ANF4)‫در‬ ‫اﯾﻦ‬ ‫از‬ ‫ﭘﯿﺶ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬
]3[‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬.ANF‫در‬ ‫ﭘﯿﺸﻨﻬﺎدي‬]3[‫دﯾﻨﺎﻣﯿ‬ ‫ﻣﺪل‬ ‫ﺑﻪ‬‫ﻧﯿﺎز‬ ‫ﺧﻮدرو‬ ‫ﮏ‬
‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫ﻏﯿﺮ‬ ‫ﯾﺎ‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫وﺟﻮد‬ ‫و‬ ‫ﻧﺪارد‬‫در‬ ‫را‬ ‫ﻣﺸﮑﻠﯽ‬ ‫آن‬ ‫ﺑﺮاي‬ ‫ﮔﯿﺮي‬
‫ﻧﻤﯽ‬ ‫ﺑﻮﺟﻮد‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬‫آورد‬.‫از‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﻣﺘﻌﺪدي‬ ‫ﺿﻌﻒ‬ ‫ﻧﻘﺎط‬ ‫داراي‬ ‫وﻟﯿﮑﻦ‬
‫ﻣﯽ‬ ‫ﺟﻤﻠﻪ‬ ‫آن‬‫دﻗﺖ‬ ‫ﻧﺪاﺷﺘﻦ‬ ‫و‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﻬﺮه‬ ‫ﺗﻨﻈﯿﻢ‬ ‫ﺑﺮاي‬ ‫راﻫﮑﺎري‬ ‫اراﺋﻪ‬ ‫ﻋﺪم‬ ‫ﺑﻪ‬ ‫ﺗﻮان‬
‫ﻧﻤﻮد‬ ‫اﺷﺎره‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫در‬ ‫ﮐﺎﻓﯽ‬.‫ﺑ‬‫دﯾﮕﺮ‬ ‫ﻋﺒﺎرت‬ ‫ﻪ‬ANF‫در‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬
]3[‫ﻧﺪارد‬ ‫را‬ ‫ﻻزم‬ ‫ﮐﺎراﯾﯽ‬.‫اﺳﺖ‬ ‫ﻣﻤﮑﻦ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﺣﺪي‬ ‫ﺗﺎ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫دﻗﺖ‬ ‫ﻋﺪم‬
‫ﻟﻐﺰش‬ ‫ﮐﻨﺘﺮل‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﺷﺪن‬ ‫ﻓﻌﺎل‬ ‫ﻣﻮﺟﺐ‬ ‫و‬ ‫ﻧﺪاده‬ ‫ﺗﺸﺨﯿﺺ‬ ‫را‬ ‫ﻟﻐﺰﺷﯽ‬ ‫ﻫﺮﮔﺰ‬
‫ﻧﮕﺮدد‬.
‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬‫دو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﺴﺎﻟﻪ‬ ‫ﺑﺮاي‬‫ﭘﯿﺸﻨﻬﺎد‬ ‫راﻫﮑﺎر‬
‫ﻣﯽ‬‫ﮔﺮدد‬.‫در‬‫اﯾﻦ‬ ‫از‬ ‫ﯾﮑﯽ‬‫روش‬،‫ﻫﺎ‬‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫اﺻﻼح‬‫ﺷﺪه‬‫و‬‫ﺑﺎ‬
‫ﻓﯿﻠﺘﺮ‬ ‫ﻋﻨﻮان‬‫ﻏﯿﺮﺧﻄﯽ‬‫ﺷﺪه‬ ‫ﺗﺼﺤﯿﺢ‬ ‫ﺗﻄﺒﯿﻘﯽ‬)MANF5(‫اراﺋﻪ‬‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬.
‫ﻣﯽ‬ ‫ﮐﻪ‬ ‫دﯾﮕﺮي‬ ‫راﻫﮑﺎر‬‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫در‬ ‫ﺗﻮاﻧﺪ‬‫ﻃﻮﻟﯽ‬‫اﻧﺪازه‬ ‫ﺑﺪون‬‫ﮔﺸﺘﺎور‬ ‫ﮔﯿﺮي‬
‫ﮔﯿﺮد‬ ‫ﻗﺮار‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬ ‫ﺗﺮﻣﺰي‬،‫ر‬ ‫روﯾﮑﺮد‬ ‫از‬ ‫اﺳﺘﻔﺎده‬‫ؤ‬‫ﯾﺘﮕﺮﻫﺎي‬‫ﺣﺎﻟﺖ‬‫ورودي‬ ‫ﺑﺎ‬
‫اﯾﻨﺠﺎ‬ ‫در‬ ‫ﺧﺎص‬ ‫ﺑﻄﻮر‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﻧﺎﻣﺸﺨﺺ‬‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫از‬
(UIKF6)‫ﻣﯽ‬ ‫اﺳﺘﻔﺎده‬‫ﺷﻮد‬.‫ﻓﯿﻠﺘﺮ‬ ‫ﻧﺎﮐﺎرآﻣﺪي‬ ‫ﻣﺸﮑﻞ‬ ‫ﺗﺎ‬ ‫اﺳﺖ‬ ‫ﻗﺎدر‬ ‫روﯾﮑﺮد‬ ‫اﯾﻦ‬
‫ورودي‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬ ‫ﮐﺎﻟﻤﻦ‬‫ﻧﺎﻣﻌﯿﻦ‬ ‫ﻫﺎي‬‫ﮐﻨﺪ‬ ‫ﺣﻞ‬ ‫را‬]23،24،25[.‫ﻣﻮارد‬ ‫ﺟﻤﻠﻪ‬ ‫از‬
‫ﻣﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫اﺳﺘﻔﺎده‬‫ﺑﻪ‬ ‫ﺗﻮان‬]23[‫ﮐﻪ‬ ‫ﮐﺮد‬ ‫اﺷﺎره‬‫ﮐﻮﺋﯿﻨﮓ‬‫ﮐﻨﺘﺮل‬ ‫ﻫﻤﮑﺎرش‬ ‫و‬
‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫را‬ ‫ﺧﻮدرو‬ ‫ﻋﺮﺿﯽ‬ ‫ﺳﺮﻋﺖ‬UIKF‫ﺗﻮﺟ‬ ‫ﻣﻮرد‬‫داده‬ ‫ﻗﺮار‬ ‫ﻪ‬‫اﻧﺪ‬.‫ﻣﺪل‬
‫در‬ ‫ﺑﺮرﺳﯽ‬ ‫ﻣﻮرد‬ ‫ﺧﻮدرو‬]23[‫ﻏﯿﺮ‬ ،‫ﻧﺎﭘﺎﯾﺪار‬‫ﻧﻮﯾﺰي‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫داراي‬ ‫و‬ ‫ﺧﻄﯽ‬
‫زاوﯾﻪ‬ ‫و‬ ‫اﺳﺖ‬‫دو‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ،‫ﮐﺮد‬ ‫ﺧﻮاﻫﺪ‬ ‫دﻧﺒﺎل‬ ‫ﮐﻪ‬ ‫ﻣﺴﯿﺮي‬ ‫و‬ ‫ﺧﻮدرو‬ ‫ﻓﺮﻣﺎن‬ ‫ي‬
1 Inertial Navigation System
2 Global Positioning System
3. Braking Torque
4. Adaptive Nonlinear Filter
5. Modified Adaptive Nonlinear Filter
6. Unknown Input Kalman Filter
‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ورودي‬‫اﻧﺪ‬.‫آﻧﺠﺎﯾﯽ‬ ‫از‬‫ﺣﯿﻦ‬ ‫در‬ ‫ﺗﻐﯿﯿﺮ‬ ‫ﺷﻨﺎﺳﺎﯾﯽ‬ ‫ﮐﻪ‬
‫ورودي‬ ‫ﻋﻨﻮان‬ ‫ﺑﻪ‬ ‫ورودي‬ ‫اﯾﻦ‬ ‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫ﻣﺸﮑﻞ‬ ‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫ﻣﺴﯿﺮ‬ ‫ﭼﺮﺧﺶ‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﻧﺎﻣﺸﺨﺺ‬.
‫اﺳﺖ‬ ‫اﯾﻦ‬ ‫ﭘﮋوﻫﺶ‬ ‫از‬ ‫ﻫﺪف‬‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ‫ﺿﻤﻦ‬ ‫ﮐﻪ‬
‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻣﺪل‬ ‫ﺑﺮاي‬ ‫را‬ ‫آن‬ ،‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬ ‫ﻧﺎﻣﺸﺨﺺ‬
‫ﺣﺬ‬ ‫در‬ ‫آن‬ ‫ﮐﺎرآﻣﺪي‬ ،‫داده‬ ‫ﺗﻮﺳﻌﻪ‬‫اﺛﺒﺎت‬ ‫و‬ ‫ﺑﺮرﺳﯽ‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫اﺛﺮ‬ ‫ف‬
‫ﮔﺮدد‬ ‫ﺑﺮرﺳﯽ‬ ‫و‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﭘﺎﯾﺪاري‬ ‫و‬ ‫ﮔﺮدﯾﺪه‬.‫دو‬ ‫ﻫﺮ‬ ‫ﻫﻤﭽﻨﯿﻦ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬
‫آزﻣﻮن‬ ‫در‬ ‫روﯾﮑﺮد‬‫ﻫﺎي‬‫ﺗﺠﺮﺑﯽ‬‫ﻣﯽ‬ ‫ﻗﺮار‬ ‫ارزﯾﺎﺑﯽ‬ ‫ﻣﻮرد‬‫ﮔﯿﺮﻧﺪ‬.،‫راﺳﺘﺎ‬ ‫اﯾﻦ‬ ‫در‬
‫ﺗﺨﻤﯿﻦ‬‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫دو‬ ‫ﺗﻮﺳﻂ‬ ‫ﺑﻼدرﻧﮓ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ،‫ﺗﺠﺮﺑﯽ‬ ‫آزﻣﺎﯾﺶ‬ ‫در‬ ‫ﺧﻮدرو‬
‫ﭘﯿﺸﻨﻬﺎدي‬ ‫ﻓﯿﻠﺘﺮ‬‫اﻧﺠﺎم‬‫ﺷﺪ‬‫اﺳﺖ‬ ‫ه‬.‫ﮐﻪ‬ ‫ﺷﺪه‬ ‫ﺳﻌﯽ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬ ،‫ﻫﻤﭽﻨﯿﻦ‬
‫داده‬ ‫ﻫﻤﮕﺮاﯾﯽ‬‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﺮاي‬ ‫ﻫﺎ‬‫ﻧﺎﻣﺸﺨﺺ‬‫ﻣﻮرد‬ ‫ﻧﯿﺰ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬
‫ﮔﯿﺮد‬ ‫ﻗﺮار‬ ‫ﺗﺤﻠﯿﻞ‬ ‫و‬ ‫ارزﯾﺎﺑﯽ‬.‫ﻃﺮاﺣﯽ‬ ‫در‬ ،‫ﻓﯿﻠﺘﺮ‬ ‫دو‬ ‫اﯾﻦ‬ ‫ﺗﻮاﻧﺎﯾﯽ‬ ‫ارزﯾﺎﺑﯽ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬
‫آزﻣﻮن‬‫واﻗﻌﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﻌﯿﯿﻦ‬ ‫ﺑﺮاي‬ ‫ﺳﻨﺞ‬ ‫ﺷﺘﺎب‬ ‫ﺳﻨﺴﻮر‬ ‫از‬ ‫ﺗﺠﺮﺑﯽ‬ ‫ﻫﺎي‬‫ﺧﻮدرو‬
‫ﺷﺪ‬ ‫اﺳﺘﻔﺎده‬‫اﺳﺖ‬ ‫ه‬.
‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫دوم‬ ‫ﺑﺨﺶ‬ ‫در‬،‫ﻣﯽ‬ ‫ﻣﻌﺮﻓﯽ‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﻣﺪل‬‫ﺳﭙﺲ‬ ‫و‬ ‫ﺷﻮد‬
‫اراﺋﻪ‬ ‫از‬ ‫ﺑﻌﺪ‬ ،‫ﺳﻮم‬ ‫ﺑﺨﺶ‬ ‫در‬‫ﺗﺤﻠﯿﻞ‬ ‫و‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫روﯾﮑﺮد‬ ‫ي‬
‫ﻧﺎﻣﻌﯿﻦ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫روﯾﮑﺮد‬ ،‫آن‬ ‫ﻫﻤﮕﺮاﯾﯽ‬
(UIIEKF7)‫ﻣﯽ‬ ‫ﭘﯿﺸﻨﻬﺎد‬ ‫را‬‫دﻫﺪ‬.‫اداﻣﻪ‬ ‫در‬ ‫ﻫﻤﭽﻨﯿﻦ‬‫ﺑ‬ ‫ﺑﺨﺶ‬ ‫اﯾﻦ‬ ‫ي‬‫ﻣﻌﺮﻓﯽ‬ ‫ﻪ‬
‫ﻓﯿﻠﺘﺮ‬‫ﻏﯿﺮﺧﻄﯽ‬‫ﺷﺪه‬ ‫اﺻﻼح‬ ‫ﺗﻄﺒﯿﻘﯽ‬(MANF)‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﺮداﺧﺘﻪ‬.‫اداﻣﻪ‬ ‫در‬‫و‬
‫ﻣﺬﮐﻮر‬ ‫روﯾﮑﺮد‬ ‫دو‬ ‫ارزﯾﺎﺑﯽ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﺗﺠﺮﺑﯽ‬ ‫آزﻣﻮن‬ ‫ﯾﮏ‬ ،‫ﭼﻬﺎرم‬ ‫ﺑﺨﺶ‬ ‫در‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻃﺮاﺣﯽ‬.‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﻧﺘﺎﯾﺞ‬ ‫از‬ ‫ﺟﺎﻣﻊ‬ ‫ارزﯾﺎﺑﯽ‬ ‫و‬ ‫ﺗﺤﻠﯿﻞ‬
‫ﻃﻮﻟﯽ‬‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﭘﻨﺠﻢ‬ ‫ﺑﺨﺶ‬ ‫در‬ ،‫ﺟﺰﺋﯿﺎت‬ ‫ذﮐﺮ‬ ‫ﺑﺎ‬ ‫ﭘﯿﺸﻨﻬﺎدي‬ ‫روﯾﮑﺮد‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﺑﺎ‬
‫اﺳﺖ‬.‫ﻧﺘﯿﺠﻪ‬ ‫ﺷﺎﻣﻞ‬ ،‫ﺷﺸﻢ‬ ‫ﺑﺨﺶ‬‫ﺟﻤﻊ‬ ‫و‬ ‫ﮔﯿﺮي‬‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺑﻨﺪي‬.
2-‫ﺳﺎزي‬ ‫ﻣﺪل‬
‫ﺑﺎ‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫در‬ ‫ﺷﺪه‬ ‫ذﮐﺮ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫ﻣﻘﺪﻣﻪ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬
‫از‬ ‫اﺳﺘﻔﺎده‬UIIEKF‫اﺳﺖ‬ ‫ﻧﯿﺎز‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬ ‫ﻣﺪل‬ ‫ﺑﻪ‬.‫ﯾﮏ‬ ‫داﺷﺘﻦ‬ ‫رو‬ ‫اﯾﻦ‬ ‫از‬
‫ﻣﯽ‬ ‫ﻧﻈﺮ‬ ‫ﺑﻪ‬ ‫ﺿﺮوري‬ ،‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﺧﻮدروي‬ ‫از‬ ‫ﺳﺎده‬ ‫و‬ ‫دﻗﯿﻖ‬ ‫ﻣﺪل‬‫رﺳﺪ‬.‫ﻣﻌﺎدﻟﻪ‬‫ﻫﺎي‬
‫ﺑﺮ‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬‫در‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﻧﺘﺎﯾﺞ‬ ‫اﺳﺎس‬]1،26،27[‫راﺑﻄﻪ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ،
)2(‫ﻣﯽ‬ ‫ﻣﻌﺮﻓﯽ‬‫ﺷﻮﻧﺪ‬.‫داده‬ ،‫ﻣﺪل‬ ‫اﯾﻦ‬‫و‬ ‫ﺟﻠﻮ‬ ‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﻫﺎي‬
‫اﺳﺘ‬ ‫را‬ ‫ﻋﻘﺐ‬ ‫ﭼﺮخ‬‫ﺗﻌﻠﯿﻖ‬ ‫ﻋﻤﻮدي‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ‫و‬ ‫ﻏﻠﺖ‬ ‫ﺣﺮﮐﺖ‬ ‫ﺷﺎﻣﻞ‬ ‫وﻟﯽ‬ ‫ﮐﺮده‬ ‫ﻔﺎده‬
‫ﻧﻤﯽ‬‫ﺷﻮد‬.‫ﺟﺎده‬ ‫ﯾﮏ‬ ‫روي‬ ‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ،‫ﻫﻤﭽﻨﯿﻦ‬‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﻣﺴﻄﺢ‬ ‫ي‬
‫اﺳﺖ‬ ‫ﺷﺪه‬.‫ﺷﮑﻞ‬1)‫ب‬ ‫و‬ ‫اﻟﻒ‬(‫و‬ ‫ﺧﻮدرو‬ ‫آزادي‬ ‫درﺟﻪ‬ ‫ﭘﻨﺞ‬ ‫ﻣﺪل‬ ‫ﺷﻤﺎﺗﯿﮏ‬‫ﺷﮑﻞ‬
2‫ﺗﺮﻣﺰ‬ ‫ﺣﺎل‬ ‫در‬ ‫ﺧﻮدروﯾﯽ‬ ‫آزاد‬ ‫دﯾﺎﮔﺮام‬‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫ﮔﯿﺮي‬‫دﻫﺪ‬.
̇ =
1
− cos − sin − +
̇ =
1
cos − sin + +
̇ =
1
cos − sin −
̇ =
1
[ − ]
)2(̇ =
1
[ − (1 − ) ]
7. Unknown Input Iteration Extended Kalman Filter

4. ‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫اﻟﻒ‬
‫ب‬
‫ﺷﮑﻞ‬1‫اﻟﻒ‬ ‫آزادي؛‬ ‫درﺟﻪ‬ ‫ﭘﻨﺞ‬ ‫ﺑﺎ‬ ‫ﭼﺮخ‬ ‫دو‬ ‫ﻣﺪل‬:‫ب‬ ،‫ﺑﺎﻻ‬ ‫ﻧﻤﺎي‬:‫ﺟﺎﻧﺒﯽ‬ ‫ﻧﻤﺎي‬
‫ﺷﮑﻞ‬2‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﺣﺎل‬ ‫در‬ ‫ﺧﻮدرو‬ ‫اد‬‫ز‬‫آ‬ ‫دﯾﺎﮔﺮام‬
‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺗﺎﯾﺮ‬ ‫ﺑﺮ‬ ‫وارده‬ ‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬ ‫ﻧﯿﺮوﻫﺎي‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)3(‫و‬)4(
‫ﻣﯽ‬ ‫ﺑﺪﺳﺖ‬‫آﯾﻨﺪ‬]2،16،26[.
)3(=
)4(=
‫ﺷﮑﻞ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬2‫ﭼﺮخ‬ ‫ﺑﺮ‬ ‫وارد‬ ‫ﻋﻤﻮدي‬ ‫ﻧﯿﺮوﻫﺎي‬ ،‫ﺧﻮدرو‬ ‫ﻋﻘﺐ‬ ‫و‬ ‫ﺟﻠﻮ‬ ‫ﻫﺎي‬
‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﺣﯿﻦ‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)5(‫و‬)6(‫ﻣﯽ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﺷﻮﻧﺪ‬]28[.
)5(=
2( + )
+
2( + )
−
2( + )
)6(= −
2( + )
+
2( + )
+
2( + )
‫راﺑﻄﻪ‬ ‫در‬‫ﻫ‬‫ﺎي‬)3(‫و‬)4(‫ﭼﺮخ‬ ‫ﺑﯿﻦ‬ ‫اﺻﻄﮑﺎك‬ ‫ﺿﺮاﯾﺐ‬‫ﻋﻘﺐ‬ ‫و‬ ‫ﺟﻠﻮ‬ ‫ﻫﺎي‬
‫راﺑﻄﻪ‬ ‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺟﺎده‬ ‫و‬ ‫ﺧﻮدرو‬‫ﻫﺎي‬‫ﺑﻮﺧﺎرت‬،)7(‫و‬)8(‫اﺳﺖ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻗﺎﺑﻞ‬.
)7(= 1 − −
)8(= 1 − −
‫راﺑﻄﻪ‬ ‫اﯾﻦ‬ ‫در‬‫ﻫﺎ‬،‫و‬‫ﺿﺮاﯾﺐ‬‫ﺑﻮﺧﺎرت‬‫و‬‫ﻣﯽ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻋﺪد‬‫ﺑﺎﺷﺪ‬.
‫ﭼﺮخ‬ ‫در‬ ‫ﻋﺮﺿﯽ‬ ‫و‬ ‫ﻃﻮﻟﯽ‬ ‫ﻟﻐﺰش‬‫آن‬ ‫ﺑﺮآﯾﻨﺪ‬ ‫و‬ ‫ﻋﻘﺐ‬ ‫و‬ ‫ﺟﻠﻮ‬ ‫ﻫﺎي‬‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻧﯿﺰ‬ ‫ﻫﺎ‬
‫راﺑﻄﻪ‬‫ﻫﺎي‬)9(‫ﺗﺎ‬)12(‫ﻗﺎﺑﻞ‬‫ﻣﯽ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﺑﺎﺷﺪ‬.
)9(=
1 cos −
sin
)10(=
1 cos −
sin
)11(= +
)12(= +
‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺮآﯾﻨﺪ‬‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﻧﯿﺰ‬ ‫ﻋﻘﺐ‬ ‫و‬ ‫ﺟﻠﻮ‬ ‫ﻫﺎي‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)13(‫و‬
)14(‫اﺳﺖ‬ ‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﻗﺎﺑﻞ‬:
)13(= − +
)14(= + +
‫راﺑﻄﻪ‬‫ﻫﺎي‬)15(‫و‬)16(‫زاوﯾﻪ‬ ‫ﻧﯿﺰ‬‫ﭼﺮخ‬ ‫ﻟﻐﺰش‬ ‫ي‬‫ﻫﺎي‬‫ﻧﺸﺎن‬ ‫را‬ ‫ﻋﻘﺐ‬ ‫و‬ ‫ﺟﻠﻮ‬
‫ﻣﯽ‬‫دﻫﻨﺪ‬.
)15(= − tan
−
)16(= − tan
+
‫راﺑﻄﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬،‫ﻓﻮق‬ ‫ﻫﺎي‬‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﮐﻨﻨﺪه‬ ‫ﺗﻮﺻﯿﻒ‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬
‫راﺑﻄﻪ‬ ‫ﻣﻄﺎﺑﻖ‬ ‫ﺧﻮدرو‬)17(‫ﺑﻮد‬ ‫ﺧﻮاﻫﻨﺪ‬.
)17(( ) = , , , ,
‫راﺑﻄﻪ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫واﻗﻌﯽ‬ ‫ﻣﺪل‬ ‫ورودي‬ ‫ﺑﺮدار‬ ‫ﻫﻤﭽﻨﯿﻦ‬)18(‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.
)18(
( )
( )
=
‫ﮐﻪ‬( )‫و‬ ‫ﻣﻌﯿﻦ‬ ‫ورودي‬( )‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬‫راﺑﻄﻪ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﺳﯿﺴﺘﻢ‬‫ي‬
‫راﺑﻄﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬ ‫ﻧﯿﺰ‬ ‫ﺧﺮوﺟﯽ‬)19(‫ﻣﯽ‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﺷﻮد‬:
)19(
( )
( )
= +
( )
( )
‫آن‬ ‫در‬ ‫ﮐﻪ‬( )‫و‬( )‫ﺑﻪ‬ ‫و‬ ‫ﺻﻔﺮ‬ ‫ﻣﯿﺎﻧﮕﯿﻦ‬ ‫ﺑﺎ‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﮔﻮﺳﯽ‬ ‫ﺳﻔﯿﺪ‬ ‫ﻧﻮﯾﺰ‬
‫وارﯾﺎﻧﺲ‬ ‫ﺑﺎ‬ ‫ﺗﺮﺗﯿﺐ‬‫ﻫﺎي‬‫و‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬.‫ﺧﺮوﺟﯽ‬‫ﻫﺎ‬)‫ﺳﺮﻋﺖ‬
‫زاوﯾﻪ‬‫اي‬‫ﭼﺮخ‬‫ﻫﺎ‬(‫ﭼﺮخ‬ ‫روي‬ ‫ﺑﺮ‬ ‫ﺷﺪه‬ ‫ﻧﺼﺐ‬ ‫ﺳﻨﺴﻮر‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫اﻧﺪازه‬ ‫ﻫﺎ‬‫ﮔﯿﺮي‬
‫ﻣﯽ‬‫ﺷﻮﻧﺪ‬.‫راﺑﻄﻪ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫ﻫﺎي‬)2(‫ﺗﺎ‬)19(‫راﺑﻄﻪ‬‫ﻫﺎي‬‫ﻃﯽ‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮏ‬
‫ﻗﺎﺑﻞ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﺑﺎزﻧﻮﯾﺴﯽ‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)20(‫و‬)21(‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.
)20(̇( ) = [ ( ), ( ), ( )]
)21(( ) = ℎ[ ( )] + ( )
‫ﮐﻪ‬
)22([ ( ), ( ), ( )]

5. 5
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
=
⎣
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎡
1
− cos − sin − +
1
cos − sin + +
1
cos − sin −
1
[ − ]
1
[ − (1 − ) ]
⎦
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎤
)23(ℎ[ ( )] =
0 0 0
0 0 0
1 0
0 1
( )
‫ﺷﮑﻞ‬3‫ﺑﺮ‬ ‫را‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺣﯿﻦ‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﺑﻠﻮﮐﯽ‬ ‫دﯾﺎﮔﺮام‬
‫راﺑﻄﻪ‬ ‫اﺳﺎس‬‫ﻫﺎي‬)2(‫ﺗﺎ‬)19(‫ﻣﯽ‬ ‫ﻧﺸﺎن‬‫دﻫﺪ‬.
3-‫ﺗﺨﻤﯿﻦ‬‫ﻧﺎﻣ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﺳﺮﻋﺖ‬ ‫ﮔﺮ‬‫ﺸﺨﺺ‬
‫اﺳﺖ‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮ‬ ‫ﭘﻨﺞ‬ ‫داراي‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﻣﺪل‬ ،‫ﺷﺪه‬ ‫اﻧﺠﺎم‬ ‫ﻣﺪﻟﺴﺎزي‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬
‫آن‬ ‫ﻣﺘﻐﯿﺮ‬ ‫دو‬ ‫ﮐﻪ‬‫و‬‫اﻧﺪازه‬ ‫ﻗﺎﺑﻞ‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫ﻃﺮﯾﻖ‬ ‫از‬‫ﮔﯿﺮ‬‫ي‬
‫ﻣﯽ‬‫ﺑﺎﺷﻨﺪ‬.‫ﻣﺴﺎﻟﻪ‬ ‫اﻣﺎ‬‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ورودي‬ ‫وﺟﻮد‬ ،‫ﻣﻬﻢ‬ ‫ي‬)(‫ﮐﻪ‬ ‫اﺳﺖ‬
‫اﻧﺪازه‬‫ﻣﯽ‬ ‫ﭘﺮﻫﺰﯾﻨﻪ‬ ‫ﯾﺎ‬ ‫و‬ ‫ﻧﺒﻮده‬ ‫ﻣﻤﮑﻦ‬ ‫ﺳﺎدﮔﯽ‬ ‫ﺑﻪ‬ ‫آن‬ ‫ﮔﯿﺮي‬‫ﺑﺎﺷﺪ‬.‫در‬ ،‫اﺳﺎس‬ ‫اﯾﻦ‬ ‫ﺑﺮ‬
‫ورودي‬ ‫ﺑﺎ‬ ‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ،‫روﯾﮑﺮد‬ ‫دو‬ ‫از‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬‫و‬ ‫ﻧﺎﻣﺸﺨﺺ‬
‫ﺳ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﺷﺪه‬ ‫اﺻﻼح‬ ‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺮﻋﺖ‬‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬
‫ﻣﯽ‬ ‫اﺳﺘﻔﺎده‬‫ﮔﺮدد‬.‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﺨﺶ‬ ‫اﯾﻦ‬ ‫در‬‫ﻧﺎﻣﺸﺨﺺ‬‫ﺑﺮرﺳﯽ‬ ‫ﻣﻮرد‬
‫ﮔﺮﻓﺖ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻗﺮار‬.
3-1-‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬
‫در‬]28[‫ﺑﺎ‬ ‫ﺧﻄﯽ‬ ‫ﻫﺎي‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﺑﺮاي‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﯾﮏ‬
‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﻧﺎﻣﺸﺨﺼﯽ‬ ‫ورودي‬)24(‫ﺗﺎ‬)25(‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬.
)24(= + +
)25(= +
‫ﮐﻪ‬،‫ﺳﯿﺴﺘﻢ‬ ‫ﺣﺎﻟﺖ‬‫ورودي‬‫ﻫﺎي‬‫ﻧﺎﻣﺸﺨﺺ‬‫و‬
‫ﻣﯽ‬ ‫اﻧﺪازه‬ ‫ﺑﺮدار‬‫ﺑﺎﺷﺪ‬.‫ﻫﻤﭽﻨﯿﻦ‬‫و‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﻧﻮﯾﺰ‬‫اﻧﺪازه‬ ‫ﻧﻮﯾﺰ‬‫ﻣﯽ‬ ‫ﮔﯿﺮي‬‫ﺑﺎﺷﻨﺪ‬
‫ﻣﺎﺗﺮﯾﺲ‬ ‫و‬ ‫ﺻﻔﺮ‬ ‫ﻣﯿﺎﻧﮕﯿﻦ‬ ‫ﺑﺎ‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﺳﻔﯿﺪ‬ ‫ﻧﻮﯾﺰ‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﮐﻪ‬‫ﺑﻪ‬ ‫ﮐﻮوارﯾﺎﻧﺴﯽ‬ ‫ﻫﺎي‬
‫ﺻﻮرت‬‫راﺑﻄﻪ‬)26(‫ﻣﯽ‬‫ﺑﺎﺷﻨﺪ‬:
)26(
{ } =
{ } =
‫ﮐﻪ‬‫و‬ ‫ﮐﺮوﻧﮑﺮ‬ ‫دﻟﺘﺎي‬ ‫ﺗﺎﺑﻊ‬"T"‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫ﺗﺮاﻧﻬﺎده‬ ‫ﻋﻤﻠﮕﺮ‬‫دﻫﺪ‬.
‫ﻣﯽ‬ ‫زﯾﺮ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﺳﺎﺧﺘﺎري‬ ‫داراي‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬‫ﺑﺎﺷﺪ‬:
‫رﺳﺎﻧﯽ‬ ‫روز‬ ‫ﺑﻪ‬‫ﻣﺸﺎﻫﺪات‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬:
= | +
= |
= + ( − )
×
| = | + − |
)27(| = ( − ) | ( − )
+
‫ﺑﻪ‬‫زﻣﺎﻧﯽ‬ ‫رﺳﺎﻧﯽ‬ ‫روز‬:
| = |
)28(| = | +
‫راﺑﻄﻪ‬ ‫اﯾﻦ‬ ‫در‬ ‫رﻓﺘﻪ‬ ‫ﺑﮑﺎر‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫ﮐﻪ‬‫ﺷﺪه‬ ‫داده‬ ‫ﻧﺸﺎن‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬‫در‬
‫ﺟﺪول‬1‫ﻫﺴﺘﻨﺪ‬ ‫ﺗﻌﺮﯾﻒ‬ ‫ﻗﺎﺑﻞ‬.
‫ﺣﻀﻮر‬ ‫در‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬ ‫ﺻﺤﯿﺢ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫اﻣﮑﺎن‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﻋﻤﺪه‬ ‫وﯾﮋﮔﯽ‬
‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬‫اﺳﺖ‬]28،29[.‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ‫ﺑﺮاي‬ ‫ﻻزم‬ ‫ﺷﺮاﯾﻂ‬
‫ورودي‬ ‫ﺗﻌﺪاد‬ ‫اﯾﻨﮑﻪ‬ ‫از‬ ‫اﺳﺖ‬ ‫ﻋﺒﺎرت‬‫ﻫﺎي‬‫ﻧﺎﻣﺸﺨﺺ‬‫ﻣﯽ‬‫ﺗﻌﺪاد‬ ‫از‬ ‫ﺑﺎﯾﺴﺖ‬
‫ﺧﺮوﺟﯽ‬‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫دﯾﮕﺮ‬ ‫ﻋﺒﺎرت‬ ‫ﺑﻪ‬ ،‫ﻧﺒﺎﺷﺪ‬ ‫ﺑﯿﺸﺘﺮ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﻫﺎي‬‫رﺗﺒﻪ‬
‫ﻣﺎﺗﺮﯾﺲ‬‫ﻣﺎﺗﺮﯾﺲ‬ ‫رﺗﺒﻪ‬ ‫از‬ ‫ﮐﻮﭼﮑﺘﺮ‬‫ﻧﺒﺎ‬‫ﺷﺪ‬.
‫ﺷﮑﻞ‬3‫دﯾﺎﮔﺮام‬‫ﺑﻠﻮﮐ‬‫د‬ ‫ﯽ‬‫ﺧﻮدرو‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﯾﻨﺎﻣﯿﮏ‬

6. 6
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﺟﺪول‬1‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬
‫ﺗﻮﺻﯿﻒ‬ ‫ﺳﻤﺒﻞ‬
‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬ ‫ﺗﺨﻤﯿﻦ‬‫ﺑﺮاي‬∈ [1, ] |
‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬ ‫ﺗﺨﻤﯿﻦ‬‫ﺑﺮاي‬∈ [1, − 1]
)‫ﻣﺮﺣﻠﻪ‬ ‫در‬ ‫ﻫﺎ‬ ‫ﺣﺎﻟﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫از‬ ‫اوﻟﯿﻪ‬ ‫ﺣﺪس‬(
|
‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﻬﺮه‬ ‫ﻣﺎﺗﺮﯾﺲ‬‫ﻧﺎﻣﺸﺨﺺ‬
‫ﻣﺮﺣﻠﻪ‬ ‫در‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬ ‫ﮐﻮوارﯾﺎﻧﺲ‬ ‫ﻣﺎﺗﺮﯾﺲ‬ |
‫ﻣﺮﺣﻠﻪ‬ ‫در‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬ ‫ﮐﻮوارﯾﺎﻧﺲ‬ ‫ﻣﺎﺗﺮﯾﺲ‬ ‫از‬ ‫اوﻟﯿﻪ‬ ‫ﺣﺪس‬
‫ﻗﺒﻞ‬ ‫ﻣﺮﺣﻠﻪ‬ ‫ﻣﺤﺎﺳﺒﺎت‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬
|
‫ﺑﻬﺮه‬‫ﻣﺎﺗﺮﯾﺴﯽ‬)‫ﻣﯿﺎﻧﯽ‬ ‫ﻣﺘﻐﯿﺮ‬(
‫ﺑﻬﺮه‬‫ﻣﺎﺗﺮﯾﺴ‬‫ﯽ‬)‫ﻣﯿﺎﻧﯽ‬ ‫ﻣﺘﻐﯿﺮ‬(
3-1-1-‫ﺗﺤﻠﯿﻞ‬‫ﻋﻤﻠﮑﺮد‬‫ﻓﯿﻠﺘﺮ‬
‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﻋﻤﻞ‬ ‫در‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ‫دﻧﺒﺎل‬ ‫ﺑﻪ‬ ‫ﮐﻪ‬ ‫آﻧﺠﺎﯾﯽ‬ ‫از‬
‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﻣﯽ‬ ‫ﺧﻮدرو‬‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﻣﻘﺪار‬ ‫ﻫﻤﮕﺮاﯾﯽ‬ ‫و‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﭘﺎﯾﺪاري‬ ،‫ﺑﺎﺷﯿﻢ‬
‫واﻗ‬ ‫ﻣﻘﺪار‬ ‫ﺑﻪ‬‫اﺳﺖ‬ ‫اﻫﻤﯿﺖ‬ ‫ﺣﺎﺋﺰ‬ ‫ﺑﺴﯿﺎر‬ ‫ﻌﯽ‬.‫از‬‫اﯾﻦ‬‫رو‬‫ﻓﯿﻠﺘﺮ‬ ‫ﭘﺎﯾﺪاري‬ ‫ﺑﺨﺶ‬ ‫اﯾﻦ‬ ‫در‬
‫ﻣﯽ‬ ‫ﻗﺮار‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﻣﻮرد‬‫ﮔﯿﺮد‬.‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ،‫ﻣﻨﻈﻮر‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬‫ﺗﺤﻠﯿﻞ‬
‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬.‫ﺑﻪ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬‫ﺻﻮرت‬‫راﺑﻄﻪ‬)29(‫ﻣﯽ‬ ‫ﺗﻌﺮﯾﻒ‬‫ﮔﺮدد‬:
)29(| = − |
‫ﻣﺘﻌﺎﻗﺒﺎ‬:
)30(| = − |
‫ﺟﺎﯾﮕﺰﯾﻨﯽ‬ ‫ﺑﺎ‬‫راﺑﻄﻪ‬‫ي‬)24(‫و‬‫راﺑﻄﻪ‬‫ﭼﻬﺎرم‬ ‫ي‬)27(‫راﺑﻄﻪ‬ ‫در‬‫ي‬)30(،
‫ﻣﯽ‬ ‫اﺳﺘﺨﺮاج‬ ‫زﯾﺮ‬ ‫ﻧﺘﺎﯾﺞ‬‫ﮔﺮدﻧﺪ‬.
| = + + − |
− − |
| = + +
− | − + − |
| = | + +
− ( + + ) +
− | )
| = | − | +
+ − ( ( + ) + )
| = ( − ) | + +
− ( ( + )+ )
| = ( − ) |
+ [ + ] − [ ]
− [ + ]
)31(
| = ( − ) | − [ ]
+ ( − ) [ ]
+ ( − ) [ ]
‫ﮐﻪ‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫و‬‫ﻧﻮﯾﺰ‬ ،‫ﻫﺎي‬‫ﺳﻔﯿﺪ‬ ‫ﮔﻮﺳﯽ‬‫ﻣﺴﺘﻘﻞ‬‫ﻣﯿﺎﻧﮕﯿﻦ‬ ‫ﺑﺎ‬
‫ﺻﻔﺮ‬‫ﻣﯽ‬‫ﺑﺎﺷﻨﺪ‬،‫راﺑﻄﻪ‬‫ي‬)32(‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺑﺮﻗﺮار‬.
)32(| = ( − ) |
+ ( − ) [ ]
‫راﺑﻄﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫ي‬)32(،‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬‫ﻧﺎﻣ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺸﺨﺺ‬
‫اﮔﺮ‬ ،‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻫﻤﮕﺮا‬‫ﺑﺎﺷﺪ‬ ‫ﺑﺮﻗﺮار‬ ‫ﻫﻤﻮاره‬ ‫زﯾﺮ‬ ‫ﺷﺮط‬ ‫دو‬:
‫ﺿﺮﯾﺐ‬[ ]‫ﺑﺎﺷﺪ‬ ‫ﺻﻔﺮ‬.
‫ﻫﻤﭽﻨﯿﻦ‬‫وﯾﮋه‬ ‫ﻣﻘﺎدﯾﺮ‬ ‫ﺗﻤﺎﻣﯽ‬‫ي‬( − )‫داﯾﺮه‬ ‫داﺧﻞ‬‫واﺣﺪ‬ ‫ي‬
‫ﮔﯿﺮد‬ ‫ﻗﺮار‬.
‫در‬)33(‫ﻣﯽ‬ ‫داده‬ ‫ﻧﺸﺎن‬‫ﻫﻤﮕﺮاﯾﯽ‬ ‫اول‬ ‫ﺷﺮط‬ ‫ﮐﻪ‬ ‫ﺷﻮد‬)‫ﺿﺮﯾﺐ‬ ‫ﺷﺪن‬ ‫ﺻﻔﺮ‬
[ ](‫ﺑﺮ‬ ‫ﻫﻤﻮاره‬‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ﻗﺮار‬.‫داده‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﺑﺎ‬ ‫دوم‬ ‫ﺷﺮط‬‫آزﻣﺎﯾﺶ‬ ‫ﺗﺤﺖ‬ ‫ﻫﺎي‬
‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫اﺛﺒﺎت‬.‫راﺑﻄﻪ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬‫ﺳﻮم‬ ‫ي‬)27(‫در‬ ‫آن‬ ‫ﺿﺮب‬ ‫و‬""،
‫راﺑﻄﻪ‬)33(‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ‫ﮐﻪ‬ ‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺣﺎﺻﻞ‬‫اول‬ ‫ﺷﺮط‬ ‫دﻫﺪ‬)‫ﺿﺮﯾﺐ‬ ‫ﺷﺪن‬ ‫ﺻﻔﺮ‬
[ ](‫ﺑﺮﻗﺮا‬ ‫ﻫﻤﻮاره‬‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫ر‬.
= + ( − )
×
×
= + ( − )
× ⟶
= + ( − ) ⟶
= ⟶
)33(( − ) = 0
‫و‬ ‫اﺳﺖ‬ ‫ﺧﻄﯽ‬ ‫ﻏﯿﺮ‬ ‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬ ‫ﻣﺪل‬ ‫ﮐﻪ‬ ‫آﻧﺠﺎﯾﯽ‬ ‫از‬‫ﻫﺪف‬‫اوﻟﯿﻪ‬،‫ﺗﻮﺳﻌﻪ‬
‫ﻣﺪل‬ ‫ﺑﺮاي‬ ‫آن‬‫ﻏﯿﺮ‬ ‫ﻫﺎي‬،‫اﺳﺖ‬ ‫ﺧﻄﯽ‬‫دوم‬ ‫ﺷﺮط‬‫ﻣﺤﻠﯽ‬ ‫ﭘﺎﯾﺪاري‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﺑﺮاي‬‫در‬
‫اداﻣﻪ‬‫ﺗﻮﺟﻪ‬ ‫ﻣﻮرد‬‫ﻗﺮار‬ ‫ﺑﺮﺳﯽ‬ ‫و‬‫ﺑﻮد‬ ‫ﺧﻮاﻫﺪ‬.
3-1-2-‫ﮐﺎﻟﻤ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﻦ‬
‫راﺑﻄﻪ‬ ‫اﯾﻨﮑﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫اﯾﻦ‬ ‫در‬ ،‫اﺳﺖ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﺧﻮدرو‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﻫﺎي‬
‫ﻣﻌﺎدﻟﻪ‬ ‫ﺑﺨﺶ‬‫راﺑﻄﻪ‬ ‫ﺑﻪ‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﻫﺎي‬‫ﻫﺎي‬
‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﻋﻨﻮان‬ ‫ﺑﺎ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ﺑﺮاي‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻮرد‬
‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬‫ﺗﺒﺪﯾﻞ‬‫ﻣﯽ‬‫ﺷﻮد‬.‫راﺑﻄﻪ‬ ‫ﺑﺎ‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﺳﯿﺴﺘﻢ‬‫ﻫﺎي‬
)34(‫و‬)35(‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬.
)34(= ( , ) + +
)35(= +
‫ﮐﻪ‬( , )‫ﻣﻌﺎدﻟﻪ‬‫ﻫﺎي‬‫ﺣﺎﻟﺖ‬ ‫از‬ ‫ﻏﯿﺮﺧﻄﯽ‬‫ﻫﺎ‬‫ورود‬ ‫و‬‫ﻣﯽ‬ ‫ﺳﯿﺴﺘﻢ‬ ‫ي‬‫ﺑﺎﺷﺪ‬.
‫راﺑﻄﻪ‬‫ﻫﺎي‬)36(‫و‬)37(‫روﯾﮑﺮد‬ ‫ﺳﺎﺧﺘﺎر‬ ،‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﻣﮑﺮر‬‫ﺑﺎ‬
‫ﻧﺎﻣ‬ ‫ورودي‬‫ﺸﺨﺺ‬‫ﻣﯽ‬ ‫ﺑﯿﺎن‬ ‫را‬‫ﮐﻨﻨﺪ‬.
‫اﻧﺪازه‬ ‫رﺳﺎﻧﯽ‬ ‫روز‬ ‫ﺑﻪ‬‫ﮔﯿﺮي‬:
| = |
| = |
, = | , +
, = | ,
, = , + − ,
× , ,
| , = | , + , − | ,
)36(| , = − , | , − ,
+ , ,
‫اﻧﺪازه‬ ‫رﺳﺎﻧﯽ‬ ‫روز‬ ‫ﺑﻪ‬ ‫راﺳﺘﺎي‬ ‫در‬،‫ﮔﯿﺮي‬‫راﺑﻄﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬‫ي‬‫ﺳﻮم‬)36(‫ﺗﺎ‬
‫راﺑﻄﻪ‬ ‫آﺧﺮﯾﻦ‬‫آن‬ ‫ي‬‫ﺗﻌﺪاد‬ ‫ﺑﻪ‬=‫ﺷﻮﻧﺪ‬ ‫ﺗﮑﺮار‬ ‫ﻣﺮﺗﺒﻪ‬.
‫زﻣﺎﻧﯽ‬ ‫رﺳﺎﻧﯽ‬ ‫روز‬ ‫ﺑﻪ‬:
| = | ,
| = | ,
| = | , | ( | , ) +
)37(| = | ,

7. 7
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﮐﻪ‬| ,‫ﻣﺎﺗﺮﯾﺲ‬ ‫ژاﮐﻮﺑﯿﻦ‬ ،( , )‫ﻧﺴﺒﺖ‬‫ﺑﻪ‬
‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.‫اﯾﻦ‬ ‫در‬‫ر‬،‫واﺑﻂ‬‫اﻧﺪﯾﺲ‬ ‫داراي‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬"+
"‫ﻧﺸﺎﻧﮕﺮ‬
‫ﻣﺘﻐﯿﺮ‬‫ﻫﺎي‬‫ﻣﯿﺎﻧﯽ‬‫ﺑﺎﺷﻨﺪ‬ ‫ﻣﯽ‬‫ﻧﻤﻮده‬ ‫درﯾﺎﻓﺖ‬ ‫را‬ ‫ﺗﺨﻤﯿﻦ‬ ‫از‬ ‫ﺣﺪس‬ ‫ﻣﻘﺪار‬ ‫ﮐﻪ‬،‫ﭘﺲ‬
‫ﺗ‬ ‫ﺗﻌﺪاد‬ ‫از‬‫ﻣﺠﻤﻮﻋﻪ‬ ‫در‬ ‫ﻣﻌﯿﻨﯽ‬ ‫ﮑﺮار‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)36(‫ﻣﻘﺪار‬‫ﺑﻪ‬ ‫را‬ ‫ﺣﺎﺻﻞ‬‫ﻣﻘﺪار‬
‫ﻣﯽ‬ ‫واﮔﺬار‬ ‫ﺣﺎﻟﺖ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬ ‫ﺗﺨﻤﯿﻦ‬‫ﮐﻨﺪ‬.‫ﻓﯿﻠﺘﺮ‬ ‫روﯾﮑﺮد‬ ‫در‬ ‫دﯾﮕﺮ‬ ‫ﻋﺒﺎرت‬ ‫ﺑﻪ‬
‫از‬ ،‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬‫اﯾﻦ‬‫ﻣﻌﺎدﻻت‬ ‫از‬ ‫ﺑﺨﺸﯽ‬ ‫ﺗﮑﺮار‬ ‫و‬ ‫ﻣﯿﺎﻧﯽ‬ ‫ﻣﺘﻐﯿﺮﻫﺎي‬
)36(،‫ﺑﻪ‬‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫دﻗﺖ‬ ‫اﻓﺰاﯾﺶ‬ ‫ﻣﻨﻈﻮر‬‫اﺳﺘﻔﺎده‬
‫ﻣﯽ‬‫ﺷﻮد‬.
3-2-‫ﻓﯿﻠﺘﺮ‬‫ﻏﯿﺮﺧﻄﯽ‬‫ﺷﺪه‬ ‫اﺻﻼح‬ ‫ﺗﻄﺒﯿﻘﯽ‬
‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬ ‫ﮐﻪ‬ ‫ﻓﯿﻠﺘﺮﻫﺎﯾﯽ‬ ‫از‬ ‫دﯾﮕﺮ‬ ‫ﯾﮑﯽ‬‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬ ‫ﺧﻮدرو‬
‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ،‫اﺳﺖ‬(ANF)‫در‬ ‫ﮐﻪ‬ ‫ﺑﻮده‬]3[‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬.‫ﻧﻘﻄﻪ‬
‫اﺳﺖ‬ ‫ﺳﺎزي‬ ‫ﭘﯿﺎده‬ ‫در‬ ‫آن‬ ‫ﺳﺎدﮔﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﻋﻤﺪه‬ ‫ﻗﻮت‬‫ﺿﻌﻒ‬ ‫ﻧﻘﺎط‬ ‫ﺣﺎﻟﯿﮑﻪ‬ ‫در‬
‫ﺷﺪ‬ ‫اﺷﺎره‬ ‫آن‬ ‫ﺑﻪ‬ ‫ﻧﯿﺰ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫ﻣﻘﺪﻣﻪ‬ ‫در‬ ‫ﮐﻪ‬ ‫دارد‬ ‫ﻣﺘﻌﺪدي‬.‫ﺑﻪ‬ ‫ﭘﯿﺸﻨﻬﺎدي‬ ‫ﻓﯿﻠﺘﺮ‬
‫راﺑﻄﻪ‬ ‫ﺻﻮرت‬‫ي‬)38(‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫اﺳﺎس‬ ‫اﯾﻦ‬ ‫ﺑﺮ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﻃﺮاﺣﯽ‬ ‫اﯾﺪه‬
‫ﺳﺮﻋﺖ‬ ‫از‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺷﺮوع‬ ‫ﺑﺎ‬‫ﻣﯽ‬ ‫ﮐﺎﺳﺘﻪ‬ ‫ﺧﻮدرو‬‫زﻣﺎﻧﯿﮑﻪ‬ ‫ﺗﺎ‬ ‫و‬ ‫ﺷﻮد‬
‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬‫ﺧﻮدرو‬ ‫ي‬)(‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫از‬‫ﻫﺎ‬
)(‫اﻓﺘﺎد‬ ‫ﺧﻮاﻫﺪ‬ ‫اﺗﻔﺎق‬ ‫ﺳﺮﻋﺖ‬ ‫ﮐﺎﻫﺶ‬ ‫ﺑﺎﺷﺪ‬ ‫ﺑﯿﺸﺘﺮ‬.‫ﻗﺎﺑﻞ‬ ‫ﻧﮑﺘﻪ‬ ‫وﻟﯿﮑﻦ‬
‫راﺑﻄﻪ‬ ‫در‬ ‫دﯾﮕﺮ‬ ‫ﺗﻮﺟﻪ‬)38(‫ﺑﻬﺮه‬ ‫وﺟﻮد‬ ،‫در‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬]3[‫ﺑﺎ‬ ‫آن‬ ‫ﺗﻨﻈﯿﻢ‬ ‫ﺑﻪ‬
‫ﭼﺎﻟﺶ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ‫ﻣﺴﺎﻟﻪ‬ ،‫ﺧﻮد‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺷﺎره‬ ‫ﺧﻄﺎ‬ ‫و‬ ‫ﺳﻌﯽ‬
‫ﻣﯽ‬ ‫ﻣﻮاﺟﻪ‬ ‫ﺟﺪي‬‫ﻧﻤﺎﯾﺪ‬.
)38(
( ) = ( − 1) +
× sgn ( − 1) − ( )
‫در‬ ‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺗﺼﺤﯿﺢ‬ ‫ﺑﺎ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺳﻌﯽ‬ ‫ﺑﺨﺶ‬ ‫اﯾﻦ‬ ‫در‬)38(‫ﺑﺴﺘﺮ‬ ،
‫ﭘﯿﺎده‬ ‫ﺑﺮاي‬ ‫ﻻزم‬‫از‬ ‫ﺻﺤﯿﺤﯽ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﻓﺮاﻫﻢ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﻋﻤﻠﯽ‬ ‫ﺳﺎزي‬
‫ﺳﺮﻋﺖ‬‫ﻃﻮﻟﯽ‬‫ﮔﺮدد‬ ‫اراﺋﻪ‬ ‫ﺧﻮدرو‬.‫و‬ ‫ﭘﺬﯾﺮﻓﺘﻪ‬ ‫اﻧﺠﺎم‬ ‫زﯾﺮ‬ ‫اﺻﻼﺣﺎت‬ ‫ﻣﻨﻈﻮر‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬
‫ﺣﺎﺻﻞ‬ ‫ﻓﯿﻠﺘﺮ‬،‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺷﺪه‬ ‫اﺻﻼح‬)MANF(‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻧﺎﻣﯿﺪه‬.
3-2-1-‫ﺗﺎﺑﻊ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬( − )‫ﻋﻼﻣﺖ‬ ‫ﺗﺎﺑﻊ‬ ‫ﺟﺎي‬ ‫ﺑﻪ‬
( − ).
‫ﺗﺎﺑﻊ‬tanh‫ﻋﻼﻣﺖ‬ ‫ﺗﻌﯿﯿﻦ‬ ‫در‬ ‫ﻣﺎ‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫رﻓﺘﺎر‬ ‫اﯾﻨﮑﻪ‬ ‫ﺿﻤﻦ‬ ،( − )
‫ﻣﺸﺘﻖ‬ ،‫دارد‬ ‫را‬‫ﻣﯽ‬ ‫ﻧﯿﺰ‬ ‫ﭘﺬﯾﺮ‬‫ﺑﺎﺷﺪ‬.‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﺗﺎﺑﻊ‬ ‫ﯾﮏ‬ ‫ﻋﻼﻣﺖ‬ ‫ﺗﺎﺑﻊ‬ ‫ﺣﺎﻟﯿﮑﻪ‬ ‫در‬
‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﺮوﺟﯽ‬ ‫ﮐﻪ‬ ‫ﺑﻮده‬ ‫ﺳﺨﺖ‬‫ﻧﻤﻮد‬ ‫ﺧﻮاﻫﺪ‬ ‫روﺑﺮو‬ ‫ﺷﺪﯾﺪي‬ ‫ﻧﻮﺳﺎﻧﺎت‬ ‫ﺑﺎ‬ ‫را‬ ‫ﮔﺮ‬.‫از‬
‫در‬ ‫رو‬ ‫اﯾﻦ‬MANF‫از‬tanh( − )‫ﺟﺎي‬ ‫ﺑﻪ‬sgn( − )
‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫اﺳﺘﻔﺎده‬.
3-2-2-،‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﻬﺮه‬ ‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﺗﻨﻈﯿﻢ‬
‫ﭘﯿﺶ‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫ﮔﺮدﯾﺪ‬ ‫ذﮐﺮ‬ ‫ﻧﯿﺰ‬ ‫ﺗﺮ‬‫ﻓﯿﻠﺘﺮ‬ ‫ﻣﺸﮑﻼت‬ ‫از‬ ‫ﯾﮑﯽ‬)38(‫اراﺋﻪ‬ ‫ﻋﺪم‬ ،
‫ﻣﯽ‬ ‫ﺑﻬﺮه‬ ‫ﻣﻘﺪار‬‫ﺑﺎﺷﺪ‬.‫ﺑﺎ‬ ‫ﺑﻬﺮه‬ ‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﺗﻨﻈﯿﻢ‬ ،‫ﻗﺴﻤﺖ‬ ‫اﯾﻦ‬ ‫در‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﺪﯾﻦ‬
‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﭘﯿﺸﻨﻬﺎد‬ ‫زﯾﺮ‬ ‫ﺷﺮاﯾﻂ‬.
‫اﻟﻒ‬-‫ﺻﻮرﺗﯿﮑﻪ‬ ‫در‬‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬،tanh ( ) = tanh( ( ) −
( ))،‫ﺑﻬﺮه‬ ‫ﻣﻘﺪار‬ ،‫ﺑﺎﺷﺪ‬ ‫ﯾﮑﺴﺎن‬ ‫ﻋﻼﻣﺖ‬ ‫داراي‬ ‫ﻣﺘﻮاﻟﯽ‬ ‫ﻣﺮﺣﻠﻪ‬ ‫دو‬ ‫در‬
‫ﯾﺎﺑﺪ‬ ‫اﻓﺰاﯾﺶ‬.‫ﻣﻌﻨﺎي‬ ‫ﺑﻪ‬ ‫ﺧﻄﺎ‬ ‫از‬ ‫ﻣﺘﻮاﻟﯽ‬ ‫ﺟﻤﻠﻪ‬ ‫دو‬ ‫ﺑﻮدن‬ ‫ﻋﻼﻣﺖ‬ ‫ﻫﻢ‬ ‫ﮐﻪ‬ ‫ﭼﺮا‬
‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺪار‬ ‫زﯾﺎد‬ ‫اﺧﺘﻼف‬‫ﻃﻮﻟﯽ‬‫ﺧﻮدرو‬)(‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬‫ﻫﺎ‬
)(‫ﻣﯽ‬ ‫و‬ ‫ﺑﻮده‬‫ﺑﻬﺮه‬ ‫اﻓﺰاﯾﺶ‬ ‫ﺑﺎ‬ ‫ﺗﻮان‬‫ﺑﯿﺸﺘﺮ‬ ‫را‬ ‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺪار‬ ،
‫داد‬ ‫ﻣﯿﻞ‬ ‫واﻗﻌﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺪار‬ ‫ﺳﻤﺖ‬ ‫ﺑﻪ‬ ‫ﭘﯿﺶ‬ ‫از‬.‫در‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ذﮐﺮ‬ ‫ﺑﻪ‬ ‫ﻻزم‬
‫ﺧﻄﺎي‬ ‫ﻣﻘﺪار‬ ‫ﺻﻮرﺗﯿﮑﻪ‬( )‫ﺳﺮﯾﻊ‬ ‫اﻓﺰاﯾﺶ‬ ‫ﻣﻮﺟﺐ‬ ‫ﺑﻬﺮه‬ ‫اﻓﺰاﯾﺶ‬ ‫ﺑﺎﺷﺪ‬ ‫ﻣﺜﺒﺖ‬‫ﺗﺮ‬
‫درﺻﻮرﺗﯿﮑﻪ‬ ‫و‬ ‫ﺷﺪه‬ ‫ﺳﺮﻋﺖ‬( )‫ﺑﻬﺮه‬ ‫اﻓﺰاﯾﺶ‬ ،‫ﺑﺎﺷﺪ‬ ‫ﻣﻨﻔﯽ‬‫اﻓﺰاﯾﺶ‬ ‫ﻣﻮﺟﺐ‬
‫ﻣﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﮐﺎﻫﺶ‬ ‫ﻧﺮخ‬‫ﮔﺮدد‬.‫راﺑﻄﻪ‬ ‫ﻣﻨﻈﻮر‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬‫ي‬)39(‫ﻣﯽ‬ ‫ﭘﯿﺸﻨﻬﺎد‬‫ﺷﻮد‬.
)39(( ) = × ( − 1)
‫ﮐﻪ‬‫ﺑﺰرگ‬ ‫ﺛﺎﺑﺖ‬ ‫ﻋﺪد‬‫ﯾﮏ‬ ‫از‬ ‫ﺗﺮ‬)( > 1)(‫اﺳﺖ‬.
‫ب‬-،‫ﺑﺎﺷﺪ‬ ‫ﯾﮑﺪﯾﮕﺮ‬ ‫ﻣﺨﺎﻟﻒ‬ ‫ﻣﺘﻮاﻟﯽ‬ ‫ﻣﺮﺣﻠﻪ‬ ‫دو‬ ‫در‬ ‫ﺧﻄﺎ‬ ‫ﻋﻼﻣﺖ‬ ‫ﺻﻮرﺗﯿﮑﻪ‬ ‫در‬
‫ﺳﺮﻋﺖ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﻣﻌﻨﯽ‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬‫ﻃﻮﻟﯽ‬‫ﺳﺮﻋﺖ‬ ‫از‬ ‫ﻣﺮﺣﻠﻪ‬ ‫دو‬ ‫اﯾﻦ‬ ‫از‬ ‫ﯾﮑﯽ‬ ‫در‬ ‫ﺧﻮدرو‬
‫ﭼﺮخ‬‫رخ‬ ‫اﺗﻔﺎﻗﯽ‬ ‫ﭼﻨﯿﻦ‬ ‫ﻫﺮﮔﺰ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫در‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﺑﻮده‬ ‫ﮐﻤﺘﺮ‬ ‫ﻫﺎ‬
‫ﻧ‬‫داد‬ ‫ﺨﻮاﻫﺪ‬‫ﺳﺮﻋﺖ‬ ‫ﺑﺮاي‬ ‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﻘﺪار‬ ‫و‬‫ﻃﻮﻟﯽ‬‫ﺣﺎﻟﺖ‬ ‫اﯾﻦ‬ ‫در‬
‫اﺳﺖ‬ ‫ﻧﺎدرﺳﺖ‬.‫ﺑﻬﺮه‬ ‫ﻣﻘﺪار‬ ‫اﺳﺎس‬ ‫اﯾﻦ‬ ‫ﺑﺮ‬‫ﯾﺎﺑﺪ‬ ‫ﮐﺎﻫﺶ‬ ‫اﺳﺖ‬ ‫ﻻزم‬.‫اﻣﺮ‬ ‫اﯾﻦ‬
‫ﮐﺎﻫﺶ‬ ‫ﻣﻮﺟﺐ‬‫ﺗﺨﻤﯿﻦ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻧﻮﺳﺎﻧﺎت‬‫ﺷﺪ‬ ‫ﺧﻮاﻫﺪ‬ ‫ﺷﺪه‬ ‫زده‬.‫از‬ ‫ﻣﻨﻈﻮر‬ ‫اﯾﻦ‬ ‫ﺑﻪ‬
‫ﻣﻌﺎدﻟﻪ‬)40(‫ﻣﯽ‬ ‫اﺳﺘﻔﺎده‬‫ﮔﺮدد‬.
)40(( ) = × ( − 1)
‫ﮐﻪ‬ξ‫ﯾﮏ‬‫ﻋﺪد‬‫ﮐﻮﭼﮏ‬ ‫ﻣﺜﺒﺖ‬ ‫ﺛﺎﺑﺖ‬‫ﯾﮏ‬ ‫از‬ ‫ﺗﺮ‬(0 < ξ < 1)‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.
‫ج‬-‫ﺑﻬﺮه‬ ‫ﻣﺤﺪوده‬ ‫ﺷﻮد‬ ‫ﺗﻮﺟﻪ‬ ‫آن‬ ‫ﺑﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫ﮐﻪ‬ ‫دﯾﮕﺮ‬ ‫ﻣﻬﻢ‬ ‫ﻧﮑﺘﻪ‬
‫اﺳﺖ‬.‫ﺑﯽ‬ ‫اﻓﺰاﯾﺶ‬‫ﻧﺎﮐﺎرآﻣﺪ‬ ‫و‬ ‫ﻋﻤﻠﯽ‬ ‫ﻏﯿﺮ‬ ‫را‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻣﺴﺎﻟﻪ‬ ‫ﺑﻬﺮه‬ ‫اﯾﻦ‬ ‫ﻣﻘﺪار‬ ‫روﯾﻪ‬
‫ﻧﻤﻮد‬ ‫ﺧﻮاﻫﺪ‬.‫ﻣﺸﮑﻞ‬ ‫اﯾﻦ‬ ‫ﺣﻞ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬‫ﻣﺤﺪوده‬‫ﺑﺮاي‬ ‫اﻃﻤﯿﻨﺎﻧﯽ‬ ‫ي‬‫ﺑﻪ‬
‫راﺑﻄﻪ‬ ‫ﺻﻮرت‬‫ي‬)41(‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬‫ﻣﯽ‬‫ﺷﻮد‬:
)41(=
( ) − ( − 1)
× sgn ( )
=
( )
sgn ( )
‫راﺑﻄﻪ‬ ‫اﯾﻦ‬ ‫در‬ ‫ﮐﻪ‬‫و‬ ‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﺷﺘﺎب‬‫ﻧﺸﺎن‬ ‫را‬ ‫ﺑﺮداري‬ ‫ﻧﻤﻮﻧﻪ‬ ‫زﻣﺎن‬
‫ﻣﯽ‬‫دﻫﺪ‬.‫ﻣﯽ‬ ‫ﻣﻼﺣﻈﻪ‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫ﺑﻬﺮه‬ ‫ﺑﺎﻻي‬ ‫ﺣﺪ‬ ‫ﮔﺮدد‬‫ﻫﻤﺎن‬ ‫واﻗﻊ‬ ‫در‬
‫ﺧﻮدرو‬ ‫ﺗﺤﻤﻞ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺷﺘﺎب‬،‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬‫از‬‫ر‬‫واﺑﻂ‬‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮏ‬،‫ﻧﺘﯿﺠﻪ‬ ‫را‬
‫ﻣﯽ‬‫دﻫﺪ‬.‫ﻗﺎﺑﻞ‬ ‫ﺷﺘﺎب‬ ‫ﻣﻘﺪار‬ ‫از‬ ‫ﺧﻮدرو‬ ‫ﺳﺮﻋﺖ‬ ‫اﻓﺰاﯾﺶ‬ ‫ﯾﺎ‬ ‫ﮐﺎﻫﺶ‬ ‫ﻧﺮخ‬ ‫ﻃﺮﻓﯽ‬ ‫از‬
‫ﮐﻪ‬ ‫ﭼﺮا‬ ،‫ﺑﻮد‬ ‫ﻧﺨﻮاﻫﺪ‬ ‫ﺑﯿﺸﺘﺮ‬ ‫ﺗﺤﻤﻞ‬‫ﮐﺮدن‬ ‫ﺗﺠﺎوز‬‫ﻣﻌﻨﯽ‬ ‫ﺑﻪ‬ ‫ﺷﺘﺎب‬ ‫ﻣﯿﺰان‬ ‫اﯾﻦ‬ ‫از‬
‫ﻣﯽ‬ ‫زﻣﯿﻦ‬ ‫و‬ ‫ﭼﺮخ‬ ‫ﺑﯿﻦ‬ ‫اﺻﻄﮑﺎك‬ ‫ﺿﺮﯾﺐ‬ ‫ﻣﺤﺪودﯾﺖ‬ ‫دﻟﯿﻞ‬ ‫ﺑﻪ‬ ‫ﻟﻐﺰش‬ ‫اﻓﺰاﯾﺶ‬‫ﺑﺎﺷﺪ‬.
‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﻣﺤﺪودﯾﺘﯽ‬ ‫ﻟﺬا؛‬)42(‫ﺑﻬﺮه‬ ‫ﺑﺮاي‬‫دارد‬ ‫وﺟﻮد‬.
)42([0 ]
‫ﮐﻪ‬a‫ﺑﺮاﺳﺎس‬‫ﺑﯿﺸﺘﺮﯾﻦ‬‫ﺧﻮدرو‬ ‫ﺗﺤﻤﻞ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺷﺘﺎب‬‫ﻣﯽ‬ ‫ﺗﻌﯿﯿﻦ‬‫ﺷﻮد‬.
3-2-3-‫ﻣ‬ ‫ﻧﻤﻮدن‬ ‫ﻟﺤﺎظ‬‫روي‬ ‫ﺑﺮ‬ ‫ﺤﺪودﯾﺖ‬‫ﺳﺮﻋﺖ‬ ‫ﺗﻐﯿﯿﺮات‬
‫ﻣﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﻐﯿﯿﺮات‬ ‫ﻧﺮخ‬ ‫ﮐﻪ‬ ‫آﻧﺠﺎﯾﯽ‬ ‫از‬‫ﺗﺤﻤﻞ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺷﺘﺎب‬ ‫ﻣﺤﺪوده‬ ‫در‬ ‫ﺑﺎﯾﺴﺖ‬
‫ﺑﺎﺷﺪ‬ ‫ﺧﻮدرو‬.‫راﺑﻄﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫اﺳﺎس‬ ‫اﯾﻦ‬ ‫ﺑﺮ‬)43(‫ﺑﺎﺷﺪ‬ ‫ﺑﺮﻗﺮار‬ ‫ﻧﯿﺰ‬.
)43(( ) =
( ) − ( − 1)
[− ]
‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬ ‫و‬ ‫اﺳﺎس‬ ‫اﯾﻦ‬ ‫ﺑﺮ‬‫راﺑﻄﻪ‬‫ﻫﺎي‬)38(‫ﺗﺎ‬)40(‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫راﺑﻄﻪ‬
‫ﻣﯽ‬ ‫را‬ ‫ﺗﻄﺒﯿﻘﯽ‬‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﺗﻮان‬)44(‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫اﻟﮕﻮرﯾﺘﻤﯽ‬ ‫و‬ ‫ﻧﻤﻮد‬ ‫ﺑﺎزﻧﻮﯾﺴﯽ‬
‫در‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﺸﺎن‬‫ﺷ‬‫ﮑﻞ‬4‫داد‬ ‫ﻗﺮار‬ ‫ﻧﻈﺮ‬ ‫ﻣﺪ‬ ‫آن‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫را‬.
)44(
( ) = ( − 1) + ( )
× tanh ( − 1) − ω( )
4-‫آزﻣﻮن‬‫واﻗﻌﯽ‬ ‫ﻫﺎي‬
‫ﯾﮏ‬ ،‫ﺑﺨﺶ‬ ‫اﯾﻦ‬ ‫در‬‫ﻣﻘﺎﯾﺴﻪ‬ ‫و‬ ‫ارزﯾﺎﺑﯽ‬ ‫ﺑﺮاي‬ ‫ﺗﺠﺮﺑﯽ‬ ‫آزﻣﺎﯾﺶ‬‫روﯾﮑﺮد‬ ‫دو‬ ‫ي‬
UIIEKF‫و‬MANF‫ﻃﻮل‬ ‫در‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﻃﺮاﺣﯽ‬ ،‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬.

8. ‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﺷﮑﻞ‬4‫ﺷﺪه‬ ‫اﺻﻼح‬ ‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬ ‫اﻟﮕﻮرﯾﺘﻢ‬
‫رﺳﯿﺪن‬ ‫از‬ ‫ﭘﺲ‬ ‫و‬ ‫ﺷﺪه‬ ‫آﻏﺎز‬ ،‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬ ‫ﺷﺮوع‬ ‫ﺑﺎ‬ ‫ﺗﺠﺮﺑﯽ‬ ‫آزﻣﺎﯾﺶ‬
‫ﺷﺪﯾﺪ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ،‫ﻣﻨﺎﺳﺐ‬ ‫ﻣﻘﺪار‬ ‫ﺑﻪ‬ ‫ﺧﻮدرو‬ ‫ﺳﺮﻋﺖ‬‫ﻣﯽ‬ ‫اﻧﺠﺎم‬‫ﺷﻮد‬.‫ﻓﺮآﯾﻨﺪ‬ ‫در‬
‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬‫ﺗﺨﻤﯿﻦ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺧﻮدرو‬‫ﮔﺮﻫﺎي‬UIIEKF‫و‬MANF،
‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫اﺑﺘﺪا‬‫روي‬ ‫ﺑﺮ‬ ‫ﺷﺪه‬ ‫ﻧﺼﺐ‬ ‫ﺳﻨﺴﻮرﻫﺎي‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﻫﺎ‬
‫ﭼﺮخ‬‫ﻫﺎي‬‫اﻧﺪازه‬ ‫ﺧﻮدرو‬‫وارد‬ ‫و‬ ‫ﺷﺪه‬ ‫ﮔﯿﺮي‬‫ﺗﺨﻤﯿﻦ‬‫ﻣﯽ‬ ‫ﻣﺬﮐﻮر‬ ‫ﮔﺮﻫﺎي‬‫ﮔﺮدﻧﺪ‬.
‫ﭼﺮخ‬ ‫ﻟﻐﺰش‬ ‫و‬ ‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻧﺘﺎﯾﺞ‬ ،‫ﺳﭙﺲ‬‫ﻫ‬‫ﺎ‬‫از‬ ‫ﮐﻪ‬ ،
‫ﺗﺨﻤﯿﻦ‬‫ﻣﯽ‬ ‫ﻣﻘﺎﯾﺴﻪ‬ ‫اﺳﺖ‬ ‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ‫ﻣﺬﮐﻮر‬ ‫ﮔﺮﻫﺎي‬‫ﮔﺮدﻧﺪ‬.‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬
‫ﺻﺤﻪ‬‫ﺳﺮﻋﺖ‬ ،‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫اﻧﺠﺎم‬ ‫روﻧﺪ‬ ‫ﺑﺮ‬ ‫ﮔﺬاري‬‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬ ‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﻫﺎي‬
‫اﻧﺘﮕﺮال‬ ‫از‬ ‫ﺣﺎﺻﻞ‬‫ﺷﺘﺎب‬ ‫از‬ ‫آﻣﺪه‬ ‫ﺑﺪﺳﺖ‬ ،‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺷﺘﺎب‬ ‫از‬ ‫ﮔﯿﺮي‬ِ‫ﺞ‬‫ﺳﻨ‬
‫ﻣﯽ‬ ‫ﻣﻘﺎﯾﺴﻪ‬ ،‫ﺧﻮدرو‬ ‫در‬ ‫ﺷﺪه‬ ‫ﺗﻌﺒﯿﻪ‬‫ﺷﻮد‬.
‫ﻣﺤﺎﺳﺒﻪ‬ ‫ﺑﺮاي‬‫ﭼـﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ي‬‫ﺧـﻮد‬ ‫ﻫـﺎي‬‫رو‬،‫ﭘـﺎﻟﺲ‬ ‫از‬‫از‬ ‫درﯾـﺎﻓﺘﯽ‬ ‫ﻫـﺎي‬
‫ـﻪ‬‫ـ‬‫زاوﯾ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ِ‫ر‬‫ـﻮ‬‫ـ‬‫ﺳﻨﺴ‬‫ـﯽ‬‫ـ‬‫ﻣ‬ ‫ـﺘﻔﺎده‬‫ـ‬‫اﺳ‬ ‫ـﺮخ‬‫ـ‬‫ﭼ‬ ‫اي‬‫ـﻮد‬‫ـ‬‫ﺷ‬.‫ـﮑﻞ‬‫ـ‬‫ﺷ‬5‫و‬ ‫ـﻮﻧﮕﯽ‬‫ـ‬‫ﭼﮕ‬
‫ﻣـﯽ‬ ‫ﻧﺸـﺎن‬ ‫ﺧﻮدرو‬ ‫روي‬ ‫را‬ ‫ﺳﻨﺴﻮرﻫﺎ‬ ‫ﻧﺼﺐ‬ ‫ﻣﺤﻞ‬‫دﻫـﺪ‬.‫ﭘـﺎﻟﺲ‬‫ﺧﺮوﺟـﯽ‬ ‫ﻫـﺎي‬
‫ﭼــﺮخ‬ ‫ﺳــﺮﻋﺖ‬ ‫ﺳﻨﺴــﻮر‬،‫ﺑــﺎ‬ ‫ﺑــﺮداري‬ ‫داده‬ ‫ﮐــﺎرت‬ ‫ﻃﺮﯾــﻖ‬ ‫از‬‫ﻓﺮﮐــﺎﻧﺲ‬10
‫ﮐﯿﻠﻮﻫﺮﺗﺰ‬‫ﻣـﯽ‬ ‫ﻣﻨﺘﻘﻞ‬ ‫ﮐﺎﻣﭙﯿﻮﺗﺮ‬ ‫ﺑﻪ‬‫ﮔﺮدﻧـﺪ‬.‫ﺷـﮑﻞ‬6‫ﭘـﺎﻟﺲ‬ ،‫درﯾـﺎﻓﺘﯽ‬ ‫ﻫـﺎي‬‫از‬
‫را‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮر‬‫ﺗﺮﻣﺰﮔﯿـﺮي‬ ‫زﻣـﺎن‬ ‫در‬‫ﻣـﯽ‬ ‫ﻧﺸـﺎن‬‫ﻓﺮﮐـﺎﻧﺲ‬ ‫ﮐـﻪ‬ ‫دﻫـﺪ‬
‫ﭘﺎﻟﺲ‬‫ﻣـﯽ‬ ‫ﺗﻐﯿﯿـﺮ‬ ‫ﭼـﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬ ‫ﻣﺘﻨﺎﺳﺐ‬ ،‫ﻫﺎ‬‫ﮐﻨـﺪ‬.‫ﺷـﮑﻞ‬ ‫در‬ ‫ﮐـﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧـﻪ‬
6‫ﻣـﯽ‬ ‫ﻣﻼﺣﻈﻪ‬‫ﭘـﺎﻟﺲ‬ ‫اﯾـﻦ‬ ،‫ﮔـﺮدد‬‫دﻗﯿـﻖ‬ ‫ﺗﻌﯿـﯿﻦ‬ ‫و‬ ‫ﺑـﻮده‬ ‫ﻧـﻮﯾﺰي‬ ‫ﺑﺴـﯿﺎر‬ ‫ﻫـﺎ‬
‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬‫ﻣﯽ‬ ‫ﻣﻮاﺟﻪ‬ ‫ﭼﺎﻟﺶ‬ ‫ﺑﺎ‬ ‫را‬ ‫ﻫﺎ‬‫ﻧﻤﺎﯾﻨﺪ‬.
‫اﻟﻒ‬
‫ب‬
‫ﺷﮑﻞ‬5‫ﺧﻮدرو‬‫ي‬‫اﻧﺪازه‬ ‫ادوات‬ ‫و‬ ‫ﺳﻨﺴﻮرﻫﺎ‬ ‫ﺑﻪ‬ ‫ﻣﺠﻬﺰ‬ ‫آزﻣﻮن‬‫اﻟﻒ‬ ‫ﮔﯿﺮي؛‬:‫وﺳﺎﯾﻞ‬ ‫و‬ ‫ﺧﻮدرو‬
‫اﻧﺪازه‬‫ب‬ ،‫ﮔﯿﺮي‬:‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮر‬
‫ﭘﺎﻟﺲ‬ ‫ﻧﻮﯾﺰ‬ ‫ﮐﺮدن‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﺮاي‬‫ﺑﺎﯾـﺪ‬ ‫اﺑﺘـﺪا‬ ،‫ﻫﺎ‬‫ﺣـﺪاﮐﺜﺮ‬‫ﭘـﺎﻟﺲ‬ ‫ﻓﺮﮐـﺎﻧﺲ‬‫ﻫـﺎ‬
،‫ـﺮد‬‫ـ‬‫ﮐ‬ ‫ـﺒﻪ‬‫ـ‬‫ﻣﺤﺎﺳ‬ ‫را‬‫ـﯽ‬‫ـ‬‫ﻣ‬ ‫ـﻪ‬‫ـ‬‫ﮐ‬‫ـﻪ‬‫ـ‬‫راﺑﻄ‬ ‫از‬ ‫ـﺘﻔﺎده‬‫ـ‬‫اﺳ‬ ‫ـﺎ‬‫ـ‬‫ﺑ‬ ‫ـﻮان‬‫ـ‬‫ﺗ‬‫ي‬)45(‫و‬‫ـﺘﺮﯾﻦ‬‫ـ‬‫ﺑﯿﺸ‬
‫ﺑـﻪ‬ ‫ﺧـﻮدرو‬ ‫ﺳﺮﻋﺖ‬‫ﺣـﺪاﮐﺜﺮ‬‫ﭘـﺎﻟﺲ‬ ‫ﻓﺮﮐـﺎﻧﺲ‬‫ﺳﻨﺴـﻮر‬ ‫از‬ ‫آﻣـﺪه‬ ‫ﺑﺪﺳـﺖ‬ ‫ﻫـﺎي‬
‫ﯾﺎﻓﺖ‬ ‫دﺳﺖ‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬.‫ﺳـﺮﻋﺖ‬ ‫ﺣـﺪاﮐﺜﺮ‬ ‫ﺟـﺎﯾﮕﺰﯾﻨﯽ‬ ‫ﺑـﺎ‬ ،‫دﯾﮕـﺮ‬ ‫ﻋﺒـﺎرت‬ ‫ﺑﻪ‬
‫ـﻪ‬‫ـ‬‫زاوﯾ‬‫ـﻪ‬‫ـ‬‫دﻧﺪاﻧ‬ ‫ـﺪاد‬‫ـ‬‫ﺗﻌ‬ ‫ـﯿﻦ‬‫ـ‬‫ﻫﻤﭽﻨ‬ ‫و‬ ‫ـﺮخ‬‫ـ‬‫ﭼ‬ ‫اي‬‫ـﺎي‬‫ـ‬‫ﻫ‬‫ـﻪ‬‫ـ‬‫دﻧﺪاﻧ‬ ‫ـﮓ‬‫ـ‬‫رﯾﻨ‬‫دار‬‫ـﻮر‬‫ـ‬‫ﺳﻨﺴ‬

9. 9
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ـﻪ‬‫ـ‬‫راﺑﻄ‬ ‫در‬ ‫ـﺮخ‬‫ـ‬‫ﭼ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬‫ي‬)45(‫ـﯽ‬‫ـ‬‫ﻣ‬‫ـﻮان‬‫ـ‬‫ﺗ‬‫ـﺎﻟﺲ‬‫ـ‬‫ﭘ‬ ‫ـﺎﻧﺲ‬‫ـ‬‫ﻓﺮﮐ‬‫ـﺒﻪ‬‫ـ‬‫ﻣﺤﺎﺳ‬ ‫را‬ ‫ـﺎ‬‫ـ‬‫ﻫ‬
‫ﮐﺮد‬.
)45(=
.
2
‫ﮐﻪ‬‫زاوﯾـﻪ‬ ‫ﺳـﺮﻋﺖ‬،‫ﭼـﺮخ‬ ‫اي‬‫ﭘـﺎﻟﺲ‬ ‫ﻓﺮﮐـﺎﻧﺲ‬‫ﮔﺮﻓﺘـﻪ‬ ‫ﻫـﺎي‬
‫دوره‬ ‫ـﮏ‬‫ـ‬‫ﯾ‬ ‫در‬ ‫ـﺮخ‬‫ـ‬‫ﭼ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ‫ـﻮر‬‫ـ‬‫ﺳﻨﺴ‬ ‫از‬ ‫ـﺪه‬‫ـ‬‫ﺷ‬‫ـﻪ‬‫ـ‬‫ﻧﻤﻮﻧ‬ ‫ي‬‫و‬ ‫ـﺮي‬‫ـ‬‫ﮔﯿ‬‫ـﺪاد‬‫ـ‬‫ﺗﻌ‬
‫دﻧﺪاﻧﻪ‬‫ﻫﺎي‬‫دﻧﺪاﻧـﻪ‬ ‫رﯾﻨﮓ‬‫دار‬‫ﻣـﯽ‬ ‫ﭼـﺮخ‬ ‫ﺳـﺮﻋﺖ‬ ‫ﺳﻨﺴـﻮر‬‫ﺑﺎﺷـﺪ‬.‫ﺑـﻪ‬ ‫ﺗﻮﺟـﻪ‬ ‫ﺑـﺎ‬
‫ﻧﻤﻮﻧﻪ‬ ‫آزﻣﺎﯾﺶ‬ ‫در‬ ‫اﯾﻨﮑﻪ‬،‫دﻧﺪاﻧـﻪ‬ ‫ﺗﻌـﺪاد‬‫ﻫـﺎي‬‫دﻧﺪاﻧـﻪ‬ ‫رﯾﻨـﮓ‬‫دار‬‫ﺑﺮاﺑـﺮ‬ ‫ﺳﻨﺴـﻮر‬
‫ـﺎ‬‫ـ‬‫ﺑ‬48‫و‬‫ـﻮن‬‫ـ‬‫آزﻣ‬ ‫ـﺖ‬‫ـ‬‫ﺗﺤ‬ ‫ـﻮدروي‬‫ـ‬‫ﺧ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ‫ـﺪاﮐﺜﺮ‬‫ـ‬‫ﺣ‬km/h180‫ـﻮده‬‫ـ‬‫ﺑ‬)‫ـﻪ‬‫ـ‬‫ﺑ‬
‫دﯾﮕــﺮ‬ ‫ﻋﺒــﺎرت‬‫ـﻪ‬‫ـ‬‫زاوﯾ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ‫ﺣــﺪاﮐﺜﺮ‬‫ﺑــﺎ‬ ‫ﺑﺮاﺑــﺮ‬ ‫ـﻮدرو‬‫ـ‬‫ﺧ‬ ‫ـﺮخ‬‫ـ‬‫ﭼ‬ ‫اي‬rad/s
2/185‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬(‫راﺑﻄـﻪ‬ ‫از‬ ‫اﺳـﺘﻔﺎده‬ ‫ﺑﺎ‬ ،‫ي‬)45(‫ﭘـﺎﻟﺲ‬ ‫ﻓﺮﮐـﺎﻧﺲ‬ ‫ﺣـﺪاﮐﺜﺮ‬‫ﻫـﺎ‬
‫ﺣـﺪود‬ ‫در‬1416‫ﻫﺮﺗـﺰ‬‫ـﻮد‬‫ـ‬‫ﺑ‬ ‫ﺧﻮاﻫـﺪ‬‫ﻣـﯽ‬ ‫ﮐـﻪ‬‫ـﺮ‬‫ـ‬‫ﻓﯿﻠﺘ‬ ‫ﯾـﮏ‬ ‫ﻃﺮاﺣـﯽ‬ ‫ـﺎ‬‫ـ‬‫ﺑ‬ ‫ﺗـﻮان‬
‫ـﻮر‬‫ـ‬‫ﻋﺒ‬ ‫ﻓﺮﮐــﺎﻧﺲ‬ ‫ﺑــﺎ‬ ‫ﮔــﺬر‬ ‫ـﺎﯾﯿﻦ‬‫ـ‬‫ﭘ‬1416،‫ـﺖ‬‫ـ‬‫ﻋﻼﻣ‬ ‫ـﺎﺑﻊ‬‫ـ‬‫ﺗ‬ ‫از‬ ‫ـﺘﻔﺎده‬‫ـ‬‫اﺳ‬ ‫و‬ ‫ﻫﺮﺗــﺰ‬
‫زﻣﯿﻨـﻪ‬‫ﮐـﺮد‬ ‫ﻓـﺮاﻫﻢ‬ ‫را‬ ‫ﭘـﺎﻟﺲ‬ ‫از‬ ‫ﻧـﻮﯾﺰ‬ ‫ﺟﺪاﺳـﺎزي‬ ‫ي‬.‫دﻗﯿـﻖ‬ ‫ﺑﺮرﺳـﯽ‬ ‫ﺑـﺮاي‬‫ﺗـﺮ‬
‫ﭼﮕـ‬ ‫ﻧﻤـﻮدار‬ ،‫ﻣﺴﺎﻟﻪ‬ ‫اﯾﻦ‬‫ﭘـﺎﻟﺲ‬ ‫ﺑـﺮاي‬ ‫ﺗـﻮان‬ ‫ﻃﯿﻔـﯽ‬ ‫ﺎﻟﯽ‬‫ﺷـﮑﻞ‬ ‫ﻫـﺎي‬6‫ﻣـﻮرد‬
‫ﺷﮑﻞ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫ارزﯾﺎﺑﯽ‬7‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﺸﺎن‬.
‫اﻟﻒ‬
‫ب‬
‫ﺷﮑﻞ‬6‫ﭘﺎﻟﺲ‬‫اﻟﻒ‬ ‫آزﻣﺎﯾﺶ؛‬ ‫ﻃﻮل‬ ‫در‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮر‬ ‫از‬ ‫درﯾﺎﻓﺘﯽ‬ ‫ﻫﺎي‬:‫ﭘﺎﻟﺲ‬،‫ﻫﺎ‬
‫ب‬:‫ﭘﺎﻟﺲ‬ ‫ﺑﺰرﮔﻨﻤﺎﯾﯽ‬‫ﻫﺎ‬
‫ﺷﮑﻞ‬ ‫ﺑﺎ‬ ‫ﻣﻄﺎﺑﻖ‬ ‫اﮔﺮﭼﻪ‬7‫ﭘﺎﻟﺲ‬ ‫ﻏﺎﻟﺐ‬ ‫ﻓﺮﮐﺎﻧﺲ‬ ،‫ﺣﺪود‬ ‫ﻫﺎ‬700‫ﻫﺮﺗﺰ‬
‫ﻣﯽ‬‫ذﮐﺮ‬ ‫ﺑﻪ‬ ‫ﻻزم‬ ‫اﻣﺎ‬ ‫ﺑﺎﺷﺪ‬‫اﺳﺖ‬‫اﯾﻦ‬ ‫در‬ ‫ﺧﻮدرو‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﻣﻘﺪار‬ ‫اﯾﻦ‬ ‫ﮐﻪ‬
‫را‬ ‫ﺻﺤﯿﺢ‬ ‫ﭘﺎﺳﺦ‬ ‫زﻣﺎن‬ ‫ﻫﺮ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﺟﺎﻣﻊ‬ ‫ﻓﯿﻠﺘﺮي‬ ‫ﻃﺮاﺣﯽ‬ ‫ﺑﺮاي‬ ‫و‬ ‫ﺑﻮده‬ ‫آزﻣﺎﯾﺶ‬
‫ﻋﺒﻮر‬ ‫ﻓﺮﮐﺎﻧﺲ‬ ‫ﺑﺎ‬ ‫ﻓﯿﻠﺘﺮي‬ ‫از‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﻻزم‬ ‫دﻫﺪ‬ ‫اراﺋﻪ‬1416‫ﺷﻮد‬ ‫اﺳﺘﻔﺎده‬ ‫ﻫﺮﺗﺰ‬.
‫ﺷﮑﻞ‬7‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺳﻨﺴﻮر‬ ‫ﺧﺮوﺟﯽ‬ ‫ﺳﯿﮕﻨﺎل‬ ‫ﺗﻮان‬ ‫ﻃﯿﻒ‬ ‫ﭼﮕﺎﻟﯽ‬
‫ﻣﺤﺎﺳـﺒﻪ‬ ‫و‬ ‫ﭘـﺎﻟﺲ‬ ‫ﻫـﺮ‬ ‫درﯾﺎﻓـﺖ‬ ‫ﺑـﺎ‬ ،‫ﻧﻮﯾﺰﻫـﺎ‬ ‫ﮐـﺮدن‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﻋﻤﻠﯿﺎت‬ ‫از‬ ‫ﺑﻌﺪ‬‫ي‬
‫راﺑﻄـﻪ‬ ‫از‬ ‫اﺳـﺘﻔﺎده‬ ‫ﺑـﺎ‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ،‫آن‬ ‫ﻓﺮﮐﺎﻧﺲ‬‫ي‬)45(‫ﻣـﯽ‬ ‫ﻣﺤﺎﺳـﺒﻪ‬‫ﺷـﻮد‬.
‫ﺷﮑﻞ‬8‫ﺳﺮﻋﺖ‬ ،،‫ﭼـﺮخ‬ ‫ﺧﻄﯽ‬‫ﺷـﺪه‬ ‫ﻣﺤﺎﺳـﺒﻪ‬‫ﺗﺮﻣﺰﮔﯿـﺮي‬ ‫زﻣـﺎن‬ ‫در‬‫ﺷـﮑﻞ‬ ‫و‬
9‫ﻣــﯽ‬ ‫ﻧﺸــﺎن‬ ‫را‬ ‫ﭼــﺮخ‬ ‫ﺧﻄــﯽ‬ ‫ﺳــﺮﻋﺖ‬ ‫ﺗﻌﯿــﯿﻦ‬ ‫ﺑﻠــﻮﮐﯽ‬ ‫دﯾــﺎﮔﺮام‬ ،‫دﻫــﺪ‬.
‫ـﮑﻞ‬‫ـ‬‫ﺷ‬ ‫ـﻦ‬‫ـ‬‫اﯾ‬ ‫در‬ ‫ـﻪ‬‫ـ‬‫ﮐ‬ ‫ـﻪ‬‫ـ‬‫ﻫﻤﺎﻧﮕﻮﻧ‬‫ـﻮد‬‫ـ‬‫ﺷ‬ ‫ـﯽ‬‫ـ‬‫ﻣ‬ ‫ـﺎﻫﺪه‬‫ـ‬‫ﻣﺸ‬‫ـﺪازه‬‫ـ‬‫اﻧ‬ ‫ـﻪ‬‫ـ‬‫ﻧﺘﯿﺠ‬ ،‫و‬ ‫ـﺮي‬‫ـ‬‫ﮔﯿ‬
‫ﭼــﺮخ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ‫ـﺒﻪ‬‫ـ‬‫ﻣﺤﺎﺳ‬‫ﺧﻄــﯽ‬ ‫ـﺮﻋﺖ‬‫ـ‬‫ﺳ‬ ‫ـﯿﻦ‬‫ـ‬‫ﺗﺨﻤ‬ ‫ﺑــﺮاي‬ ‫ﻻزم‬ ‫ـﺎت‬‫ـ‬‫اﻃﻼﻋ‬ ،‫ـﺎ‬‫ـ‬‫ﻫ‬
‫ﺗﺨﻤﯿﻦ‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺧﻮدرو‬‫ﻣﯽ‬ ‫ﻓﺮاﻫﻢ‬ ‫را‬ ‫ﮔﺮ‬‫ﻧﻤﺎﯾﺪ‬.
‫ﺷﮑﻞ‬8‫ﺳﺮﻋﺖ‬‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬)‫ﭘﺎﻟﺲ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺷﺪه‬ ‫ﻣﺤﺎﺳﺒﻪ‬‫ﻫﺎ‬‫ﭼﺮخ‬ ‫ﺳﻨﺴﻮر‬ ‫ي‬(
‫ﻃﺮﯾﻖ‬ ‫از‬ ‫ﺧﻮدرو‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫دﻗﯿﻖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬UIIEKF‫درﺳﺘﯽ‬ ،
‫ﻣﯽ‬ ‫زﯾﺎدي‬ ‫اﻫﻤﯿﺖ‬ ‫داراي‬ ‫ﺧﻮدرو‬ ‫ﻣﺪل‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫ﻣﻘﺪار‬
‫ﺟﺪول‬ ‫در‬ ‫ﺗﺠﺮﺑﯽ‬ ‫آزﻣﻮن‬ ‫در‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬ ‫ﭘﺮاﯾﺪ‬ ‫ﺧﻮدروي‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬2‫آورده‬
‫اﺳﺖ‬ ‫ﺷﺪه‬]27،30[.‫ﺟﺪول‬ ‫در‬ ‫ﻫﻤﭽﻨﯿﻦ‬3‫ﺑﺮاي‬ ‫ﻻزم‬ ‫اوﻟﯿﻪ‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬ ‫ﻣﻘﺪار‬
‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﮑﺎرﮔﯿﺮي‬UIIEKF‫و‬MANF‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﺸﺎن‬.،‫اﺳﺖ‬ ‫ذﮐﺮ‬ ‫ﺑﻪ‬ ‫ﻻزم‬
‫در‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﮕﻮﻧﻪ‬‫ﺟﺪول‬3‫ﻣﯽ‬ ‫ﻣﺸﺎﻫﺪه‬ ‫ﻧﯿﺰ‬‫در‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫اوﻟﯿﻪ‬ ‫ﻣﻘﺪار‬ ،‫ﺷﻮد‬
،‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﭼﺮخ‬ ‫ﻣﺤﯿﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬ ‫ﺑﺮاﺑﺮ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﺷﺮوع‬ ‫ﻟﺤﻈﻪ‬
‫اﺳﺖ‬ ‫ﭘﻮﺷﯽ‬ ‫ﭼﺸﻢ‬ ‫ﻗﺎﺑﻞ‬ ‫ﻟﺤﻈﻪ‬ ‫اﯾﻦ‬ ‫در‬ ‫ﻟﻐﺰش‬ ‫ﻣﻘﺪار‬ ‫ﮐﻪ‬ ‫ﭼﺮا‬.‫ﻋﻠﺖ‬ ‫ﺑﻪ‬ ‫ﻫﻤﭽﻨﯿﻦ‬
،‫رؤﯾﺘﮕﺮ‬ ‫ﯾﮏ‬ ‫ﺻﻮرت‬ ‫ﺑﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬‫ﺣﺪود‬ ‫در‬ ‫ﮐﻮﭼﮑﯽ‬ ‫ﻣﻘﺪار‬ ‫ﺑﺮاﺑﺮ‬
‫د‬ ‫ﺻﻔﺮ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫ر‬.‫ﻣﻘﺪار‬‫ﺳﻨﺴﻮر‬ ‫ﺧﺮوﺟﯽ‬ ‫وارﯾﺎﻧﺲ‬ ‫ﺑﺮاﺑﺮ‬ ‫ﻧﯿﺰ‬
‫ﻧﺪاﺷﺘﻪ‬ ‫ﺣﺮﮐﺘﯽ‬ ‫و‬ ‫ﺑﻮده‬ ‫ﺛﺎﺑﺖ‬ ‫ﭼﺮخ‬ ‫ﺣﺎﻟﯿﮑﻪ‬ ‫در‬ ‫ﺷﺪه‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻧﻈﺮ‬ ‫در‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬
‫اﺳﺖ‬.‫آزﻣﻮن‬ ‫اﺳﺎس‬ ‫ﺑﺮ‬‫ﻣﺬﮐﻮر‬ ‫روش‬ ‫و‬ ‫واﻗﻌﯽ‬ ‫ﻫﺎي‬01/0R=‫اﺳﺖ‬ ‫ﺑﻮده‬.
0 1 2 3 4
0
5
10
15
20
25
‫زﻣﺎن‬)s(
‫ﭼﺮخ‬‫ﺧﻄﯽ‬‫ﺳﺮﻋﺖ‬)m/s(
0 0.7 1 2 3 4 5
-25
-20
-15
-10
-5
0
5
‫ﺗﻮان‬(dB)
‫ﻓﺮﮐﺎﻧﺲ‬(KHz)
0.04 0.05 0.06 0.07
0.8
1
1.2
1.4
‫وﻟﺖ‬(v)
‫زﻣﺎن‬)s(
0 1 2 3 4
-2
-1
0
1
2
3
‫وﻟﺖ‬(v)
‫زﻣﺎن‬)s(

10. ‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﺷﮑﻞ‬9‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﻌﯿﯿﻦ‬ ‫ﺑﻠﻮﮐﯽ‬ ‫دﯾﺎﮔﺮام‬
‫ﺟﺪول‬2‫آزﻣﻮن‬ ‫ﺗﺤﺖ‬ ‫ﺧﻮدروي‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬
‫ﭘﺎراﻣﺘﺮ‬‫ﻣﻘﺪار‬
(kg)٨۵٠
(kg)۴۵
(kg)۴٠
(m)٢٧/٠
( )٨١/٩
(kgm )١۵/۴
٨۵/٠
(m)٠/۵٧
(N)٨٣٣٠
(
kg
m
)٠٢٧/١
(kg)٧۶۵
(m)۴٢۵/١
(m)٩٢/٠
(kgm )١۶٢٧
٧/٠
٣٢/٠
(m)١۶/١
(m )٨٧/.١
‫ﺟﺪول‬3‫ﻓﯿﻠﺘﺮ‬ ‫ﺑﺮاي‬ ‫ﻧﯿﺎز‬ ‫ﻣﻮرد‬ ‫اوﻟﯿﻪ‬ ‫ﻣﻘﺎدﯾﺮ‬UIIEKF‫و‬MANF
MANFUIIEKF
‫ﭘﺎراﻣﺘﺮ‬‫ﻣﻘﺪاراوﻟﯿﻪ‬‫ﭘﺎراﻣﺘﺮ‬‫اوﻟﯿﻪ‬ ‫ﻣﻘﺪار‬
١١٠
٩٩/٠
٠١/١0
٨( )0
5-‫آﻧﻬﺎ‬ ‫ﺗﺤﻠﯿﻞ‬ ‫و‬ ‫ﺗﺠﺮﺑﯽ‬ ‫ﻫﺎي‬ ‫ﺗﺴﺖ‬ ‫ﻧﺘﺎﯾﺞ‬
‫در‬ ‫ﮐﻪ‬ ‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮط‬ ‫ﻧﺘﺎﯾﺞ‬ ،‫ﻓﻮق‬ ‫ﻣﻮارد‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬
‫روﯾﮑﺮد‬ ‫دو‬ ‫ﺑﺎ‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﻧﺠﺎم‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺣﯿﻦ‬UIIEKF‫و‬MANF‫در‬
‫ﺷﮑﻞ‬10‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﺸﺎن‬.
‫ﺷﮑﻞ‬10‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻧﺘﺎﯾﺞ‬‫ﻃﻮﻟﯽ‬
‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ‫ﺷﮑﻞ‬ ‫اﯾﻦ‬‫ﻋﻠﯽ‬ ‫ﮐﻪ‬ ‫دﻫﺪ‬‫وﺟﻮد‬ ‫رﻏﻢ‬‫ﻧﺎﻣﻌﯿﻨﯽ‬‫ﺿﺮﯾﺐ‬ ‫ﺗﻐﯿﯿﺮات‬ ‫در‬
،‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ورودي‬ ‫ﮔﺮﻓﺘﻦ‬ ‫ﻧﺎدﯾﺪه‬ ‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬ ‫اﺻﻄﮑﺎك‬‫از‬ ‫ﺣﺎﺻﻠﻪ‬ ‫ﻧﺘﺎﯾﺞ‬
‫ﻣﯽ‬ ‫ﻣﻨﺎﺳﺐ‬ ‫ﺑﺴﯿﺎر‬ ،‫روش‬ ‫دو‬ ‫ﻫﺮ‬ ‫ﺑﺎ‬ ‫ﺗﺨﻤﯿﻦ‬‫ﺑﺎﺷﻨﺪ‬.‫در‬ ‫ﮐﻪ‬ ‫ﺣﺎﻟﯿﺴﺖ‬ ‫در‬ ‫اﯾﻦ‬
‫ﭘﯿﺸﯿﻦ‬ ‫ﺗﺤﻘﯿﻘﺎت‬]1،2،9[‫اﻧﺪازه‬ ‫ﺑﺎ‬‫از‬ ‫اﺳﺘﻔﺎده‬ ‫و‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﮔﯿﺮي‬
‫داده‬‫ﺷﺘﺎب‬ ‫ﻫﺎي‬‫دﻗﺖ‬ ‫ﻟﺤﺎظ‬ ‫از‬ ‫ﻣﺸﺎﺑﻪ‬ ‫ﻧﺘﺎﯾﺞ‬ ‫ﺑﻪ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﻃﻮل‬ ‫در‬ ‫ﺳﻨﺞ‬
‫ﮐﺮده‬ ‫ﭘﯿﺪا‬ ‫دﺳﺖ‬ ،‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺳﺮﻋﺖ‬‫اﻧﺪ‬.‫ﺷﮑﻞ‬11‫ﺳﺮﻋﺖ‬ ‫ﻣﻄﻠﻖ‬ ‫ﺧﻄﺎي‬ ،
‫ﻫﺮ‬ ‫از‬ ‫اﺳﺘﻔﺎده‬ ‫ﺑﺎ‬ ‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬‫دو‬‫دو‬ ‫ﻋﻤﻠﮑﺮد‬ ‫ﺑﻬﺘﺮ‬ ‫ﺑﺮرﺳﯽ‬ ‫ﺟﻬﺖ‬ ،‫را‬ ‫روﯾﮑﺮد‬
‫ﺗﺨﻤﯿﻦ‬،‫ﮔﺮ‬‫ﻣﯽ‬ ‫ﻧﺸﺎن‬‫دﻫﺪ‬.‫داده‬ ‫از‬ ‫ﭘﮋوﻫﺶ‬ ‫اﯾﻦ‬ ‫در‬‫ﺷﺘﺎب‬ ‫ﻫﺎي‬‫ﻓﻘﻂ‬ ،‫ﻃﻮﻟﯽ‬ ‫ﺳﻨﺞ‬
‫ﺻﺤﻪ‬ ‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺑﺮ‬ ‫ﮔﺬاري‬‫ﻃﻮﻟﯽ‬‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫اﺳﺘﻔﺎده‬.
‫ﺷﮑﻞ‬11‫واﻗﻌﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫از‬ ‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺧﻄﺎي‬ ‫ﻣﻄﻠﻖ‬ ‫ﻗﺪر‬
‫ﺑﺨﺶ‬ ‫در‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬ ‫اﻣﺎ‬‫ﻓﯿﻠﺘﺮ‬ ‫ﻋﻤﻠﮑﺮد‬ ‫ﺗﺤﻠﯿﻞ‬‫اﺳﺘﻔﺎده‬ ‫ﺣﯿﻦ‬ ‫در‬ ،‫ﺷﺪ‬ ‫ذﮐﺮ‬
‫روﯾﮑﺮد‬ ‫از‬UIIEKF‫داده‬ ‫ﺑﺮاي‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﻫﻤﮕﺮاﯾﯽ‬ ‫و‬ ‫ﭘﺎﯾﺪاري‬ ‫از‬ ‫ﺑﺎﯾﺪ‬‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻫﺎي‬
0 1 2 3 4
0
0.1
0.2
0.3
0.4
0.5
‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬UIIEKF
‫ﺗﺨﻤﯿﻦ‬ ‫ﺧﻄﺎي‬MANF
‫زﻣﺎن‬)s(
‫ﺧﻄﺎ‬‫ﻣﻄﻠﻖ‬‫ﻗﺪر‬)m/s(
0 1 2 3 4
0
5
10
15
20
25
‫ﺧﻮدرو‬ ‫واﻗﻌﯽ‬ ‫ﺳﺮﻋﺖ‬
‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﺳﺮﻋﺖ‬-UIIEKF
‫ﺗﺨﻤﯿﻨﯽ‬ ‫ﺳﺮﻋﺖ‬-MANF
‫زﻣﺎن‬)s(
‫ﺧﻮدرو‬‫ﻃﻮﻟﯽ‬‫ﺳﺮﻋﺖ‬)m/s(

11. 11
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﮐﺮد‬ ‫ﺣﺎﺻﻞ‬ ‫اﻃﻤﯿﻨﺎن‬.‫راﺑﻄﻪ‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬‫ي‬)32(‫ﻻزم‬ ‫روﯾﮑﺮد‬ ‫اﯾﻦ‬ ‫ﻫﻤﮕﺮاﯾﯽ‬ ‫ﺑﺮاي‬
‫ﺿﺮﯾﺐ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬[ ]‫وﯾﮋه‬ ‫ﻣﻘﺎدﯾﺮ‬ ‫ﺗﻤﺎﻣﯽ‬ ‫ﻫﻤﭽﻨﯿﻦ‬ ‫و‬ ‫ﺷﻮد‬ ‫ﺻﻔﺮ‬‫ﻣﺎﺗﺮﯾﺲ‬ ‫ي‬
( − )‫ﺑﮕﯿﺮد‬ ‫ﻗﺮار‬ ‫واﺣﺪ‬ ‫داﯾﺮه‬ ‫داﺧﻞ‬ ،‫آزﻣﺎﯾﺶ‬ ‫ﻃﻮل‬ ‫ﺗﻤﺎم‬ ‫در‬.‫ﺷﺪن‬ ‫ﺻﻔﺮ‬
‫ﺿﺮﯾﺐ‬[ ]‫راﺑﻄﻪ‬ ‫ﮐﻤﮏ‬ ‫ﺑﻪ‬‫ي‬)33(‫ﻣ‬ ‫ﺑﺮرﺳﯽ‬ ‫ﺑﺮاي‬ ‫اﻣﺎ‬ ‫ﺷﺪ‬ ‫اﺛﺒﺎت‬‫وﯾﮋه‬ ‫ﻘﺎدﯾﺮ‬‫ي‬
‫ﻣﯽ‬ ،‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻣﺎﺗﺮﯾﺲ‬‫ﺷﮑﻞ‬ ‫از‬ ‫ﺗﻮان‬12‫ﮐﺮد‬ ‫اﺳﺘﻔﺎده‬.‫ﺷﮑﻞ‬ ‫اﯾﻦ‬‫وﯾﮋه‬ ‫ﻣﻘﺎدﯾﺮ‬ ،‫ي‬
‫ﻣﺎﺗﺮﯾﺲ‬( − )‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ،‫ﺗﺨﻤﯿﻦ‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﻃﻮل‬ ‫در‬ ‫را‬‫دﻫﺪ‬.‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬
‫ﺷﮑﻞ‬ ‫از‬12‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬‫ﻫﻤﻪ‬ ،‫وﯾﮋه‬ ‫ﻣﻘﺎدﯾﺮ‬ ‫ي‬‫داﺧﻞ‬ ‫در‬ ‫ﻧﻈﺮ‬ ‫ﻣﻮرد‬ ‫ﻣﺎﺗﺮﯾﺲ‬ ‫ي‬
‫د‬ ‫ﺷﺮط‬ ‫ﺑﯿﺎﻧﮕﺮ‬ ‫ﮐﻪ‬ ‫اﺳﺖ‬ ‫ﮔﺮﻓﺘﻪ‬ ‫ﻗﺮار‬ ‫واﺣﺪ‬ ‫داﯾﺮه‬‫ﻣﯽ‬ ‫ﻫﻤﮕﺮاﯾﯽ‬ ‫وم‬‫ﺑﺎﺷﺪ‬.
‫ﺷﮑﻞ‬12‫ﻗ‬ ‫ﮔﺮﻓﺘﻦ‬ ‫ﻗﺮار‬ ‫ﻣﺤﻞ‬‫ﻄﺐ‬‫ﻣﺎﺗﺮﯾﺲ‬ ‫ﻫﺎي‬( − )‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬‫واﺣﺪ‬ ‫داﯾﺮه‬
)‫ﺳﺘﺎره‬:‫ﻗﻄﺐ‬‫ﺧﻂ‬ ،‫ﻫﺎ‬:‫واﺣﺪ‬ ‫داﯾﺮه‬(
‫ﺷﮑﻞ‬ ‫در‬13‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬ ‫ﭼﺮخ‬ ‫ﻣﺤﯿﻄﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺎﯾﺴﻪ‬ ‫ﺑﺎ‬ ‫ﺷﺪه‬ ‫ﺳﻌﯽ‬ ،
،‫ﺷﺪه‬ ‫زده‬ ‫ﺗﺨﻤﯿﻦ‬‫ﻟﻐﺰش‬‫ﭼﺮخ‬‫ﺗﺮﻣﺰ‬ ‫ﻫﻨﮕﺎم‬ ‫در‬ ‫ﻫﺎ‬‫ﮔﯿﺮي‬‫ﻗﺮار‬ ‫ﺑﺮرﺳﯽ‬ ‫ﻣﻮرد‬‫ﮔﯿﺮد‬.
‫ﻟﺤ‬ ‫در‬ ‫اﺳﺖ‬ ‫ﻣﺸﺨﺺ‬ ‫ﺷﮑﻞ‬ ‫اﯾﻦ‬ ‫از‬ ‫ﮐﻪ‬ ‫ﻫﻤﺎﻧﻄﻮر‬‫و‬ ‫ﺗﺎﯾﺮ‬ ‫ﺑﯿﻦ‬ ‫ﻟﻐﺰش‬ ،‫اوﻟﯿﻪ‬ ‫ﻈﺎت‬
‫ﻣﯽ‬ ‫ﻧﺎﭼﯿﺰ‬ ‫ﺟﺎده‬‫زده‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﭼﺮخ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﻮدن‬ ‫ﺑﺮاﺑﺮ‬ ‫ﺑﯿﺎﻧﮕﺮ‬ ‫ﮐﻪ‬ ‫ﺑﺎﺷﺪ‬
‫ﺷﺪه‬‫ﻣﯽ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫آﺳﺘﺎﻧﻪ‬ ‫از‬ ‫ﻗﺒﻞ‬ ‫زﻣﺎﻧﯽ‬ ‫اﻧﺪك‬ ‫در‬‫ﺑﺎﺷﺪ‬.‫در‬ ‫درﺳﺖ‬ ‫اﻣﺎ‬
‫ﻟﻐﺰ‬ ‫ﺑﻪ‬ ‫ﺷﺮوع‬ ‫ﻧﯿﺰ‬ ‫ﭼﺮخ‬ ،‫ﺷﺪه‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﺑﻪ‬ ‫اﻗﺪام‬ ‫ﮐﻪ‬ ‫زﻣﺎﻧﯽ‬‫ﻣﯽ‬ ‫ش‬‫ﮐﻨﺪ‬.‫ﻣﻘﺪار‬
‫ﺷﮑﻞ‬ ‫در‬ ‫ﻟﻐﺰش‬14‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫داده‬ ‫ﻧﻤﺎﯾﺶ‬.
‫ﺷﮑﻞ‬13‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﻣﻘﺎﯾﺴﻪ‬‫ﺧﻮدرو‬‫ﺑﺎ‬‫ﺳﺮﻋﺖ‬‫ﺧﻄﯽ‬‫ﺟﻠﻮ‬ ‫ﭼﺮخ‬
‫ﺷﮑﻞ‬14‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﺣﯿﻦ‬ ‫در‬ ‫ﺗﺎﯾﺮ‬ ‫ﻟﻐﺰش‬
‫ﺟﺪول‬4‫وﯾﮋﮔﯽ‬ ‫از‬ ‫ﺑﺮﺧﯽ‬ ،‫ﺗﺨﻤﯿﻦ‬ ‫ﻋﻤﻠﮑﺮدي‬ ‫ﻫﺎي‬‫ﮔﺮﻫﺎي‬UIIEKF‫و‬
MANF‫ﺷﺒﯿﻪ‬ ‫و‬ ‫ﻃﺮاﺣﯽ‬ ‫ﭘﮋوﻫﺶ‬ ‫اﯾﻦ‬ ‫در‬ ‫ﮐﻪ‬‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ‫را‬ ‫اﺳﺖ‬ ‫ﺷﺪه‬ ‫ﺳﺎزي‬‫دﻫﺪ‬.
‫ﺟﺪول‬ ‫ﺑﻪ‬ ‫ﺗﻮﺟﻪ‬ ‫ﺑﺎ‬4‫ﻣﯽ‬ ‫ﻣﻼﺣﻈﻪ‬ ،‫ﺑﺴﯿﺎر‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬ ‫ﮐﻪ‬ ‫ﺻﻮرﺗﯽ‬ ‫در‬ ‫ﮔﺮدد‬
‫از‬ ‫اﺳﺘﻔﺎده‬ ،‫ﺑﺎﺷﺪ‬ ‫ﺧﻮدرو‬ ‫ﺳﺮﻋﺖ‬ ‫از‬ ‫دﻗﯿﻖ‬UIIEKF‫ﻣﻨﺎﺳﺐ‬‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫از‬ ‫ﺗﺮ‬
‫ﻣﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬‫ﺑﺎﺷﺪ‬.‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﻟﮕﻮرﯾﺘﻢ‬ ‫ﺑﻮدن‬ ‫ﺳﺎده‬ ،‫دﯾﮕﺮ‬ ‫ﻃﺮف‬ ‫از‬ ‫اﻣﺎ‬
‫ﻧﻘﻄﻪ‬ ،‫آن‬ ‫ﻣﺤﺎﺳﺒﺎت‬ ‫زﯾﺎد‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﺗﻄﺒﯿﻘﯽ‬‫ﻣﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫اﯾﻦ‬ ‫ﻗﻮت‬ ‫ي‬‫ﺑﺎﺷﺪ‬.
‫ﺟﺪول‬4‫ﻣﻘﺎﯾﺴ‬‫روﯾﮑﺮد‬ ‫ﻪ‬UIIEKF‫و‬MANF‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﺑﺮاي‬
‫ردﯾﻒ‬‫ﻣﻮﺿﻮع‬
‫روﯾﮑﺮد‬
UIIEKFMANF
1
‫ﺳﺮﻋﺖ‬ ‫ﻣﺎﺑﯿﻦ‬ ‫ﺧﻄﺎ‬ ‫ﻣﺮﺑﻌﺎت‬ ‫ﻣﯿﺎﻧﮕﯿﻦ‬
‫ﺧﻮدرو‬ ‫واﻗﻌﯽ‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﺗﺨﻤﯿﻨﯽ‬
0081/00272/0
2‫ﻣﺤﺎﺳﺒﺎت‬ ‫ﭘﯿﭽﯿﺪﮔﯽ‬‫زﯾﺎد‬‫ﮐﻢ‬
3‫ﻧﯿﺎزﻣﻨﺪي‬‫ﻫﺎ‬
‫ﻣﺪل‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬
‫ﺣﺮﮐﺘﯽ‬ ‫دﯾﻨﺎﻣﯿﮑﯽ‬
‫و‬ ‫ﺧﻮدرو‬
‫آن‬ ‫ﭘﺎراﻣﺘﺮﻫﺎي‬
‫اﻟﮕﻮرﯾﺘﻢ‬‫ﺑﺪون‬ ‫ﺳﺎده‬
‫ﻣﺪل‬ ‫از‬ ‫اﺳﺘﻔﺎده‬
‫ﺑﻪ‬ ‫ﻣﺘﮑﯽ‬ ‫وﻟﯽ‬ ‫ﺧﻮدرو‬
‫وﯾﮋﮔﯽ‬‫ﮐﻠﯽ‬ ‫ﻫﺎي‬
‫ﺧﻮدرو‬ ‫ﺣﺮﮐﺖ‬
4
‫ﺑﺮاي‬ ‫ﻧﯿﺎز‬ ‫ﻣﻮرد‬ ‫اﻓﺰار‬ ‫ﺳﺨﺖ‬
‫ﭘﯿﺎده‬‫ﺳﺎزي‬
‫ﭘﺮدازﺷﮕﺮي‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬
‫زﯾﺎد‬ ‫ﺳﺮﻋﺖ‬ ‫ﺑﺎ‬
‫از‬ ‫اﺳﺘﻔﺎده‬
‫ﻣﻌﻤﻮﻟﯽ‬ ‫ﻣﯿﮑﺮوﮐﻨﺘﺮﻟﺮ‬
5‫ﻗﺎﺑﻠﯿﺖ‬
‫ﻗﺎﺑﻞ‬ ‫و‬ ‫دﻗﯿﻖ‬
‫اﻃﻤﯿﻨﺎن‬
‫ﻧﺎﻣﻨﺎﺳﺐ‬ ‫اوﻟﯿﻪ‬ ‫دﻗﺖ‬
6
‫ﻓﺮآﯾﻨﺪ‬ ‫از‬ ‫ﮔﺎم‬ ‫ﻫﺮ‬ ‫در‬ ‫ﻣﺤﺎﺳﺒﺎت‬ ‫ﺳﺮﻋﺖ‬
‫ﺑﺎ‬ ‫ﺗﺨﻤﯿﻦ‬‫اﻓﺰاري‬ ‫ﺳﺨﺖ‬‫ﻣﺸﺨﺼﺎت‬ ‫ﺑﺎ‬
Intel® core™2 Duo CPU
,E7300@2.66GHz(2CPUs)
2048 RAM
8/1 msms173/0
6-‫ﮔﯿﺮي‬ ‫ﻧﺘﯿﺠﻪ‬
‫دو‬ ،‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬‫ﺗﺨﻤﯿﻦ‬‫ورودي‬ ‫ﺑﺎ‬ ‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﮔﺮ‬
‫ﻧﺎﻣﺸﺨﺺ‬‫و‬‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﻣﻨﻈﻮر‬ ‫ﺑﻪ‬ ‫ﺷﺪه‬ ‫اﺻﻼح‬‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬
‫ﭘﯿﺸﻨﻬﺎد‬ ‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬‫ﮔﺮدﯾﺪ‬‫ﻧﺪ‬.‫ﺗﺨﻤﯿﻦ‬ ‫دو‬ ‫اﯾﻦ‬ ‫ﻋﻤﺪه‬ ‫وﯾﮋﮔﯽ‬‫ﺗﺨﻤﯿﻦ‬ ‫اراﺋﻪ‬ ،‫ﮔﺮ‬
‫ﺳﺮﻋﺖ‬ ‫از‬ ‫دﻗﯿﻖ‬ ‫ﻧﺴﺒﺘﺎ‬‫ﻃﻮﻟﯽ‬‫ﺑﻪ‬ ‫وﻟﯿﮑﻦ‬ ‫ﺗﺮﻣﺰﮔﯿﺮي‬ ‫ﻓﺮآﯾﻨﺪ‬ ‫ﺣﯿﻦ‬ ‫در‬ ‫ﺧﻮدرو‬
‫آن‬ ‫ﮔﯿﺮي‬ ‫اﻧﺪازه‬ ‫ﺑﻪ‬ ‫ﻧﯿﺎز‬ ‫ﺑﺪون‬ ‫و‬ ‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬ ‫ﻣﻘﺪار‬ ‫از‬ ‫ﻣﺴﺘﻘﻞ‬ ‫ﺻﻮرت‬
‫ﻣﯽ‬‫ﺑﺎﺷﺪ‬.‫دﯾﻨﺎﻣﯿﮏ‬ ‫ﻣﺪل‬ ‫ﺑﻪ‬ ‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﻣﮑﺮر‬ ‫ﯾﺎﻓﺘﻪ‬ ‫ﺗﻮﺳﻌﻪ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬
‫ﻣ‬ ‫ﻣﺴﺎﻟﻪ‬ ‫ﺑﻪ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫از‬ ‫ﺑﺨﺸﯽ‬ ‫در‬ ‫رو‬ ‫اﯾﻦ‬ ‫از‬ ‫و‬ ‫دارد‬ ‫ﻧﯿﺎز‬ ‫ﺧﻮدرو‬‫ﺪﻟﺴﺎزي‬
‫ﺧﻮدرو‬ ‫دﯾﻨﺎﻣﯿﮏ‬‫راﺑﻄﻪ‬ ‫و‬ ‫ﺷﺪ‬ ‫ﭘﺮداﺧﺘﻪ‬‫ﮔﺮدﯾﺪ‬ ‫اراﺋﻪ‬ ‫آن‬ ‫از‬ ‫ﮐﺎﻣﻠﯽ‬ ‫ﻫﺎي‬.‫ﻫﻤﭽﻨﯿﻦ‬
‫ﻫﻤﮕﺮاﯾﯽ‬ ‫و‬ ‫ﭘﺎﯾﺪاري‬ ‫ﺷﺮاﯾﻂ‬ ‫ﻣﻘﺎﻟﻪ‬ ‫اﯾﻦ‬ ‫در‬‫اﯾﻦ‬‫ﮔﺮ‬ ‫ﺗﺤﻠﯿﻞ‬ ‫ﻓﯿﻠﺘﺮ‬‫دﯾﺪ‬.‫ﻓﯿﻠﺘﺮ‬ ‫درﮐﻨﺎر‬
0.99920.99940.99960.9998 1
-2
0
2
x 10
-6
0 1 2 3 4
0
0.2
0.4
0.6
0.8
‫واﻗﻌﯽ‬ ‫ﻟﻐﺰش‬
‫ﻟﻐﺰش‬-UIIEKF
‫ﻟﻐﺰش‬-MANF‫ﺗﺎﯾﺮ‬‫ﻟﻐﺰش‬
‫زﻣﺎن‬)s(
0 1 2 3 4
0
5
10
15
20
25
‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬
‫ﭼﺮخ‬ ‫ﺧﻄﯽ‬ ‫ﺳﺮﻋﺖ‬
‫زﻣﺎن‬)s(
‫ﺳﺮﻋﺖ‬)m/s(
-1 0 1
-1
-0.5
0
0.5
1
‫ﺣﻘﯿﻘﯽ‬ ‫ﺑﺨﺶ‬
‫ﻣﻮﻫﻮﻣﯽ‬‫ﺑﺨﺶ‬

12. 12
‫ﻗﺎﻟﺐ‬‫ﭘﯿﺶ‬‫ﻣﺪرس‬‫ﻣﮑﺎﻧﯿﮏ‬‫ﻣﻬﻨﺪﺳﯽ‬‫ﻣﺠﻠﻪ‬‫ﻣﻘﺎﻻت‬‫ﻧﻮﯾﺲ‬
‫ﻋﻨﻮان‬ ‫ﺑﺎ‬ ‫دﯾﮕﺮي‬ ‫ﻓﯿﻠﺘﺮ‬ ،‫ﺷﺪه‬ ‫اراﺋﻪ‬ ‫ﮐﺎﻟﻤﻦ‬‫ﺗﻄﺒﯿﻘﯽ‬ ‫ﻏﯿﺮﺧﻄﯽ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺷﺪه‬ ‫اﺻﻼح‬
‫و‬ ‫ﻣﻌﺮﻓﯽ‬‫راﺑﻄﻪ‬‫ﻫﺎي‬‫ﻻزم‬،‫ﮔﺮدﯾﺪ‬ ‫ﭘﯿﺸﻨﻬﺎد‬‫ﺳﺎدﮔﯽ‬ ‫آن‬ ‫ﻋﻤﺪه‬ ‫وﯾﮋﮔﯽ‬ ‫ﮐﻪ‬
‫راﺑﻄﻪ‬‫ﻣﯽ‬ ‫ﻓﯿﻠﺘﺮ‬ ‫ﻫﺎي‬‫ﺑﺎﺷﺪ‬.‫ﻣﻘﺎﯾﺴﻪ‬ ،‫ﺧﺎﺗﻤﻪ‬ ‫در‬‫ي‬‫اﯾﻦ‬ ‫ﺗﻮﺳﻂ‬ ‫ﺳﺮﻋﺖ‬ ‫ﺗﺨﻤﯿﻦ‬ ‫ﻧﺘﺎﯾﺞ‬
‫روﯾﮑﺮد‬ ‫دو‬‫ﺧﻮ‬ ‫روي‬ ‫ﺑﺮ‬ ‫و‬ ‫واﻗﻌﯽ‬ ‫آزﻣﻮن‬ ‫ﯾﮏ‬ ‫در‬‫ﺑﺎ‬ ‫و‬ ‫ﭘﺮاﯾﺪ‬ ‫دروي‬‫اﻧﺪازه‬‫ﮔﯿﺮي‬
‫ﺳﺮﻋﺖ‬ ‫واﻗﻌﯽ‬‫ﻃﻮﻟﯽ‬‫ﺷﺘﺎب‬ ‫ﮐﻤﮏ‬ ‫ﺑﻪ‬ ‫ﺧﻮدرو‬‫ﺳﻨﺞ‬‫آن‬ ‫ﻧﺘﯿﺠﻪ‬ ‫ﮐﻪ‬ ‫ﮔﺮﻓﺖ‬ ‫اﻧﺠﺎم‬
‫دﻗﺖ‬‫ﺑﺎﻻي‬‫ﻧﺎﻣﺸﺨﺺ‬ ‫ورودي‬ ‫ﺑﺎ‬ ‫ﮐﺎﻟﻤﻦ‬ ‫ﻓﯿﻠﺘﺮ‬‫ﺳﺎدﮔﯽ‬ ‫ﻣﻘﺎﺑﻞ‬ ‫در‬ ‫را‬‫اﻟﮕﻮرﯾﺘﻢ‬
‫ﻓﯿﻠﺘﺮ‬‫ﻏﯿﺮﺧﻄﯽ‬‫ﻣﯽ‬ ‫ﻧﺸﺎن‬ ،‫آن‬ ‫ﻣﺤﺎﺳﺒﺎت‬ ‫زﯾﺎد‬ ‫ﺳﺮﻋﺖ‬ ‫و‬ ‫ﺗﻄﺒﯿﻘﯽ‬‫دﻫﺪ‬.
7-‫ﻋﻼﺋﻢ‬ ‫ﻓﻬﺮﺳﺖ‬
‫ﺧﻮدرو‬ ‫ﺟﻠﻮ‬ ‫ﺷﺪه‬ ‫ﺗﺼﻮﯾﺮ‬ ‫ﺳﻄﺢ‬(m )
‫ﺧﻮدرو‬ ‫ﺗﺤﻤﻞ‬ ‫ﻗﺎﺑﻞ‬ ‫ﺷﺘﺎب‬(m/s )
‫ﺧﻮدرو‬ ‫ﺑﺪﻧﻪ‬ ‫درگ‬ ‫ﺿﺮﯾﺐ‬
‫ﻣﻨﻔﯽ‬ ‫ﺷﺘﺎب‬(m/s )
‫ﺟﻠﻮ‬ ‫ﺗﺎﯾﺮ‬ ‫ﻋﺮﺿﯽ‬ ‫ﻧﯿﺮوي‬(N)
‫ﻋﻘﺐ‬ ‫ﺗﺎﯾﺮ‬ ‫ﻋﺮﺿﯽ‬ ‫ﻧﯿﺮوي‬(N)
‫ﺟﻠﻮ‬ ‫ﺗﺎﯾﺮ‬ ‫ﺗﺮﻣﺰي‬ ‫ﻧﯿﺮوي‬(N)
‫ﻋﻘﺐ‬ ‫ﺗﺎﯾﺮ‬ ‫ﺗﺮﻣﺰي‬ ‫ﻧﯿﺮوي‬(N)
‫ﺟﺎذﺑﻪ‬ ‫ﺷﺘﺎب‬(m/s )
‫ﺳﻄﺢ‬ ‫از‬ ‫ﺧﻮدرو‬ ‫ﺛﻘﻞ‬ ‫ﻣﺮﮐﺰ‬ ‫ارﺗﻔﺎع‬‫ﺟﺎده‬(m)
‫ﻫﻮا‬ ‫ﻣﻘﺎوﻣﺖ‬ ‫ﻧﯿﺮوي‬ ‫ﺗﺎﺛﯿﺮ‬ ‫ﻣﻮﺛﺮ‬ ‫ارﺗﻔﺎع‬(m)
‫ﭼﺮخ‬ ‫اﯾﻨﺮﺳﯽ‬ ‫ﻣﻤﺎن‬(kgm )
‫ﻋﻤﻮدي‬ ‫ﻣﺤﻮر‬ ‫ﺣﻮل‬ ‫اﯾﻨﺮﺳﯽ‬ ‫ﻣﻤﺎن‬(kgm )
‫ﺟﻠﻮ‬ ‫ﭼﺮخ‬ ‫ﺑﻪ‬ ‫اﻋﻤﺎﻟﯽ‬ ‫ﺗﺮﻣﺰ‬ ‫ﺛﺎﺑﺖ‬ ‫ﺿﺮﯾﺐ‬
‫ﺗﺎ‬ ‫ﺟﻠﻮ‬ ‫ﻣﺤﻮر‬ ‫ﻓﺎﺻﻠﻪ‬COG(m)
‫ﻓﺎﺻﻠﻪ‬‫ﺗﺎ‬ ‫ﻋﻘﺐ‬ ‫ﻣﺤﻮر‬ ‫ي‬COG(m)
‫ﺧﻮدرو‬ ‫ﺟﺮم‬(kg)
‫ﻓﻨﺮﺑﻨﺪي‬ ‫ﺟﺮم‬‫ﺧﻮدرو‬ ‫ﺷﺪه‬(kg)
‫ﭼﺮخ‬ ‫ﺟﺮم‬‫ﺟﻠﻮ‬ ‫ﻫﺎي‬(kg)
‫ﭼﺮخ‬ ‫ﺟﺮم‬‫ﻋﻘﺐ‬ ‫ﻫﺎي‬(kg)
‫اﻧﺤﺮاف‬ ‫ﻧﺮخ‬(rad/s)
‫ﭼﺮخ‬ ‫ﺷﻌﺎع‬‫ﻫﺎ‬(m)
‫ﺗﺮﻣﺰي‬ ‫ﮔﺸﺘﺎور‬(Nm)
‫ﺧﻮدرو‬ ‫ﻃﻮﻟﯽ‬ ‫ﺳﺮﻋﺖ‬(m/s)
‫ﺧﻮدرو‬ ‫ﻋﺮﺿﯽ‬ ‫ﺳﺮﻋﺖ‬(m/s)
‫ﺧﻮدرو‬ ‫وزن‬(N)
‫ﯾﻮﻧﺎﻧﯽ‬ ‫ﻋﻼﯾﻢ‬
‫ﺟﻠﻮ‬ ‫ﭼﺮخ‬ ‫ﻓﺮﻣﺎن‬ ‫زاوﯾﻪ‬(rad)
‫زاوﯾﻪ‬ ‫ﺳﺮﻋﺖ‬‫ﺟﻠﻮ‬ ‫ﭼﺮخ‬ ‫اي‬(rad/s)
‫زاوﯾﻪ‬ ‫ﺳﺮﻋﺖ‬‫ﻋﻘﺐ‬ ‫ﭼﺮخ‬ ‫اي‬(rad/s)
‫ﻫﻮا‬ ‫ﭼﮕﺎﻟﯽ‬(kg/m )
8-‫ﻣﺮاﺟﻊ‬
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