An Attitude Stabilization Control System for a Motorcycle : A Front-Steering Assist Control for Steady-State Circular Turning at the Low Speed(<Special Issue>D & D 2008)

This research aims to develop a quadrotor control system for maintaining its position and balance from disturbance while hovering. A fast and reliable control technique is required to respond to high maneuverability and high non-linearity of six degrees of freedom system. Hence, this research focuses on designing a Self-Tuning Fuzzy-PD control system for quadrotor’s attitude. The designed control system utilizes input data from the Inertial Navigation System (INS). Then the quadrotor’s attitude is controlled by passing the PWM signal to the flight controller APM 2.6. The result shows that the average absolute error for the roll, pitch, and yaw angles are relatively small, as mentioned consecutively 2.0790, 2.2660, and 1.5280, while the maximum absolute errors are 6.3140, 6.7220, and 3.820.

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An Attitude Stabilization Method for Quadrotor Helicopter Using Brushless Motors

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.427-429.433 ◽

2013 ◽

Vol 427-429 ◽

pp. 433-437 ◽

Cited By ~ 1

Author(s):

Fang Jing ◽

Li Ning Tan ◽

Di Wang ◽

Ting Ting Zhang

Keyword(s):

Control System ◽

Control Strategy ◽

Nonlinear Modeling ◽

Brushless Motors ◽

Attitude Stabilization ◽

Quadrotor Helicopter ◽

Stabilization Control ◽

Helicopter Flight ◽

Brushless Motor ◽

New Strategy

It is an important practical design problem for control system design of quadrotor helicopters with accurately actuator modeling, which is not mentioned in many previous works. In order to improve the performance of attitude stabilization control system, a new strategy is proposed in this paper. This control strategy is based on the accurately nonlinear modeling of the brushless motors using the Hammerstein series models. Furthermore the identification method to obtain such models from observed input-output data is presented. After models of four brushless motor are obtained, a backstepping attitude controller is designed to stabilize the quadrotor helicopter. Flight experiments show that the proposed control strategy can achieve higher performance than past ones.

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Effects of slide-to-roll ratio and varying velocity on the lubrication performance of grease at low speed

Proceedings of the Institution of Mechanical Engineers Part J Journal of Engineering Tribology ◽

10.1177/1350650121993362 ◽

2021 ◽

pp. 135065012199336

Author(s):

Yiming Han ◽

Jing Wang ◽

Xuyang Jin ◽

Shanshan Wang ◽

Rui Zhang

Keyword(s):

Steady State ◽

Critical Speed ◽

Industrial Applications ◽

Transient Effects ◽

Disintegration Time ◽

Low Speed ◽

Existence Time ◽

Pure Rolling ◽

Lubrication Performance ◽

Long Time

Under steady-state pure rolling conditions with low speed, the thickener fiber agglomerations can be maintained for a long time, generating a beneficial thicker film thickness. However, in industrial applications, motions with sliding or transient effects are very common for gears, rolling-element bearings or even chain drives, evaluation of the grease performance under such conditions is vital for determining the lubrication mechanism and designing new greases. In this project, optical interferometry experiments were carried out on a ball-disk test rig to study the disintegration time of the grease thickener agglomerations with the increase of the slide-to-roll ratio under steady-state and reciprocation motions. Under steady-state conditions, the thickener fiber agglomeration can exist for a while and the time becomes shorter with the increase of the slide-to-roll ratio above the critical speed. Below the critical speed, the thickener fiber can exist in the contact in the form of a quite thick film for a very long time under pure rolling conditions but that time is decreased with the increase of the slide-to-roll ratio. The introduction of the transient effect can further reduce the existence time of the thickener.

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