scholarly journals Cone Algorithm of Spinning Vehicles under Dynamic Coning Environment

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Shuang-biao Zhang ◽  
Xing-cheng Li ◽  
Zhong Su
Keyword(s):  
Pitch Angle ◽  
Euler Angle ◽  
Roll Angle ◽  
Angle Error ◽  
Attitude Error ◽  
Spinning Process ◽  
Cone Algorithm ◽  
Definition Of ◽  
Yaw Angle ◽  
The Relationship

Due to the fact that attitude error of vehicles has an intense trend of divergence when vehicles undergo worsening coning environment, in this paper, the model of dynamic coning environment is derived firstly. Then, through investigation of the effect on Euler attitude algorithm for the equivalency of traditional attitude algorithm, it is found that attitude error is actually the roll angle error including drifting error and oscillating error, which is induced directly by dynamic coning environment and further affects the pitch angle and yaw angle through transferring. Based on definition of the cone frame and cone attitude, a cone algorithm is proposed by rotation relationship to calculate cone attitude, and the relationship between cone attitude and Euler attitude of spinning vehicle is established. Through numerical simulations with different conditions of dynamic coning environment, it is shown that the induced error of Euler attitude fluctuates by the variation of precession and nutation, especially by that of nutation, and the oscillating frequency of roll angle error is twice that of pitch angle error and yaw angle error. In addition, the rotation angle is more competent to describe the spinning process of vehicles under coning environment than Euler angle gamma, and the real pitch angle and yaw angle are calculated finally.

Method of Attitude Measurement Based on the Geomagnetic and Gyroscope

2013 ◽  
Vol 336-338 ◽  
pp. 180-184 ◽  
Author(s):  
Li Long ◽  
He Zhang
Keyword(s):  
Pitch Angle ◽  
Measurement Accuracy ◽  
Performance Test ◽  
Detection System ◽  
Roll Angle ◽  
Angle Error ◽  
Blind Area ◽  
Trajectory Correction ◽  
Yaw Angle ◽  
Attitude Detection

The trajectory correction capability of the Simple guided munitions is directly affected by measurement accuracy of attitude angle. A gesture detection method based on geomagnetic gyro combination is proposed in this paper in order to detect the projectile flight attitude, The yaw angle of the projectile is solved by using runge-kutta algorithm with angle information of MEMS gyro. Then roll angle and pitch angle of the projectile is solved by magnetic field component of the three-axis magnetic sensor. Finally, the whole attitude detection system is installed in three-axis non-magnetic turntable to have a performance test. Experimental results show that the attitude solution results error is small. Nearby blind area, the roll angle error reduced to 5° and the pitch angle error reduced to 4°. In other locations, the roll angle error reduced to 2° and the pitch angle error reduce to 1°. The measurement accuracy increased nearly tenfold, can satisfy the trajectory correction demand of simple guidance ammunition.

scholarly journals Attitude Measurement of Special Aircraft Based on Geomagnetic and Angular Velocity Sensors

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Zhang Pingan ◽  
Wang Wei ◽  
Gao Ming ◽  
Che Jinli
Keyword(s):  
Mathematical Model ◽  
Angular Velocity ◽  
Pitch Angle ◽  
Roll Angle ◽  
Trajectory Data ◽  
Angle Error ◽  
Attitude Test ◽  
Blind Area ◽  
Yaw Angle ◽  
The Mathematical Model

Aiming at the problem of attitude test of special aircraft in flight, the combined test technology of geomagnetic sensor and angular velocity sensor is studied. The mathematical model of special aircraft roll attitude test based on combined measurement is established. The error models of special aircraft roll angle based on yaw angle input and pitch angle input are derived, respectively, and based on the actual flight trajectory data of aircraft, the mathematical model of special aircraft roll attitude test is established The simulation results show that the roll angle error input by yaw angle is between -0.4° and 0.9°, while the roll angle error input by pitch angle is between -0.4° and 1.2°, which shows that the calculation accuracy of roll angle input by yaw angle is higher, and the existence of magnetic measurement blind area is verified. In this paper, the method of judging the blind area of geomagnetic survey and the algorithm model of eliminating the influence of blind area are proposed.

scholarly journals An attitude determination method based on convected Euler angle error model for SINS/CNS integrated system

2018 ◽  
Vol 3 (2) ◽  
Author(s):  
Jianli Li 1 ◽  
Yun Wang 1 ◽  
Pengfei Dang 1 ◽  
Zhaoxing Lu 1,2
Keyword(s):  
Attitude Determination ◽  
Euler Angle ◽  
State Equation ◽  
Error Model ◽  
Integrated System ◽  
Determination Method ◽  
Misalignment Angle ◽  
Angle Error ◽  
Attitude Error ◽  
Angle Method

The attitude determination method plays an important role in SINS/CNS integrated system for spacecraft. Since the misalignment angels are indirect measurements, the misalignment angle model used in the existing attitude determination method can cause transformation errors. To solve the problem, an attitude determination method based on convected Euler angle error model for SINS/CNS integrated system is proposed. The attitude error propagation is analyzed, and the convected Euler angle error model is derived. Furthermore, the state equation of SINS/CNS integrated system is established. The Kalman filter estimates and compensates the Euler angle errors. Finally, simulation results verified that the proposed method can improve the attitude accuracy compared to the conventional misalignment angle method.

scholarly journals Sistem Kendali PID pada Modus Transisi Terbang Tiltrotor

2015 ◽  
Vol 5 (2) ◽  
pp. 199 ◽  
Author(s):  
Syafrizal Akhzan ◽  
Andi Dharmawan
Keyword(s):  
Control System ◽  
Standard Deviation ◽  
Negative Feedback ◽  
Pitch Angle ◽  
Roll Angle ◽  
Transition Mode ◽  
Brushless Motor ◽  
Full Speed ◽  
Yaw Angle ◽  
Average Angle

AbstrakTiltrotor merupakan jenis pesawat tanpa awak yang dapat lepas landas secara vertikal dan terbang maju dengan kecepatan penuh. Kemampuan ini didukung dengan adanya aktuator yang dapat mengubah sudut baling-baling pada modus transisi. Tanpa adanya sistem kendali pada modus hovering dan transisi, akan menyebabkan tiltrotor sulit untuk dikendalikan. Penelitian ini bertujuan merancang dan membuat sistem yang mampu menstabilkan tiltrotor dengan mempertahankan sudut orientasi roll, pitch, dan yaw tiltrotor pada modus hovering dan transisi menggunakan pengendali PID.Pengendali PID menggunakan negative feedback yang berasal dari pembacaan sensor accelerometer, gyroscope, dan magnetometer dengan metode DMP dan Madgwick quaternion menghasilkan keluaran pulsa untuk mengendalikan kecepatan motor brushless dan posisi sudut motor servo. Hasil dari pengendali PID juga dibandingkan dengan pengendali P dan PI.Sesuai dengan pengujian, sistem kendali pada modus transisi pada sudut roll dengan setpoint 0o mampu mempertahankan posisi sudut roll pada sudut rata-rata 0.48o dengan standar deviasi 1.75o, pada sudut pitch dengan setpoint 25o mampu mempertahankan posisi sudut pitch pada sudut rata-rata 25.26o dengan standar deviasi 2.87o, pada sudut yaw mampu mempertahankan posisi sudut yaw pada rentang 10o hingga 0o dengan sudut rata-rata 3.78o dan standar deviasi 1.83o. Kata kunci—tiltrotor, PID, modus transisi Abstract Tiltrotor is an unmanned aerial vehicle which can take off vertically and fly with full speed. These abilities are supported by actuators, which can change the angle of propellers in transition mode. Without control system in hovering mode and transition mode, it will be difficult to control tiltrotor. The purpose of this research is to design the system which can stabilize the tiltrotor by maintaining oriented angle of tiltrotor’s roll, pitch, and yaw in hovering mode and transition mode using PID controller.PID controller uses negative feedback which is obtained from accelerometer, gyroscope, and magnetometer by using DMP method and Madgwick quaternion to produce the pulse to control the velocity of brushless motor and angle position of servo motor. The result of PID controller is also compared to P controller and PI controller.According to the test, control system in transition mode for roll angle with setpoint 0o is capable to maintain roll angle at average angle 0.48o with standard deviation 1.75o, for pitch angle with setpoint 25o is capable to maintain pitch angle at average angle 25.26o with standard deviation 2.87o, for yaw angle is capable to maintain yaw angle at range 10o to 0o with average angle 3.78o and standard deviation 1.83o. Keywords—tiltrotor, PID, transition mode 

scholarly journals Penalaan Mandiri Full State Feedback dengan LQR dan JST Pada Kendali Quadrotor

2019 ◽  
Vol 9 (1) ◽  
pp. 21
Author(s):  
Faisal Fajri Rahani ◽  
Tri Kuntoro Priyambodo
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Pitch Angle ◽  
State Feedback ◽  
Roll Angle ◽  
Full State ◽  
Full State Feedback ◽  
Artificial Neural ◽  
Artificial Neural Network Ann ◽  
Yaw Angle

Quadrotor is one type of unmanned aerial vehicle that has the ability to vertical takeoff and landing. In this research, a system designed to stabilize quadrotor during flight condition by maintaining at angle of roll, pitch, yaw, and x, y, and z axis position using LQR full state feedback with artificial neural network (ANN).The LQR full state feedback method uses 12 states with each K constant being tuned with ANN. This research implements ANN method to change feedback constant at angle of roll, pitch, and yaw and x, y, and z axis. The artificial neural network method uses 12 input layers, 12 hidden layers, and 1 output layer.Testing with ANN improved the rise time to ± 2.18 seconds at the roll angle, ± 1.23 seconds at the pitch angle, and ± 0.31 seconds at the yaw angle. Improved settling time value up to ± 2.41 seconds at roll angle, ± 1.23 seconds at pitch angle, and ± 1.07 seconds at yaw angle. Improved steady state eror value of ± 0.61% at roll angle, ± 4.88% at pitch angle, and ± 0.82% at the yaw angle.

scholarly journals Sensitivity of a Hand-cranked Nursery Spreader to Operator Variables

1994 ◽  
Vol 12 (4) ◽  
pp. 187-190
Author(s):  
Richard L. Parish
Keyword(s):  
Distribution Pattern ◽  
Pitch Angle ◽  
Sensitivity Study ◽  
Roll Angle ◽  
Several Variables ◽  
The Right ◽  
Yaw Angle

Abstract Hand-cranked rotary spreaders are used to apply granular pesticides to container crops. Pattern was affected by several variables that are controlled by the operator. A sensitivity study was conducted with a typical hand-cranked spreader to determine which operator variables most affected the distribution pattern. Impeller height had little effect. Pattern slide setting had an important effect. Reducing cranking speed affected the pattern; increasing cranking speed did not. Roll angle affected pattern if the right side was angled down, but not if the left Side was angled down. Pitch angle affected the pattern only if the spreader was pitched down. Yaw angle had a major impact on pattern regardless of direction. Width of bed (i.e. distance between spreader passes) affected pattern uniformity.

Circuit Design and System Error Analysis Based on MR / GPS Combination Measuring Projectile Roll Angle

2013 ◽  
Vol 347-350 ◽  
pp. 1059-1062
Author(s):  
Peng Cao ◽  
Xiao Ming Wang ◽  
Fang Xiu Jia ◽  
You Long Wu
Keyword(s):  
Interpolation Method ◽  
Magnetic Measurement ◽  
Control Process ◽  
Calculation Model ◽  
Singular Points ◽  
Roll Angle ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Numerical Simulation Methods ◽  
Yaw Angle

In the control process of trajectory correction projectile, a real-time accurate measurement of projectile roll angle information is required. Geomagnetic and GPS measurement principle is applied for the establishment of the projectile measured roll angle combinations mathematical calculation model, the designing of MR and GPS measuring circuits, and derivation of the singular points of the system and error resolution type. Numerical simulation methods are applied to verify the location of singular points of the combination of measurements and the linear spline combination of interpolation method of compensation the position of the magnetic vector error and the ellipsoid fitting calibration algorithm compensate for magnetic measurement error. The geomagnetic error has less effects on the combination of measured roll angle error, while the pitch angle and yaw angle error has greater impact on the roll angle error. Remove the singular point area, projectile roll angle error is less than 2°when measured by the combination of MR / GPS .

ADMINISTRATIVE AND LEGAL STATUS OF THE CAPITAL OF UKRAINE - THE HERO CITY OF KYIV AS A GUARANTEE OF THE RIGHTS OF CITIZENS OF UKRAINE AND THE TERRITORIAL COMMUNITY OF THE CITY

2017 ◽  
Author(s):  
Oleksii Chepov ◽  
Keyword(s):  
Legal Status ◽  
Modern World ◽  
Legal Regime ◽  
Legal Doctrine ◽  
City Councils ◽  
The Social ◽  
District Management ◽  
Definition Of ◽  
The Relationship ◽  
The City

The qualitative and clear definition of the legal regime of the capital of Ukraine, the hero city of Kyiv, is influenced by its legislative enshrinement, however, it should be noted that discussions are ongoing and one of the reasons for the unclear legal status of the capital is the ambiguity of current legislation in this area. Separation of the functions of the city of Kyiv, which are carried out to ensure the rights of citizens of Ukraine and the functions that guarantee the rights of the territorial community of the city of Kyiv. In the modern world, in legal doctrine and practice, the capital is understood as the capital of the country, which at the legislative level received this status and, accordingly, is the administrative and political center of the state, which houses the main state bodies and diplomatic missions of other states. It is the identification of the boundaries of the relationship between the competencies of state administrations and local self-government, in practice, often raises questions about their delimitation and ways of regulatory solution. Peculiarities of local self-government in Kyiv city districts are defined in the provisions of the Law on the Capital, which reveal the norms of the Constitution in these legal relations, according to which the issue of organizing district management in cities belongs to city councils. Likewise, it is unregulated by law to lose the particularity of the legal status of the territory of the city. It should be emphasized that the subject of administrative-legal relations is not a certain administrative-territorial entity, but the social group is designated - the territorial community of the city of Kiev, kiyani. Thus, the provisions on the city of Kyiv partially ignore the potential of the territorial community.

Compliance and Conflict of Value in Public Policy Implementation: Comparison between the New Order and the Reformation Era

2018 ◽  
Vol 2 (2) ◽  
pp. 99 ◽  
Author(s):  
Dwiyanto Indiahono ◽  
Erwan Purwanto ◽  
Agus Pramusinto
Keyword(s):  
Public Policy ◽  
Policy Implementation ◽  
Local Level ◽  
Group Discussion ◽  
New Order ◽  
The Reformation ◽  
Public Policy Implementation ◽  
Definition Of ◽  
Conflict Of Value ◽  
The Relationship

This research aims to examine differences in the relationship of bureaucratic and political officials during the New Order (Soeharto’s era) and the Reformation (post-Soeharto) era within the arena of public policy implementation. This is a matter of importance given that there is a change in relations between the two from integration in the New Order to bureaucratic impartiality in the Reformation Era. This study attempts to answer the question: How were the relations of bureaucratic and political officials in the implementation of local level public policy during the New Order and the Reformation Era? A qualitative research has been conducted in Tegal Municipality using the following data collection techniques: interview, focus group discussion, documentation, and observation. Tegal Municipality was selected as the study location because of the unique relationship shown between the mayor and the bureaucracy. Its uniqueness lies in the emergence of bureaucratic officials who dare to oppose political officials, based on their convictions that bureaucratic/public values should be maintained even if it means having to be in direct conflict with political officials. This research indicates that the relationship between bureaucratic and political officials in the arena of local level policy implementation during the New Order was characterized as being full of pressure and compliance, whereas during the Reformation Era bureaucrats have the audacity to hinder policy implementation. Such audacity to thwart policies is considered to have developed from a stance that aims to protect public budget and values in policies. The occurring conflict of values here demonstrates a dichotomy of political and bureaucratic officials that is different from the prevailing definition of politics-administration dichotomy introduced at the onset of Public Administration studies.

The Concept of Europeanization and Possibilities of its Application to the Analysis of Ukraine-EU Relations

2017 ◽  
pp. 149-160
Author(s):  
Natalia Popova
Keyword(s):  
European Integration ◽  
Theoretical Research ◽  
Member States ◽  
External Governance ◽  
Definition Of ◽  
The Relationship ◽  
Eu Studies ◽  
The Eu

The concept of Europeanization has become quite fashionable in EU studies in recent years. It is often used for the analysis of the relations between the EU and non-member states. The aim of the article is to examine the possibilities of its application in explaining the relationship between the EU and Ukraine. The structure of the article is as follows: firstly, the concept of Europeanization is defined considering such two disputable issues as distinguishing among concepts of Europeanization and European integration as well as Europeanization and EU-ization. Next, the evolution of the theoretical research of Europeanization and definition of this concept are analyzed. Two main mechanisms of Europeanization (conditionality and socialization) are examined. The author considers main approaches to the analysis of the "external" Europeanization emphasizing the concept of "external governance". Three groups of factors which influence the effectiveness of Europeanization are briefly analyzed. And finally, the peculiarities of application of the Europeanization concept to the Ukraine-EU relations are outlined. Keywords: EU, Ukraine, Europeanization, EU-ization, ‘external’ Europeanization, conditionality, socialization, concept of ‘external governance’

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