Modeling and Control of a Balloon Borne Stabilized Platform

1990 ◽  
Vol 112 (4) ◽  
pp. 703-710 ◽  
Author(s):  
A. O. Chingcuanco ◽  
P. M. Lubin ◽  
P. R. Meinhold ◽  
M. Tomizuka
Keyword(s):  
Controller Design ◽  
Continuous Operation ◽  
Point System ◽  
Modeling And Control ◽  
Ground Testing ◽  
System A ◽  
Stabilized Platform ◽  
And Control ◽  
Telescope System ◽  
Better Than

A balloon borne stabilized platform has been developed for a remotely operated altitude-azimuth pointing of a millimeter wave telescope system. A modeling and controller design of the azimuth point system of the platform is presented. Simulation results show that the system is capable of continuous operation with pointing rms to better than 0.01 deg. Ground testing results show continuous operation with pointing rms to better than 0.02 deg; while results of the first flight from the National Scientific Balloon Facility (NSBF) at Palestine, Texas show pointing rms better than 0.02 deg.

Automated System of Stabilization and Position Control of Aviation Equipment

2019 ◽  
pp. 297-330
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

Modeling and Control of Interconnected Dimensionless Dynamic Systems

2009 ◽  
Author(s):  
Scott Manwaring ◽  
Andrew Alleyne
Keyword(s):  
Dimensional Analysis ◽  
Dynamic Systems ◽  
Controller Design ◽  
Fluid Power ◽  
Modeling And Control ◽  
Initial Investigation ◽  
And Control ◽  
Insight Into ◽  
Original Dynamic

Previous work has found benefit in using dimensional analysis in the modeling and control of dynamic systems. What has not been explored is how multiple dimensionless dynamic systems would interconnect and interact with one another. This work presents an initial investigation into the interconnection of dimensionless dynamic systems, including an analysis of the differences between interconnecting dimensioned and dimensionless systems. A strategy is developed to interconnect dimensionless dynamic systems and explored using models of multiple fluid power components. The interconnection strategy is tested through controller design and simulation, which reveals insight into the dimensionless transformation of the original dynamic systems.

Modeling and Control of an Ejector Based Anode Recirculation System for Fuel Cells

2005 ◽  
Author(s):  
Amey Y. Karnik ◽  
Jing Sun
Keyword(s):  
Controller Design ◽  
Design Guidelines ◽  
Operating Conditions ◽  
Feedback Controller ◽  
Modeling And Control ◽  
Recirculation Flow ◽  
Dynamic Representation ◽  
Recirculation System ◽  
Proportional Integral Controller ◽  
And Control

A control oriented analysis of an anode recirculation system that uses an ejector with a variable throat area is presented for a PEMFC system. Two control issues addressed in this paper are (a) achieving desired recirculated flow to meet humidity control requirements, and (b) regulating anode pressure to protect the polymer membrane from deformation. To meet these objectives, a static feedforward controller using the variable throat area is applied to control the recirculation flow rate, while a proportional-integral controller is designed for anode pressure regulation. A dynamic system model comprising of a nonlinear static characterization of the ejector and dynamic representation of the anode recirculation flow path is developed for controller design and evaluation. Linear analysis is used to derive design guidelines for tuning the feedback controller and to analyze the interactions between the feedback and the feedforward controllers. Our analysis shows that the system characteristics are dependent on the operating condition of throat area of ejector. To meet the control objectives for different operating conditions, a gain scheduling scheme is proposed to adjust the feedback controller parameters and the performance is evaluated through simulations. Results for two representative conditions are included.

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

2019 ◽  
Author(s):  
Vikram Ramanathan ◽  
Andy Zelenak ◽  
Mitch Pryor
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Kinematic Modeling ◽  
Nonlinear Controller ◽  
Center Of Rotation ◽  
Modeling And Control ◽  
Instantaneous Center ◽  
And Control

Abstract This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

scholarly journals Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method

2020 ◽  
Vol 8 (6) ◽  
pp. 407
Author(s):  
Feiyan Min ◽  
Guoliang Pan ◽  
Xuefeng Xu
Keyword(s):  
Maximum Likelihood ◽  
Controller Design ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Likelihood Method ◽  
Hydrodynamic Characteristics ◽  
Identification Algorithm ◽  
Modeling And Control ◽  
Good Convergence ◽  
And Control

The hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. Firstly, rough hydrodynamic parameters of AUV hull are obtained by CFD calculation. Secondly, on the basis of rough parameters, a maximum likelihood identification algorithm is proposed to adjust the parameters and improve the model precision. Besides, the method to improve the convergence of identification algorithm is analyzed by considering the characteristics of AUV model structure. Finally, the identification algorithm and identification results were validated with experimental data. It was found that this method has good convergence and adaptability. In particular, the identification results of turning force and torque parameters are highly consistent in different identification experiments, which indicates that this method can well extract the maneuvering characteristics of AUVs, thus contributing to the controller design of AUVs. The research of this paper has potential application for the modeling and control of multi-propeller AUVs.

Three-state switching cell boost converter using H-inf controller

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nivedita Pati ◽  
Babita Panda
Keyword(s):  
Model Order Reduction ◽  
Controller Design ◽  
Order Reduction ◽  
Boost Converter ◽  
Describing Function ◽  
Model Order ◽  
Modeling And Control ◽  
State Switching ◽  
Converter Topology ◽  
And Control

Abstract This paper presents the modeling and control of a non-minimum phase dc-dc boost converter based on the three - state switching cells. In any double stage grid-connected system the converter forms an interface between the photovoltaic source and the inverter. As the control and regulation of the converter output is a vital part of penetration of renewable to grid, therefore, this paper had attempted the control of a converter topology that can reduce the current stress across its switches. But the system becomes highly unstable and complex which has been validated by predicting the limit cycle with a describing function. The Controller design is implemented after reducing the complexity of the system using the Model order reduction principle. H-inf controller being robust in nature is applied for stable and regulated output.

Automated System of Stabilization and Position Control of Aviation Equipment

2021 ◽  
pp. 995-1029
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

scholarly journals Modeling and Control of a Micro AUV: Objects Follower Approach

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2574 ◽  
Author(s):  
Jesus Monroy-Anieva ◽  
Cyril Rouviere ◽  
Eduardo Campos-Mercado ◽  
Tomas Salgado-Jimenez ◽  
Luis Garcia-Valdovinos
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Low Cost ◽  
Closed Loop System ◽  
Depth Sensor ◽  
Modeling And Control ◽  
System A ◽  
Formal Stability ◽  
Proportional Derivative Controller ◽  
And Control

This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments.

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