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UAV longitudinal autopilot design using SLC and TECS controllers

CEAS Aeronautical Journal 2024年第2期15卷 351-362页

作者： Ghelem, Nourddine Boudana, Djamel Bouchhida, Ouahid Laboratory of Process Control LCP Department of Engineering Control Systems and Applied Mathematics National Polytechnic School ENP of Algiers 10 St Hacen Badi El Harrach Algiers Algeria Department of Electrical Engineering LREA Laboratory University of Medea Medea Algeria

UAVs are becoming increasingly prevalent in a wide range of fields, including surveillance, photography, agriculture, transportation, and communications. Hence, research institutions have developed a range of linear and non-linear controllers that can enhance the stability and efficiency of these UAVs while performing their assigned tasks. In this paper, we present a longitudinal autopilot design for the Sky Sailor solar UAV using two different control techniques. The first technique is a classic controller known as SLC (Successive Loop Closure), which is based on consecutive closed loops using a PID controller. The second technique is the TECS (Total Energy control System) controller, which uses the specified total energy rate and energy distribution rate to regulate the airspeed and altitude of the UAV. After detailing the working principle of each controller and calculating the tuning parameters for each one, we applied the two techniques to the non-linear model that describes the behavior of the Sky Sailor UAV using MATLAB Simulink. The simulation results showed that the TECS controller is superior to the SLC controller in terms of stability and energy efficiency. As such, this technique is an excellent choice for solar drones, as it can increase their endurance. © Deutsches Zentrum für Luft- und Raumfahrt e.V. 2024.

关键词： controllers

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Real-time power flow analysis and management for a long-endurance solar UAV during continuous flight

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CEAS Aeronautical Journal 2023年第4期14卷 1035-1049页

One of the primary challenges for Unmanned Aerial Vehicle (UAV) developers is to improve their endurance while in the air, as their typical flight time is limited to a few hours. One widely used technology to enhance their endurance is harnessing solar energy to power UAV and charge their batteries in flight. This article presents the development of a real-time simulation environment to enable the continuous flight of the Sky Sailor solar UAV. Through the utilization of a solar irradiance model, a solar panel model, real-time power generation is calculated. Simultaneously, the UAV’s full dynamic model, along with the autopilot and propulsion system model, is employed to determine the energy consumption at each moment. The energy management algorithm then compares the acquired energy with the power consumed, and in cases of surplus energy, it is efficiently stored in the battery for nighttime usage. Simulations show that continuous flight of the drone can be achieved during the summer season, when the daylight hours are long enough to fully charge the battery, With the ability to fly continuously during this period, the UAV can be used in various areas, such as monitoring forest fires, agricultural fields, beaches, and security monitoring for oil companies and their life bases in deserts. © 2023, Deutsches Zentrum für Luft- und Raumfahrt e.V.

关键词： Solar energy

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The Filling Ratio and Surface Roughness Evolution of Glass Array Lens in Precision Glass Molding

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Nanomanufacturing and Metrology 2025年第1期8卷 3-11页

作者： Kangsen Li Chunjin Wang Feng Gong State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems EngineeringThe Hongkong Polytechnic UniversityHung HomHong KongChina Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060GuangdongChina

An optical glass array lens is an optical element arranged periodically to achieve imaging,light equalization,focusing,diffusion,collimation,sensing,and other *** glass molding offers high production efficiency,simple operation,high replication resolution,and low batch cost,which make it an effective method for the fabrication of glass array *** study used D-K9 optical glass to research the precision molding of ring array *** effects of varying molding temperatures,pressures,and times on the evolution of filling ratio and surface roughness(S_(a))were *** evolution and residual stress distribution in the lens during the glass molding process were studied via numerical *** results indicate that molding temperature and molding pressure played crucial roles in determining the filling ratio and surface quality of the molded glass *** molding conditions of 590°C/1 kN/30 s,the filling ratios and S_(a)of the molded glass ring array were approximately 99.5%and 11 nm,*** maximum residual stress was observed near the surface edge of the molded glass array *** work provides effective guidance for the fabrication of glass array lenses.

关键词： Optical glass array lens Precision glass molding Filling ratio Surface roughness evolution

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Hyperstability Criterion in Model Reference Adaptive control: Enhancing Induction Motor Efficiency for Autonomous Electric Vehicles 7th

Hyperstability Criterion in Model Reference Adaptive Control...

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7th International Conference on Artificial Intelligence in Renewable Energetic systems, IC-AIRES 2023

作者： Guendouz, A. Bouhenna, A. Department of Automation and Control Systems Yahia Fares Medea University Algiers Algeria Department of Electrical Engineering National Polytechnic School of Oran – Maurice Audi-MA Oran Algeria

ISBN: (纸本)9783031606281

The combination of Electric Autonomous Vehicles (EAVs) and renewable energy aligns with sustainability goals. However, to achieve these goals, it’s necessary to implement a robust control system for the key component that drives the vehicle, specifically, the electric motor. This paper explores the control of Induction Motor pursuing the Required Performance Standards for Autonomous Vehicles. The primary objective is to build a robust control system to achieve this, the first approach is the Indirect Rotor Field Oriented control (IFOC), the Latter is implemented along with a PI controller, Lastly Model Reference Adaptive control by Hyperstability Criterion is introduced. A detailed analysis is carried out using MATLAB Simulink, which shows the efficiency of adaptive control not only in speed tracking, but also in parameter variation and disturbance. The comparative analysis between PI and Hyperstability control method validates the theory asserting the robustness and insensitivity of adaptive control to parameter uncertainty and disturbances. Furthermore, it convincingly demonstrates that the latter outperforms traditional classic controllers. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Model reference adaptive control

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eVTOL Performance Analysis: A Review From control Perspectives

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-13页

作者： Su, Jiangcheng Huang, Hailong Zhang, Hong Wang, Yutong Wang, Fei-Yue Department of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong China Co. Ltd. Guangzhou China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Electric Vertical Takeoff and Landing (eVTOL) aircraft has gained significant attention as a basic element of urban air mobility (UAM), a potential solution for urban transportation challenges using low-altitude urban airspace. Ensuring the safe operation of eVTOL is crucial for UAM applications, which are related to various professional fields such as aerodynamics, control, structures, and power systems. This article systematically analyzes the characteristics of different design configurations, including multi-rotor, lift+cruise, and tilt-rotor types of eVTOL. The advantages and limitations of each type of eVTOL are analyzed. After that, the overall design problems are analyzed, and challenges of eVTOL control system design are discussed from aspects of overall control structure and subsystems, such as controller, sensors, actuators, and command generator. This article tries to fill the gap in the eVTOL design from a control perspective and provides some resolutions for the eVTOL application. IEEE

关键词： Air mobility

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Trajectory Planning of Autonomous Mobile Robot using Model Predictive control in Human-Robot Shared Workspace 3

Trajectory Planning of Autonomous Mobile Robot using Model P...

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3rd IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2023

作者： Chen, Jieming Chen, Xiang Liu, Steven The Hong Kong Polytechnic University Department of Electrical Engineering Hong Kong Hong Kong University of Kaiserslautern Institute of Control Systems Kaiserslautern Germany

ISBN: (纸本)9798350398410

This paper proposes an integrated framework of trajectory planning and control for autonomous mobile robots (AMRs) in an intra-logistic scenario, where humans and robots share the same indoor workspace. The proposed framework consists of perception and trajectory planning. To perceive human motion, information from the RGB-D camera is used to detect human positions. Then a model-based tracking approach is employed to track multiple people's motion and estimate their speed over a short time horizon. For trajectory planning, a Model Predictive control (MPC) based scheme is adopted to generate motor commands while taking into account energy efficiency, safety, and addressing human-aware proximity constraints. To convexify the nonlinear collision avoidance constraints, Sequential Convexification Programming is employed. The simulation and experimental results demonstrate that the proposed method can be implemented in real-time and efficiently avoid people in advance. © 2023 IEEE.

关键词： Model predictive control

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Computational Fluid Dynamics Analysis on the Improvement of Hybrid Savonius-Darrieus NREL S809 at Various Fluid Flows 4

Computational Fluid Dynamics Analysis on the Improvement of ...

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4th International Conference on High Voltage engineering and Power systems, ICHVEPS 2023

作者： Irawan, Elysa Nensy Sitompul, Sandro Yamashita, Ken-Ichiro Fujita, Goro Shibaura Institute of Technology Functional Control Systems Tokyo Japan Shibaura Institute of Technology Department of Electrical Engineering Tokyo Japan Salesian Polytechnic Department of Electrical Engineering Tokyo Japan

ISBN: (纸本)9798350318678

Among all types of vertical axis wind turbines, Savonius and Darrieus are the most popular to study. Savonius has a very large torque and requires a low wind velocity to start the rotation, but the efficiency is below 20%. Meanwhile, Darrieus is not capable of self-starting if the wind velocity is below 4 m/s, but the efficiency is the best among all types of vertical axis wind turbines, which is around 40-45%. So far, many researchers have applied the hybrid Savonius-Darrieus to combine their performances. However, the conventional hybrid Savonius-Darrieus cannot produce an optimal Power Coefficient at a high Tip Speed Ratio. In this study, an improvement in the performance of the hybrid Savonius-Darrieus has been analyzed using the Computational Fluid Dynamics method at various fluid flows. This improvement was carried out with the aim of obtaining a high Moment Coefficient and Power Coefficient in all turbine Tip Speed Ratios compared to the conventional hybrid Savonius-Darrieus. The hybrid model used is the 2-bladed Savonius as the internal rotor and the 3-bladed Darrieus NREL S809 as the external rotor with a rotor radius ratio of 0.5. Improvements were made by changing the turbine rotation mode from hybrid at a low Tip Speed Ratio to single Darrieus at a high Tip Speed Ratio. This method was tested in the wind velocity range of 3-7 m/s using the Realizable k-e turbulence model, enhanced wall treatment. As a result, the best performance occurs at a wind velocity of 7 m/s, which is a Moment Coefficient value of 110% better than single Darrieus at low TSR and a maximum Power Coefficient value of 50% better than conventional hybrid. © 2023 IEEE.

关键词： Computational fluid dynamics

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Operation Analysis and Performance Evaluation of a Modular Step-Down DC-DC Converter 7

Operation Analysis and Performance Evaluation of a Modular S...

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7th IEEE International Conference on Smart Technologies in Power engineering and Electronics, STEE 2024

作者： Stepenko, Serhii Stala, Robert Waradzyn, Zbigniew Yatchenko, Yevhenii Prystupa, Anatoliy Chernihiv Polytechnic National University Electrical Engineering Information and Measurement Technologies Chernihiv Ukraine Agh University of Krakow Department of Power Electronics and Energy Control Systems Kraków Poland

ISBN: (纸本)9798331540999

The paper presents a comprehensive analysis of the design parameters, operational characteristics and performance evaluation of a modular step-down DC-DC converter. The converter is engineered for applications demanding high-output current, featuring an input voltage of 48 V and an output voltage of 1 V. When operating in the single-stage voltage regulator module (VRM), its modular architecture is optimized to minimize resistive losses. Noteworthy is the integration of an input capacitor divider to alleviate voltage stress of components. Additionally, special attention is given to the impact of parasitic parameters on the converter's performance. Through a meticulous examination of system topology, validated by observed current and voltage waveforms, and analytical comparison to classic interleave converters, this study elucidates the operational intricacies of the converter. The findings, anchored in the context of a MOSFET-based four-module converter rated for a maximum power output of 350 W at 1 V, provide valuable insights for the design and optimization of similar power conversion systems. © 2024 IEEE.

关键词： DC-DC converters

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Comparison of Non-Overlap and Overlap Savonius Wind Turbines in the Physics Aspect Using Computational Fluid Dynamics Method 3

Comparison of Non-Overlap and Overlap Savonius Wind Turbines...

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3rd International Symposium on Physics and Applications 2023, ISPA 2023

作者： Nensy Irawan, Elysa Yamashita, Ken-Ichiro Fujita, Goro Functional Control Systems Shibaura Institute of Technology Tokyo Japan Department of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Department of Electrical Engineering Salesian Polytechnic Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

Wind energy has good potential as a renewable energy source. Savonius-type wind turbines can provide power generation at a low cost with minimal environmental impact. Due to its low efficiency, researchers were focused on increasing it through many methods, such as applying twisted-bladed, optimizing the blade shape, and applying overlap. Most researchers have studied the effects of overlap on Savonius blades only in terms of performance improvements. This study evaluates the effect of overlap on the Savonius blade from a physics perspective using the Computational Fluid Dynamics method to get a new approach based on the improvement. The models are 2-bladed Savonius with non-overlap and 0.2 overlap. The main software used is Ansys Student 2023 R2. The turbulent model chosen is a realizable k-ïσ enhanced wall treatment. Then, pressure and velocity coupling were done using SIMPLE: 2nd order upwind, 1st order implicit. As a result, the overlap model has a higher reverse flow but lower pressure for all Tip Speed Ratio. Another finding shows that turbulent kinetic energy decreases with overlap. For the non-overlap model, the amount of turbulence is greater downstream, which causes vortices to form and lowers turbine performance. So, the effects of the overlap blade result in higher average Torque Coefficient than non-overlap. © Published under licence by IOP Publishing Ltd.

关键词： Wind turbines

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Solidity Effects on Small Hybrid Savonius-Darrieus Wind Turbine Performance: Experimental Analysis with NREL S809 Airfoil 10

Solidity Effects on Small Hybrid Savonius-Darrieus Wind Turb...

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10th International Conference on Applied System Innovation, ICASI 2024

作者： Irawan, Elysa Nensy Shibuya, Kai Yamashita, Ken-Ichiro Fujita, Goro Shibaura Institute of Technology Functional Control Systems Tokyo Japan Universitas Pendidikan Indonesia Department of Mechatronics and Artificial Intelligence Bandung Indonesia Shibaura Institute of Technology Department of Electrical Engineering Tokyo Japan Salesian Polytechnic Department of Electrical Engineering Tokyo Japan

ISBN: (纸本)9798350394924

This experimental study uses the NREL S809 airfoil to evaluate how solidity affects the performance of a hybrid Savonius-Darrieus wind turbine. To assess its effects on power coefficient, starting torque, and other performance metrics, solidity is varied with values of 0.5, 0.75, and 1. The model is made using 3D printing with PLA material and has internal and external rotor radii of 5cm and 10cm, respectively. The experiments are conducted in a wind tunnel with a testing chamber cross-sectional area measuring $30\mathrm{x}30$ cm between 3-12 m/s of wind speed variation. Overall, the model with a solidity of 0.75 demonstrates the best performance, showcasing both favorable initial torque and the highest maximum power coefficient of 0.33 at TSR 2.1. © 2024 IEEE.

关键词： Wind turbines

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