In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration ...
In the paper the practical implementation of a discrete PID algorithm (DPID) with non-uniform sampling is presented. Studies starts with the discretized well known continuous PID equation with trapezoidal integration method. As a result, difference equation associated with the respect continuous-time model is obtained. Then, MATLAB/Simulink block model is developed in such way that a change sampling time during simulation is enabled. Algorithm is tested numerically in modeled DC motor speed control system. In order to compare results with conventional fixed-step controller, functions of control quality and number of samples are used. In the next step, developed DPID with non-uniform sampling is implemented to microprocessor of Arduino board and put into a series of experimental tests. Obtained results are compared to simulation. In the last part of the paper advantages and disadvantages of the proposed system are described, conclusions are drawn and directions of future work are pointed out.
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acq...
The paper presents cooperation of two heterogeneous mobile robots which are two-wheeled robot and an unmanned aerial vehicle. Those platforms are fully autonomous and are equipped with indoor positioning system to acquire position of each. This paper introduces simple algorithms of path planning in static environment which is known for rover robots and path handling for both platforms. Accurate environment map is given a priori. The main aim of this work are the simulation tests of the simple cooperation algorithm. Tests were conducted in Simulink and its results are presented in both mobile platforms trajectories and path errors in x and y directions. The presented results show the effectiveness of proposed method.
This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a ...
This paper presents the identification process of the electric propulsion system for Unmanned Aerial Vehicles. Prepared identification test rig was described in details. It allows to control the electric motor with a propeller and to measure the parameters like thrust force, torque, current and supply voltage, that were used during identification. The worked out and presented identification test helps to check and verify the electric propulsion properties and to develop more accurate simulation models of UAVs.
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilo...
The paper presents a simple method for obstacle detection and avoidance. The system can be applied for unmanned multirotors and is based on laser scanner detections. What is more, the proposed system supports the pilot during the manual flights. The proposed simple obstacle detection and avoidance algorithm was described in details. The main aim of the work was the in-flight test. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. The described approach helps to ensure collision free conditions for UAV operators.
The paper describes and reviews the research prosecuted on the mechanicalfaculty of the Białystok University of Technology on the topic of the autonomous multirotor landing with the computer vision systems. In the fi...
The paper describes and reviews the research prosecuted on the mechanicalfaculty of the Białystok University of Technology on the topic of the autonomous multirotor landing with the computer vision systems. In the first section of the article the topic essentials and the motivation for research are described. The following paragraphs are focused over the topic of construction issues and experimental studies over the designed system. The research part is divided into the two sections concentrated respectively over the vision algorithms comparison and the in-flight performance. The results are described in the context of the further advancements and research.
This paper presents the application of a new method for controlling the formation flight of Unmanned Aerial Vehicles. Proposed algorithm is based on the leader follower configuration and uses the potential field to de...
This paper presents the application of a new method for controlling the formation flight of Unmanned Aerial Vehicles. Proposed algorithm is based on the leader follower configuration and uses the potential field to determinate desired heading for the follower UAV. Synthesis of the vector field control algorithm is closely described and presented in details. Proposed control system was carefully checked and verified during Hardware in The Loop (HIL) tests. During the HIL flights the longitudinal and lateral positions of the UAVs (Leader and Follower), orientation angles (pitch, roll, yaw), angular velocities (pitch rate, roll rate, yaw rate) and many other flight parameters were stored and logged. Obtained results validate the effectiveness of the potential field based formation flight control method.
This article presents an object tracking algorithm based on information retrieved from the vision system. The proposed was implemented and tested on an unmanned quadrotor. The proposed vision-based object tracking alg...
This article presents an object tracking algorithm based on information retrieved from the vision system. The proposed was implemented and tested on an unmanned quadrotor. The proposed vision-based object tracking algorithm was presented in details. The main aim of this work was the experimental tests of proposed visual servoing method. During the tests the algorithm has been verified under various conditions that assess its quality.
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thi...
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.
This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the ...
This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.
The paper presents theoretical basis for identification of nonlinear systems using the method based on Hilbert transform. Discussed method was verified by analyzing the synthesized signals of known parameters. Develop...
详细信息
暂无评论