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检索条件"主题词=Control Algorithm"

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Global Trajectory-tracking control for a Tailsitter FlyingWing in Agile Uncoordinated Flight

Global Trajectory-tracking Control for a Tailsitter FlyingWi...

引用

AIAA Aviation Forum and Exposition

作者： Tal, Ezra Karaman, Sertac MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA MIT Lab Informat & Decis Syst Cambridge MA 02139 USA MIT Lab Informat & Decis Syst Aeronaut & Astronaut Cambridge MA 02139 USA

ISBN: (数字)9781624106101

ISBN: (纸本)9781624106101

We propose a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing micro unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. Our global control formulation enables agile maneuvering throughout the flight envelope, including uncoordinated flight conditions with sideslip. We derive a differential flatness transform for the nonlinear tailsitter dynamics with a simplified aerodynamics model. Using this transform, the proposed controller incorporates accurate tracking of the position reference along with its temporal derivatives velocity, acceleration and jerk, as well as the yaw reference and yaw rate. The inclusion of jerk and yaw rate references through an angular velocity feedforward term increases tracking performance on agile trajectories with fast-changing accelerations. The control design is based on a simplified aerodynamics model that does not require extensive modeling of the aircraft dynamics. By applying incremental nonlinear dynamic inversion (INDI), the controller only depends on a local input-output relation to incrementally update control inputs, resulting in robustness against modeling inaccuracies. We achieve INDI with nonlinear dynamics inversion based on the derived differential flatness transform. The resulting control algorithm is extensively evaluated in flight tests, where it demonstrates accurate trajectory tracking and challenging agile maneuvers, such as uncoordinated sideways flight, aggressive transitions while turning, and differential thrust turning.

关键词： Flap Deflection Tracking control control Surfaces Unmanned Aerial Vehicle control algorithm Nonlinear Dynamic Inversion Rotational Kinematics Vertical Take off and Landing Sideslip Angle Aircraft Dynamics

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Thin Plate Active Vibration control 22

Thin Plate Active Vibration Control

引用

22nd International Carpathian control Conference (ICCC)

作者： Pavelka, Vaclav Suranek, Pavel Strambersky, Radek VSB Tech Univ Ostrava Ostrava Czech Republic

ISBN: (纸本)9781728186092

This article investigates active vibration control of thin plates using piezoceramic actuators. The piezoceramic actuator is in disc form and is tightened by screws to the centre of plate which is a piece of stainless steel sheet excited by small shaker. Paper describes method of identification of the laboratory model and also creation of approximation mathematical model together with basic algorithm which is designed the first four modes. As the result is presented good effect for first, third and four mode, and zero effect on second mode, which is probably caused by piezoactuator position.

关键词： Active Vibration control Piezoelectric Actuator control algorithm

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Introspective control Systems: Fast Model Predictive control with Explicit Optimization Search, Nonlinear Models, and On-line Learning

Introspective Control Systems: Fast Model Predictive Control...

引用

AIAA Science and Technology (SciTech) Forum and Exposition

作者： Zaychik, Kirill B. Miller, Timothy N. SUNY Binghamton Binghamton NY 13902 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

Maximizing dynamic characteristics of a machine with complex nonlinear behavior can be very challenging. Most traditional control algorithms are quite short-sighted and perform poorly with nonlinearities and hysteresis in the machines they are controlling. In this paper, an advanced form of model-predictive controller is presented, dubbed as introspective control system (ICS), and compared against traditional forms of control algorithms, such as Optimal, Linear, and Adaptive model following algorithms. One essential feature of the ICS algorithm is that it utilizes search-based optimization, allowing it to work with nondifferentiable and noninvertible models, and discrepancies between plant and model can be recorded and used to update the model on-line. This study is centered around a real-life application, attempting to maximize dynamic characteristics of the Cockpit Motion Facility flight simulator, located at NASA Langley Research Center. The proposed methodology demonstrates superior dynamic bandwidth, without sacrificing damping of the system. Compared to the existing controller for this flight simulator platform, the proposed algorithm is a substantial improvement, able to achieve 5x and 2.3x increase in gain and phase bandwidth respectively. Moreover, transient response shows little to no overshoot while also improving the rise and settling time. This paper offers a detailed description of the proposed ICS methodology and compares it against traditional control theory and NASA's existing controller. Some insight is also provided as to how the choice of fitness function affects overall closed loop system performance, allowing additional fine-tuning of ICS-controlled system response.

关键词： control Systems Proportional Integral Derivative control algorithm Flight Simulation Hysteresis NASA Langley Research Center Cockpit Artificial Neural Network Search algorithm Algebraic Riccati Equation

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Optimal Tracking control Based on Command Governor for Uncertain System

Optimal Tracking Control Based on Command Governor for Uncer...

引用

AIAA SciTech Forum

作者： Deniz, Meryem Yucelen, Tansel Jaramillo, Jesse Izmir Katip Celebi Univ Dept Elect Elect Engn Izmir Turkiye Univ S Florida Dept Mech Engn Tampa FL 33620 USA Univ S Florida Lab Auton Control Informat & Syst LACIS Tampa FL 33620 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This study proposes a new optimal tracking control based on the command governor method to suppress the system uncertainties, while reducing the transient response and achieving optimal tracking performance. The advantage of this method compared to adaptive control is that it eliminates the learning time, which affects the transient response and steady-state performance. In addition, comparing the proposed method with robust control shows that the proposed method is not dependent on the conservative bounds for the uncertainty of the system. An illustrative numerical example is provided to demonstrate the effectiveness of our approach.

关键词： Adaptive control Method Robust control Costate Equation American Institute of Aeronautics and Astronautics Lagrange Multipliers Riccati Equations control algorithm

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Hierarchical control Coordination Strategy of Six Wheeled Independent Drive (6WID) Skid Steering Vehicle 9th

Hierarchical Control Coordination Strategy of Six Wheeled In...

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9th IFAC International Symposium on Advances in Automotive control (AAC)

作者： Prasad, Rajan Ma, Yue Beijing Inst Technol 5 South Zhongguancun St Beijing 100081 Peoples R China

Due to advantages over conventional axle drive systems, AWAID (all wheel independent drive) vehicle are getting popularity in special purpose as well as commercial purpose vehicle. Maneuverability is not only dependent on the steering mechanism but also the steering control. Considering distributed independent drive differential speed steering vehicle, a theoretical hierarchical control allocation problem has been formulated and optimization technique has been employed to solve it and distribute the control to actuators for 6WID (six-wheel independent drive) vehicle. Mathematical technique (quadratic programming) has been applied to solve the optimized control allocation problem. The control strategy can realize the real-time torque distribution, wheel failure and wheel slip limitation. Power distribution strategy in the different mode of vehicle operation is proposed based on the characteristics curves of in-wheel motors in the upper-level layer controller considering corresponding actuator torque output from the lower level controller. The strategy is responsible for executing the same fraction of steering command instructed with or without penalizing the straight driving command The co-simulation result validates the control strategy in normal working condition and case of handling failure of the wheel. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： AWID vehicle hierarchical control control algorithm optimized torque distribution power distribution decision actuator control redistribution

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Design of Mineral Feeding Supervisory control System Based on Multi-source Information Fusion

Design of Mineral Feeding Supervisory Control System Based o...

引用

International Conference on Intelligent Human-Machine Systems and Cybernetics

作者： Ye, Yanfei Wang, Bailin Shao, Mingheng Zhang, Yongqi Hohai Univ Coll Elect Engn Nanjing Jiangsu Prov Peoples R China Richisland Informat Technol Co Ltd Nanjing Jiangsu Prov Peoples R China

ISBN: (纸本)9780769537528

The grinding process in concentration plants of the metallurgical industry is of great importance. A mineral feeding supervisory control system in the grinding process was designed with the idea of reliable data acquisition and the management and control integration. The paper puts emphasis on data acquisition based on multi-source information fusion, the mineral feeding control algorithm, and the proper supervisory methods. Firstly, based on multi-source information fusion, the status of the device is monitored and the process data is acquired. Through analysis and synthesis of the data from a variety of sensors, the measurement accuracy is improved, confidence is increased, fault tolerance is enhanced, and the best consensus estimate of the test objects and their properties is achieved. Then, based on the accurate and reliable test data, the mineral feeding control algorithm is designed. In the algorithm logic switching program control, sampling control and integration apart PID are synthetically used, the former makes the four mineral feeding machines run by turns and the latter realizes stable mineral feeding quantity control. Finally, several proper supervisory methods such as process now graphs, statistical report forms, history trending etc., are described in brief. The practical operation shows that the mineral feeding supervisory control is timely, accurate and the system runs stably with obvious effectiveness.

关键词： mineral feeding supervisory control information fusion control algorithm supervisory methods

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Adapted Synchronous Reference Frame based control for a Dynamic Voltage Restorer

Adapted Synchronous Reference Frame based Control for a Dyna...

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IEEE International Conference on Innovations in Power and Advanced Computing Technologies

作者： Manitha, P., V Nair, Manjula G. Bengaluru Amrita Vishwa Vidyapeetham Dept Elect & Elect Engn Amrita Sch Engn Bengaluru India Amrita Vishwa Vidyapeetham Amritapuri Dept Elect & Elect Engn Amrita Sch Engn Vallikavu India

ISBN: (纸本)9781538681909

Pollution in the power systems has increased tremendously because of the invention of power electronic devices. The fast switching and nonlinear characteristics of power electronic devices has increased the power quality issues compared to earlier sources like transformer magnetization nonlinearities, rotating machines,televisions and saturated coils etc. The increase in power quality issues has a direct effect on the production cost. Both direct and indirect cost will increase because of the PQ issues. More than that it affects the performance of sensitive loads used in process, manufacturing and automation industries. So the crucial element is DVR/Series Active filter which protects the sensitive loads. The working of these devices completely dependent on the controller. In this paper, a modified version of SRF controller which will be capable of doing the compensation of voltage sag /swell is proposed. Performance of the modified controller is analyzed using matlab simulink platform and proved the effectiveness of the controller.

关键词： DVR control algorithm Sensitive Loads

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Modeling and Simulation of UAV Swarm Formation control in Response to Wind Gusts

Modeling and Simulation of UAV Swarm Formation Control in Re...

引用

AIAA Science and Technology (SciTech) Forum and Exposition

作者： Findeis, Daniel Balchanos, Michael Vachtsevanos, George Mavris, Dimitri Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

Unmanned vehicles are becoming increasingly more capable of performing surveillance and reconnaissance tasks in place of manned vehicles or human operators. In particular, small UAVs provide an inexpensive alternative to larger scale surveillance aircraft, be they manned, or unmanned. While they are restricted in carrying less surveillance equipment due to their size, these vehicles can be deployed in large numbers as a swarm to make up for their individual shortcomings. Due to their small size, however, these UAVs typically do not operate well in turbulent conditions, and are susceptible to disturbances such as wind gusts. The issue here is determining how to organize the swarm to make best use of its size and position and to overcome stability deficiencies at the vehicle level. This study creates a model of a UAV swarm using an agent-based simulation approach and will attempt to determine how to use clustering methods and various individual behaviors to maintain resiliency at the swarm level in response to wind gusts. The mission to be tested will be a search and rescue mission, in which the UAVs need to surveil an area and locate a target. The model will organize the vehicles into isolated formations, and these formations will be split into distinct groups using k-means clustering based on their positions over the target area. In addition, a wind gust behavior will be modeled to displace the UAVs, with obstacles placed within the mission coverage area and collisions between UAVs modeled as well, in order to capture the impact of a gust on the swarm, which is quantified in terms of vehicle losses. It is expected that the use of clustering during the mission will decrease the time required to locate the target while also reducing the number of vehicles lost due to collisions.

关键词： Unmanned Aerial Vehicle Unmanned Vehicles Surveillance Aircraft Aerospace Engineering control algorithm Computing Technology Military Operations Obstacle Avoidance Rescue Vehicles Quadrotor

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Performance Analysis of Conventional and Digital PWM control Scheme for Speed control of BLDC Motor Drives

Performance Analysis of Conventional and Digital PWM Control...

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IEEE International Conference on Advances in Electrical Technology for Green Energy (ICAETGT)

作者： Azarudeen, A. Mary, Dolly Rajiv Gandhi Inst Technol Dept Elect Engn Kottayam Kerala India

ISBN: (纸本)9781538621387

This paper presents the performance analysis of conventional and digital pulse width modulation (PWM) control scheme for speed control of electronically commuted trapezoidal Brushless dc (BLDC) motor. Both these methods follow the PWM speed control strategy, only difference is in the controller part. One drive system consist of conventional PI controller and the other have digital controller. This paper includes discussion on the implementation of both the techniques and their performances are compared. Co- simulation of closed loop control systems are modeled by using Xilinx Integrated Software Environment (ISE) simulator and MATLAB/Simulink. Experimental test setup is carried out using field-programmable gate arrays (FPGA). Simulation results and effectiveness of the methods are proved and validated by experimental results. The results of the two techniques are compared and conclusions are made.

关键词： Brushless dc (BLDC) Pulse Width Modulation (PWM) field-programmable gate arrays (FPGAs) Voltage source inverter (VSI) control algorithm

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A procedure for obtaining steady-state solutions with WENO through sensitivity tuning and dynamic control

A procedure for obtaining steady-state solutions with WENO t...

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AIAA SciTech Forum

作者： Vollmer, Blaine Bodony, Daniel J. Univ Illinois Dept Aerosp Engn Urbana IL 61801 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

WENO schemes are known to struggle to obtain steady-state solutions in the presence of shocks. In this work, the 2D compressible Euler equations are solved using 5th-order finite-difference WENO to obtain steady-state solutions by modifying the WENO parameters and implementing a dynamic weight controller. A descaling procedure is introduced to consistently compare and apply WENO across formulations and implementations. The response of WENO schemes to step inputs is studied to understand the effect of WENO parameters on weight activation and flux reconstruction. The effects on steady-state convergence and non-oscillatory behavior are then studied when the WENO parameters are varied. A PID control algorithm is introduced on the WENO weights that is capable of extending the ability of WENO to obtain steady solutions without introducing spatial oscillations.

关键词： control algorithm Euler Equations Oblique Shock Proportional control Nyquist Frequency Freestream

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