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AIAA Aviation Forum and Exposition

作者： Bachmaier, Benjamin Anderson, Richard P. Embry Riddle Aeronaut Univ Dept Aerosp Engn Daytona Beach FL 32114 USA Embry Riddle Aeronaut Univ Eagle Flight Res Ctr Daytona Beach FL 32114 USA Quantum Syst Gilching Germany

ISBN: (数字)9781624106101

ISBN: (纸本)9781624106101

The emergence of undesired wind-induced hover flight dynamics on lightweight, low-inertia tiltrotor airplanes is outlined, modeled and discussed. Based on real-life flight data of an unmanned tiltrotor vehicle, two repeatable phenomena are examined: directional divergence during a hovering yaw maneuver, and excitation of a diverging lateral-directional oscillation during translational hover, both flown in significant wind with an otherwise proven and stable automatic flight control system. Based on a generalizable mathematical model of a hovering tiltrotor airplane with a cascaded attitude and velocity control loop structure, the influence of bare airframe, control system and wind parameters on the lateral-directional hover stability properties of tiltrotor airplanes is examined. To improve stability and control with respect to wind conditions, control system design approaches such as the active coupling with a wind estimator for a model-based dynamic inversion compensator, or the adequate scheduling of feedback gains based on stability conditions derived from a linearized model are discussed and validated in simulation and flight test.

关键词： Directional Stability Tiltrotor Aircraft Yaw control control system design Aeroplane Airframes Flight Testing Digital Automatic Flight control system Flight Dynamics Mathematical Models

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A Gaussian Process Enhancement to Linear Parameter Varying Models

A Gaussian Process Enhancement to Linear Parameter Varying M...

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AIAA Aviation Forum and Exposition

作者： Schuet, Stefan Malpicat, Carlos Airest, Jeremy NASA Intelligent Syst Div Ames Res Ctr Mail Stop 269-3 Moffett Field CA 94035 USA NASA Aeromech Off Ames Res Ctr Mail Stop 243-11 Moffett Field CA 94035 USA

ISBN: (数字)9781624106101

ISBN: (纸本)9781624106101

Simulation and analysis for modern engineering systems now routinely requires the merging of multiple disciplines, physical-domains, time-scales, and data sets | all at ever increasing levels. These capabilities are especially needed in the domain of Advanced Air Mobility, where rapidly emerging vehicle designs are significantly more complex, while having to be both cost-effective and safe. To meet these engineering challenges, machine learning methods are an attractive option for merging models and data across multiple areas while providing uncertainty quantification and maintaining computational efficiency. This paper examines the use of Gaussian process machine learning to generalize and enhance the commonly used class of quasi-Linear Parameter Varying models for fast full-envelope simulation while also supporting control system design and analysis with model uncertainty. Gaussian process machine learning is selected because it: can fuse multiple data sets, enables an easy trade-off between data fitting and smoothing, provides model uncertainty quantification, scales well with increasing complexity, and does not generally require starting from a large training data set. To demonstrate the benefits of the approach, a robust stability analysis with Gaussian process uncertainty is shown for a NASA reference design of an electric quad-rotor air-taxi concept vehicle with motor parameter uncertainty.

关键词： Probability Density Functions Kernel Functions Quad Rotor National Aeronautics and Space Administration control system design Air Mobility Aerodynamic Properties Linear Quadratic Regulator Rotorcrafts True Airspeed

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A Robust control system Against Temperature Variance for Space-Use SMA Actuators

A Robust Control System Against Temperature Variance for Spa...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Nozaki, Manato Miyata, Kikuko Hara, Susumu Otsuki, Masatsugu Nagoya Univ Grad Sch Engn Dept Aerosp Engn Furo ChoChikusa Ku Nagoya Aichi 4648603 Japan Meijo Univ Dept Vehicle & Mech Engn 1-501 Shiogamaguchi Tempaku Ku Nagoya Aichi 4688502 Japan Japan Aerosp Explorat Agcy Inst Space & Astronaut Sci Dept Spacecraft Engn Sagamihara Kanagawa 2525210 Japan

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

Shape memory alloys (SMAs), well-known as the force source in space-use nonexplosive actuators, generate force through temperature-based phase transitions. The force amount is related to the volume and mass of the SMA. This study presents a method to improve the force-generation profile of the SMA actuator, which consists of an SMA tube, a mechanical restraint, and a heater. The high SMA mass ratio of the actuator allows it to achieve high power density;however, its force trajectories are affected by the environmental temperature variance because of its huge heat capacity. The uncertainties of the force trajectories limit the applications of the actuator. This paper proposes a method to achieve the required force trajectories under temperature variance to enlarge the application of the high power density SMA actuators. In addition, a suitable model is established for the force-trajectory control method based on the thermo-mechanical coupling response characteristics. A thermal balance model is constructed under vacuum environment. Furthermore, a hysteresis characteristic model of the phase transformation is introduced, and it reduces the heating profile limitation. The force trajectory is designed based on the model predictive control method. The designed trajectory is realized using a simple temperature-measurement feedback control method based on the proportional-integral-derivative method. To illustrate the system design, the holdingrelease mechanism application is selected. The effectiveness of the proposed methods is verified through specific test piece system identification and control simulations, which are performed both numerically and experimentally under temperature variance.

关键词： Actuators control system design Proportional Integral Derivative Feedback control system Hysteresis Heat Capacity Martensite Numerical Simulation Young's Modulus Position Sensing

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design, control and Prototyping of a Bidirectional Dual Active Bridge Converter for integrating a Sodium Metal Halide Battery into a Telecom Station 13

Design, Control and Prototyping of a Bidirectional Dual Acti...

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13th IEEE Energy Conversion Congress and Exposition (IEEE ECCE)

作者： Porru, Mario Serpi, Alessandro Soldati, Alessandro Tassi, Luca Damiano, Alfonso NEPSY Srl Cagliari Italy Univ Cagliari Dept Elect & Elect Engn Cagliari Italy Univ Parma Dept Engn & Architecture Parma Italy

ISBN: (纸本)9781728151359

The paper presents the design, control and prototyping of a Dual Active Bridge converter (DAB) devoted to interface a Sodium Metal Halide Battery (SMHB) to the DC grid of a telecom station. The design process is accomplished starting from telecom DC supply and SMHB specifications, especially power and voltage ratings and their corresponding variation ranges. Furthermore, DAB components are selected carefully based on an extensive performance analysis to maximise the energy efficiency, by enabling Zero-Voltage Switching (ZVS) over wide power and voltage operating ranges. The effectiveness of the proposed configuration is guaranteed also by a nested PI-based control system, which avoids unsuitable DC-bias current components by a proper management of phase-shift variations. Both simulations and experiments are presented and discussed, which corroborate the validity of all the design solutions.

关键词： control system design DC-bias current Dual active bridge converters Phase-shift modulation Sodium metal halide batteries Zero-voltage switching

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Model-free adaptive control method for a class of unknown MIMO systems with measurement noise and application to quadrotor aircraft

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IET control THEORY AND APPLICATIONS 2020年第15期14卷 2084-2096页

作者： Liu, Shida Hou, Zhongsheng Zhang, Xin Ji, Honghai North China Univ Technol Sch Elect & Control Engn Beijing 100093 Peoples R China Qingdao Univ Sch Automat Qingdao 266071 Peoples R China China Mobile Hangzhou Informat Technol Co Ltd Hangzhou 310000 Peoples R China

In this work, a novel robust model-free adaptive control (Ro-MFAC) algorithm for a class of unknown multiple-input multiple-output (MIMO) systems with measurement noise is presented. The proposed algorithm, designing by a dynamic linearisation data model with the concept of the pseudo-Jacobian matrix and an adaptive decreasing factor, is a pure a data-driven control method, and only the input-output data are involved for the control system design. The introduction of the adaptive decreasing factor is to attenuate the noise effect on the performance for improving the robustness of the algorithm. The stability of the Ro-MFAC proposed algorithm is proven by rigorous mathematical theory, and the effectiveness of the Ro-MFAC is verified by a series of numerical simulations. Furthermore, the Ro-MFAC is applied to an attitude adjustment problem of a practical quadrotor aircraft for demonstrating the applicability of the proposed approach.

关键词： control system synthesis nonlinear control systems robust control MIMO systems adaptive control Jacobian matrices linear systems helicopters attitude control linearisation techniques model-free adaptive control method unknown MIMO systems measurement noise dynamic linearisation data model pseudoJacobian matrix adaptive decreasing factor data-driven control method input-output data control system design practical quadrotor aircraft robust model-free adaptive control algorithm unknown multiple-input multiple-output systems Ro-MFAC stability mathematical theory altitude adjustment

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Research on Self-balancing Two Wheels Mobile Robot control system Analysis

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Electrical Science & Engineering 2022年第1期4卷 7-20页

作者： Hla Myo Tun Myat Su Nwe Zaw Min Naing Maung Maung Latt Devasis Pradhan Prasanna Kumar Sahu Faculty of Electrical and Computer Engineering Yangon Technological UniversityYangonMyanmar Department of Mechanical Engineering King Lauk Phya Institute of Technology MyaungmyaMyaungmyaMyanmar Department of Research and Innovation Ministry of Science and TechnologyYangonMyanmar Department of Electronic Engineering Yangon Technological UniversityYangonMyanmar Department of Electronics&Communication Engineering Acharya Institute of TechnologyBengaluruIndia Department of Electrical Engineering National Institute of TechnologyRourkelaOdishaIndia

The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental *** research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span *** main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world *** numerical expression with mathematical modelling is very important to control the mobile robot system with *** fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot *** controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID *** simulation of numerical expression on mathematical modeling was conducted in MATLAB *** confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical *** results from simulation approaches and experimental approaches are matched in various kinds of *** constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).

关键词： Mobile robot Self-balancing robot control system design PID controller Dynamic control system analysis

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Comprehensive study of parking houses for smart cities

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IFAC-PapersOnLine 2022年第4期55卷 1-12页

作者： Zdenek Slanina VSB-Technical University of Ostrava Ostrava Czech Republic

This article discusses the results of a comprehensive study of a new generation of parking houses. First of all, the basic components of a new generation of automatic parking system (APS) in line with the Industry 4.0 concept are described, where automated guided vehicles (AGVs) and a lift system can be used to park pallet loaded cars. The APS is equipped with a hybrid power supply using renewable energy sources support and storage, including a system for self-charging electric vehicles. The building structure will be designed to allow for the elimination of dust particles and additional stormwater management. Functionality has been tested on a scale model of approximately 1:10 to minimise operational times, particularly for vehicle parking.

关键词： Autonomous robotic systems Smart grids control system design Modeling supervision control diagnosis of automotive systems

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Forward and backward motions path following controls of a truck-trailer with references on the head-truck and on the trailer

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ISA TRANSACTIONS 2020年 105卷 349-366页

作者： Widyotriatmo, Augie Nazaruddin, Yul Yunazwin Putranto, Mohammad Raka Febsya Ardhi, Rizqi Inst Teknol Bandung Fac Ind Technol Instrumentat & Control Res Grp Ganesha 10 Bandung 40132 Indonesia Inst Teknol Bandung Fac Ind Technol Engn Phys Program Ganesha 10 Bandung 40132 Indonesia

This paper presents new control designs and implementations of truck-trailer path following in forward and backward motions. The path following controls are designed in two modes, which are the controls with reference on the head-truck (RH-control) and with reference on the trailer (RT-control). Both modes aim to converge the distance and orientation errors of the head-truck as well as the trailer with respect to the desired path to zero. Using the designed controls, the asymptotic stabilities of the equilibrium points (i.e., error points equal to zeros) are analyzed using the Lyapunov method. The performances of RH-and RT-controls in controlling the truck-trailer are compared for forward and backward motions. The simulation results show that the RT-controls perform better than the RH-controls and the RT-controls can be applied for a curve-path following in both forward and backward directions. The experimental results of a prototype truck-trailer show the effectiveness of the proposed controls. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Autonomous vehicles Path following control system design Nonlinear control Lyapunov approach Mobile robot Truck-trailer system

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Open-Loop Linear Model Identification of aMultirotor Vehicle with Active Feedback control

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JOURNAL OF AIRCRAFT 2020年第6期57卷 1044-1061页

作者： Cunningham, Michael A. Hubbard, James E., Jr. Univ Maryland Dept Aerosp Engn Hampton VA 23666 USA Texas A&M Univ Dept Mech Engn College Stn TX 77843 USA

As multirotor vehicles become integrated into the national airspace for applications such as package delivery and videography, it is important that the inner-loop control system be robust and able to meet ever-demanding performance constraints. To achieve high bandwidth control designs, it is necessary to have accurate and high bandwidth open-loop models. In this Paper, a linear state-space model of the open-loop dynamics of a hex-configuration multirotor vehicle was identified from flight tests conducted with an active feedback controller. The system identification methodology and initial model structure were formed and informed by an analytical model, which incorporated a propeller aerodynamics model derived using blade element theory. The methodology for identification of the open-loop model involved the combined application of manual pilot inputs and automated multisine inputs added to the output of the controller. The effectiveness of the model's predictive capability was shown with a validation flight test with simultaneous excitation of the four input axes and an independent flight test for validation of the heave model. The final model structure, which incorporated axis-lumped first order dynamics to represent the propulsion system dynamics, was found to be generalizable to various traditional coplanar multirotor configurations.

关键词： Proportional Integral Derivative Feedback control system Fixed Pitch Propellers Flight Testing Propulsion system Multirotor Blade Element Theory control system design Pilot Airspace

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Hybrid control of Flying Capacitor Converter Based Shunt Active Power Filter for Photovoltaic systems Interconnection

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IFAC-PapersOnLine 2022年第12期55卷 49-54页

作者： M. Aourir A. Abouloifa C. Aouadi F. El Otmani I. Lachkar K. Noussi H. Katir ESE lab ENSEM of Casablanca Hassan II University BP 8118 Casablanca Morocco

This work deals with the hybrid control of grid-connected photovoltaic (PV) systems with the ability of active power filtering in the highly distorted power grid. The used interfacing system consists of a multilevel topology that provides better performances in terms of power quality improvement compared to the two-level counterpart, especially for single-stage PV systems. The proposed control process consists of a cascaded structure to deal with the following objectives: (i) extract the maximum power from the PV panels despite the climate changes, (ii) equal sharing of the input voltage over the power switching devices, (iii) satisfactory compensation of harmonic currents and reactive power. To meet these objectives, two cascaded loops are designed, an outer voltage loop based on a PI regulator for PV panels voltage regulation and an inner loop developed using a hybrid automaton to deal with power factor correction (PFC) and flying capacitors voltage balancing. The investigated system is simulated using Matlab/Simpowersystems environment and Stateflow toolbox, the obtained results prove the good performance of the proposed control approach.

关键词： Photovoltaic systems Multilevel inverter Hybrid systems Modeling simulation of power systems control system design

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