بررسي تغييرات در شبيه سازي ساختاري پايداركننده ژيروسكوپي سه محوره

Investigation of Changes in Structural Simulation of Three-axis Gyroscopic Stabilizer

روﯾﮑﺮدي ﻧﻮﯾﻦ ﺑﺮاي ﺑﺮرﺳﯽ ﺗﻐﯿﯿﺮات در ﻓﺮآﯾﻨﺪ ﺷﺒﯿﻪﺳﺎزي ﺳﺎﺧﺘﺎري ﯾﮏ ﭘﺎﯾﺪارﮐﻨﻨﺪه ژﯾﺮوﺳﮑﻮﭘﯽ ﺳﻪﻣﺤﻮره ﺣﺎﻣﻞ دورﺑﯿﻦ، اراﺋﻪ ﺷﺪه اﺳﺖ. روﻧﺪ اراﺋﻪ ﺷﺪه، ﺷﺎﻣﻞ ﺗﺼﻤﯿﻢﮔﯿﺮي ﻣﺪﯾﺮﯾﺘﯽ و ﻧﺤﻮة ﺷﻨﺎﺳﺎﯾﯽ ﺑﻬﺘﺮﯾﻦ ﻣﺴﯿﺮ ﻓﺮآﯾﻨﺪ ﺑﺮرﺳﯽ ﺗﻐﯿﯿﺮات ﻣﯽﺑﺎﺷﺪ. رﺑﺎت ﻧﻤﻮﻧﻪ ﻓﺎﻧﺘﻮم ﺑﺎ 32 ﻣﺆﻟﻔﻪ ﮐﻪ ﻧﯿﻤﯽ از آﻧﻬﺎ ﻣﺮﺑﻮط ﺑﻪ ﻫﻨﺪﺳﻪ ﺳﺎﺧﺘﺎر ﭘﺮﻧﺪه و ﻧﯿﻢ دﯾﮕﺮ ﻣﺮﺑﻮط ﺑﻪ ﻟَﻖﻟَﻘﻪ )ﮔﯿﻤﺒﺎل( ﺳﻪﻣﺤﻮره ﻫﺴﺘﻨﺪ اﻧﺘﺨﺎب ﺷﺪه اﺳﺖ. ﭘﯿﻮﻧﺪﻫﺎي ﺳﺎﺧﺘﺎري ﺑﯿﻦ ﻋﻨﺎﺻﺮ ﺑﺎ ﻓﺮض ﺗﻘﺎرن در ﯾﮏ ﻣﺎﺗﺮﯾﺲ ﺳﺎﺧﺘﺎر ﻃﺮاﺣﯽ ﻗﺮار ﻣﯽﮔﯿﺮﻧﺪ. ﯾﮏ ﻣﻘﺪار ﺗﺄﺛﯿﺮ ﺗﻐﯿﯿﺮ ﺛﺎﺑﺖ ﺑﺮاي ﻫﻤﻪ ﭘﯿﻮﻧﺪﻫﺎ و ﯾﮑﯽ از ﺳﻪ ﻣﻘﺪار، 0/5 ،0/3 و 0/8 ﺑﺘﺮﺗﯿﺐ ﺑﺮاي اﺣﺘﻤﺎل ﺗﻐﯿﯿﺮ ﭘﺎﯾﯿﻦ، ﻣﺘﻮﺳﻂ و ﺑﺎﻻ اﻧﺪازهﮔﯿﺮي و در ﻣﺎﺗﺮﯾﺲﻫﺎ ﻟﺤﺎظ ﺷﺪه اﺳﺖ. ﺑﻪ ﻋﻼوه، ﻣﺠﻤﻮﻋﻪاي از ﺷﺎﺧﺺﻫﺎ ﺑﺮاي ﮐﻤﮏ ﺑﻪ ﻃﺒﻘﻪﺑﻨﺪي ﻣﻮﻟﻔﻪﻫﺎي ﮔﻮﻧﺎﮔﻮن ﺳﯿﺴﺘﻢ ﺑﻪ ﻋﻨﻮان ﭘﺬﯾﺮﻧﺪه ﯾﺎ ﺑﺎزﺗﺎﺑﻨﺪه ﺗﻐﯿﯿﺮ، اﯾﺠﺎد و ﯾﮏ ﺷﺎﺧﺺ اﻧﺘﺸﺎر ﺗﻐﯿﯿﺮ ﻧﺮﻣﺎل، ﻗﺪرت ﻧﺴﺒﯽ ﻫﺮ ﻣﻮﻟﻔﻪ را در ﻃﯿﻒ ﺟﺬب ﮐﻨﻨﺪه ﺗﺎ اﻓﺰاﯾﻨﺪه ﺑﺎ ﺿﺮﯾﺐ ﺑﯿﻦ 1- ﺗﺎ 1+ ﻣﻌﺮﻓﯽ ﺷﺪه اﺳﺖ. اﯾﻦ روش ﺑﺮ روي رﺑﺎت ﻧﻤﻮﻧﻪ ﭘﯿﺎدهﺳﺎزي ﺷﺪه اﺳﺖ.

A new approach is presented for the management of controlling the changes in design process of a triaxis gyroscopic stabilizer for a camera mounted on a flying robot. It includes decision-making and the way of identifying the best Investigation of the control process. As a prototype, the Phantom Flying Robot is considered with 32 components which half of them are related to the geometry of its drone and the others to the triaxis gimbal. Structural links between elements the assumed to be symmetric and are arrayed in a design structure matrix. A constant value for change effect for all links is assumed as well as three values: 0.3, 0.5, and 0.8 for low, medium, and high change properties respectively. Additionally, various components of the system are classified as acceptors or reflectors of changes with aid of some indicators. A normal change diffusion index between -1 and +1 shows the relative strength of each component in absorber-to-enhancer spectrum. The method is implemented in the prototype.