This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuratio...
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ISBN:
(纸本)9781467355605
This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. Controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.
作者：
Li, TianhuaFei, JuntaoHohai Univ
Coll Comp & Informat Jiangsu Key Lab Power Transmiss & Distribut Equip Changzhou Peoples R China
In this paper, a novel feedbacklinearization based sliding mode controlled parallel active power filter using a fuzzy controller is presented in a three-phase three-wire grid. A feedbacklinearization control with fu...
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In this paper, a novel feedbacklinearization based sliding mode controlled parallel active power filter using a fuzzy controller is presented in a three-phase three-wire grid. A feedbacklinearization control with fuzzy parameter self-tuning is used to implement the DC side voltage regulation while a novel integral sliding mode controller is applied to reduce the total harmonic distortion of the supply current. Since traditional unit synchronous sinusoidal signal calculation methods are not applicable when the supply voltage contains harmonics, a novel unit synchronous sinusoidal signal computing method based on synchronous frame transforming theory is presented to overcome this disadvantage. The simulation results verify that the DC side voltage is very stable for the given value and responds quickly to the external disturbance. A comparison is also made to show the advantages of the novel unit sinusoidal signal calculating method and the super harmonic treatment property of the designed active power filter.
This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuratio...
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ISBN:
(纸本)9781467355599
This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. Controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.
A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input-output feedback linearizat...
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ISBN:
(纸本)9781424452262
A chattering-free robust nonlinear controller is proposed for the speed control of an IPMSM drive system to compensate for the parameter uncertainties and load disturbances. First, the input-output feedback linearization technique is used with a load torque estimator. Next, the upper bounds of the uncertainties are defined in design of the chattering-free robust controller. After that, in order to derive the chattering-free nonlinear robust control laws without reducing the benefits of the sliding mode control, a new method using the sliding manifold information is proposed. Asymptotic stability of the proposed control method is proven by Lyapunov stability theory and Barbalat's lemma. A digital signal processor, TMS320LF2407, is used to implement the proposed control scheme. The experimental results show that the proposed system can effectively reduce the chattering phenomenon and has fast transient responses, good load disturbance rejection responses, and good tracking responses.
This paper describes new software called NLSoft, developed for the design of nonlinear controllers based on the well-known feedback linearization technique. NLSoft is a software package containing several symbolic man...
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This paper describes new software called NLSoft, developed for the design of nonlinear controllers based on the well-known feedback linearization technique. NLSoft is a software package containing several symbolic manipulation modules, which includes differential geometric tools for the design and simulation of control systems. NLSoft presents a user-friendly graphical user interface (GUI) as well as a new and powerful module permitting the calculation time of linearizing control laws considering several digital signal processors (DSPs) characteristics. These facilitate the real-time implementation of the control system. NLSoft is validated considering a six order dynamic nonlinear system. (c) 2006 IMACS. Published by Elsevier B.V. All rights reserved.
A relatively general Lagrangian formulation for studying the nonlinear dynamics and control of spacecraft with interconnected flexible members in a tree-type topology is developed. Versatility of the formulation is il...
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A relatively general Lagrangian formulation for studying the nonlinear dynamics and control of spacecraft with interconnected flexible members in a tree-type topology is developed. Versatility of the formulation is illustrated through a dynamical study of the Space Station based two-link Mobile Servicing System (MSS). The performance of the MSS undergoing inplane and out-of-plane slewing maneuvers is compared. Results indicate that, in absence of control, the maneuvers induce undesirable librational motion of the Space Station as well as vibration of the links. Nonlinear control, based on the feedback linearization technique (FLT), appears promising. Quasi-Closed Loop Control (QCLC), a variation of the FLT, is applied to control the libration of the Space Station. Once the attitude of the Space Station is controlled, the performance of the MSS improves significantly. For a 5-minute maneuver of the MSS, the maximum control torque required is only 34.5 Nm.
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