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Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2022年第3期236卷 443-457页

作者： Xin, Hongbo Wang, Yujie Gao, Xianzhong Chen, Qingyang Zhu, Bingjie Wang, Jianfeng Hou, Zhongxi Natl Univ Def Technol Coll Aerosp Sci & Engn Changsha 410073 Hunan Peoples R China

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to +/- 90 degrees . The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by matlab and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

关键词： Unmanned aerial vehicles vertical take-off and landing quadrotor tail-sitter flight mode transition simulation in matlab Simulink flight test

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Planning tripod gait of an hexapod robot 14

Planning tripod gait of an hexapod robot

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14th International Multi-Conference on Systems, Signals & Devices (SSD)

作者： Hasnaa, El Hansali Mohammed, Bennani Mohammed V Univ Rabat ENSIAS Lab Mech & Ind Proc & Proc LM2PI Rabat Morocco

ISBN: (纸本)9781538631751

Hexapod legged robot's missions, particularly in irregular and dangerous areas, require high stability and high precision. In this paper, we consider the rectangular architecture body of legged robots with six legs distributed symmetrically along two sides, each leg contains three degrees of freedom for greater mobility. The aim of this work is planning tripod gait trajectory, based on the computing of the kinematic model to determine the joint variables in the lifting and the propelling phases. For this, an appropriate coordinate frames are attached to the body and legs in order to obtain clear representation and efficient generation of the system equations. A simulation in matlab software platform is developed to confirm the kinematic model and various trajectories to the tripod gait adopted by the hexapod robot in its locomotion.

关键词： Hexapod legged robot tripod gait inverse kinematic model simulation in matlab

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Planning a trajectory of a 6-DOF parallel robot ⟨⟨ HEXA ⟩⟩ 2

Planning a trajectory of a 6-DOF parallel robot ⟨⟨ HEXA ⟩...

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2nd International Conference on Electrical and Information Technologies (ICEIT)

作者： Hasnaa, El Hansali Mohammed, Bennani Univ Mohammed V Rabat ENSET Rabat Lab Mech & Ind Proc & Proc LM2PI Rabat Morocco

ISBN: (纸本)9781467384698

The parallel structure robot with 6-DOF "HEXA" has found use in high-end systems when multiple degrees of freedom and large workspace are required. In this paper, we establish the inverse kinematic model of robot "HEXA" in order to follow various given trajectories. However, simulating robots is one of the essential elements of modern manufacturing plants, so in this work we plan simples and complexes trajectories, and we simulate the capacity of the robot to follow these trajectories in order to be efficient in planning tasks in parallel structures such as the legged robots.

关键词： Inverse Kinematic model planning trajectory robot "HEXA" simulation in matlab

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Simulace přenosu DVB-S2

Simulace přenosu DVB-S2

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作者： Klíma, Jindřich Brno University of Technology

Tématem mé diplomové práce byl druhý standard satelitní digitální televize, DVB-S2. Je sepsán princip digitální televize a první standard DVB-S. Dále je... 详细信息

Tématem mé diplomové práce byl druhý standard satelitní digitální televize, DVB-S2. Je sepsán princip digitální televize a první standard DVB-S. Dále je popsán samotný vznik a charakteristika standardu DVB-S2, nové použité techniky, architektura a jednotlivé bloky jsou detailněji vysvětleny. Součástí práce je také vytvořený program Simulace přenosu DVB-S2 v prostředí matlab. V laboratoři televizní techniky UREL byly změřeny oba standardy a srovnány s hodnotami získanými z programu. Byla ověřena funkčnost programu a výhody DVB-S2.

关键词： DVB-S DVB-S2 FEC korekce LDPC BER Simulace v matlab DVB-S DVB-S2 FEC correction LDPC BER simulation in matlab Text

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Interpolace obrazů

Interpolace obrazů

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作者： Hejdová, Martina Brno University of Technology

V práci je popsán základní princip, vlastnosti a využití interpolace 2D signálu (obrazu). Podrobněji jsou popsány jednotlivé metody interpolace. Teoretické poznatky interp... 详细信息

V práci je popsán základní princip, vlastnosti a využití interpolace 2D signálu (obrazu). Podrobněji jsou popsány jednotlivé metody interpolace. Teoretické poznatky interpolace jsou prakticky vyzkoušeny v prostředí matlab na vybraných metodách interpolace zahrnujících i vlastní implementaci kvadratické a lineární interpolace. Testování je provedeno na různých typech snímků, především pak na biomedicínských. Jednotlivé interpolace jsou také aplikovány na histogram. Zjištěné výsledky jsou navzájem porovnány a přehledně vyneseny do grafických závislostí.

关键词： Interpolace konvoluce vzorkování Fourierova transformace interpolační metody histogram simulace v matlabu Image interpolation image convolution image sampling Fourier transform image interpolation methods histogram simulation in matlab Text

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