scholarly journals Aerodynamic Parameters Identification and Adaptive LADRC Attitude Control of Quad-Rotor Model

2018 ◽  
Author(s):  
Sen Yang ◽  
Leiping Xi ◽  
Jiaxing Hao ◽  
Yuefei Zhao ◽  
Ye Yang ◽  
...  
Keyword(s):  
Attitude Control ◽  
Physical Simulation ◽  
Control Method ◽  
Estimation Method ◽  
Distribution Model ◽  
Model Parameters ◽  
Aerodynamic Parameter ◽  
External Interference ◽  
Aerodynamic Parameters ◽  
Rotor Model

In accordance with problems such as difficulty in obtaining aerodynamic parameters of a quad-rotor model, the change of model parameters with external interference affects the control performances, an aerodynamic parameter estimation method and an adaptive attitude control method based on LADRC are designed. Firstly, the motion model, dynamics model and control distribution model of quad-rotor are established by using the aerodynamic and Newtonian Euler equations. Secondly, the identification tool CIFER is used to identify the aerodynamic parameters with large uncertainties in frequency domain and a more accurate attitude model of the quad-rotor is obtained. Then an adaptive attitude decoupling controller based on LADRC is designed to solve the problem of poor anti-interference ability of the quad-rotor, so that the control parameter b0 can be automatically adjusted to identify the change of the moment of inertia in real time. Finally, a semi-physical simulation platform is used for simulation verification. The results show that the adaptive LADRC attitude controller designed can effectively estimate and compensate the system's internal and external disturbances, and the tracking speed of the controller is faster and the precision is higher which can effectively improve system's anti-interference and robustness.

scholarly journals Aerodynamic-Parameter Identification and Attitude Control of Quad-Rotor Model with CIFER and Adaptive LADRC

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Sen Yang ◽  
Leiping Xi ◽  
Jiaxing Hao ◽  
Wenjie Wang
Keyword(s):  
Parameter Identification ◽  
Attitude Control ◽  
Physical Simulation ◽  
Control Method ◽  
Controller Design ◽  
Estimation Method ◽  
Practical Significance ◽  
Aerodynamic Parameter ◽  
Allocation Model ◽  
The Moment

AbstractCurrent research on quadrotor modeling mainly focuses on theoretical analysis methods and experimental methods, which have problems such as weak adaptability to the environment, high test costs, and long durations. Additionally, the PID controller, which is currently widely used in quadrotors, requires improvement in anti-interference. Therefore, the aforementioned research has considerable practical significance for the modeling and controller design of quadrotors with strong coupling and nonlinear characteristics. In the present research, an aerodynamic-parameter estimation method and an adaptive attitude control method based on the linear active disturbance rejection controller (LADRC) are designed separately. First, the motion model, dynamics model, and control allocation model of the quad-rotor are established according to the aerodynamic theory and Newton–Euler equations. Next, a more accurate attitude model of the quad-rotor is obtained by using a tool called CIFER to identify the aerodynamic parameters with large uncertainties in the frequency domain. Then, an adaptive attitude decoupling controller based on the LADRC is designed to solve the problem of the poor anti-interference ability of the quad-rotor and adjust the key control parameter b0 automatically according to the change in the moment of inertia in real time. Finally, the proposed approach is verified on a semi-physical simulation platform, and it increases the tracking speed and accuracy of the controller, as well as the anti-disturbance performance and robustness of the control system. This paper proposes an effective aerodynamic-parameter identification method using CIFER and an adaptive attitude decoupling controller with a sufficient anti-interference ability.

scholarly journals A New Finite Interval Lifetime Distribution Model for Fitting Bathtub-Shaped Failure Rate Curve

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Xiaohong Wang ◽  
Chuang Yu ◽  
Yuxiang Li
Keyword(s):  
Failure Rate ◽  
Finite Interval ◽  
Estimation Method ◽  
Distribution Model ◽  
Model Parameters ◽  
Lifetime Data ◽  
Life Analysis ◽  
Universal Applicability ◽  
Decreasing Failure Rate ◽  
Fitting Model

This paper raised a new four-parameter fitting model to describe bathtub curve, which is widely used in research on components’ life analysis, then gave explanation of model parameters, and provided parameter estimation method as well as application examples utilizing some well-known lifetime data. By comparative analysis between the new model and some existing bathtub curve fitting model, we can find that the new fitting model is very convenient and its parameters are clear; moreover, this model is of universal applicability which is not only suitable for bathtub-shaped failure rate curves but also applicable for the constant, increasing, and decreasing failure rate curves.

Experiment Research on Control Method and Mathematic Models during Energy Storage to the Double Function Flywheel System

2011 ◽  
Vol 291-294 ◽  
pp. 2814-2817
Author(s):  
Zhi Hua Liu ◽  
Yan Min Li ◽  
Chun Li Wang
Keyword(s):  
Energy Storage ◽  
Attitude Control ◽  
High Speed ◽  
Control Method ◽  
Experimental Tests ◽  
Model Parameters ◽  
Electrical Machinery ◽  
Wide Range ◽  
Double Function ◽  
The Difference

The mathematical models of the double function flywheel system were built based on experimental tests and theoretical analysis in the course of energy storage and attitude control. Due to significant changes of the system model parameters in the experiment, the difference between the up and down flywheel-electrical machinery unit are compensated through the cascade compensation, and then the PID compound control algorithm with integral separation and formula partition is put forward. Experiments show that overshoot is restrained effectively and stable control is realized in high speed and wide range synchronously. The angel of the platform can be stabilized within 1°, namely the attitude affection should be controlled less than 1.2′ according to the flywheels in satellite.

scholarly journals A Multivariate High-Order Markov Model for the Income Estimation of a Wind Farm

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 388
Author(s):  
Riccardo De Blasis ◽  
Giovanni Batista Masala ◽  
Filippo Petroni
Keyword(s):  
Markov Model ◽  
Electricity Market ◽  
Wind Farm ◽  
Central Italy ◽  
High Order ◽  
Distribution Model ◽  
Spot Price ◽  
Model Parameters ◽  
Price Series ◽  
Cross Correlations

The energy produced by a wind farm in a given location and its associated income depends both on the wind characteristics in that location—i.e., speed and direction—and the dynamics of the electricity spot price. Because of the evidence of cross-correlations between wind speed, direction and price series and their lagged series, we aim to assess the income of a hypothetical wind farm located in central Italy when all interactions are considered. To model these cross and auto-correlations efficiently, we apply a high-order multivariate Markov model which includes dependencies from each time series and from a certain level of past values. Besides this, we used the Raftery Mixture Transition Distribution model (MTD) to reduce the number of parameters to get a more parsimonious model. Using data from the MERRA-2 project and from the electricity market in Italy, we estimate the model parameters and validate them through a Monte Carlo simulation. The results show that the simulated income faithfully reproduces the empirical income and that the multivariate model also closely reproduces the cross-correlations between the variables. Therefore, the model can be used to predict the income generated by a wind farm.

scholarly journals The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

Micromachines ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 799
Author(s):  
Xiangli Pei ◽  
Ying Tian ◽  
Minglu Zhang ◽  
Ruizhuo Shi
Keyword(s):  
Differential Equation ◽  
Partial Differential Equation ◽  
Dynamic Model ◽  
Control Method ◽  
System Modeling ◽  
Working Environment ◽  
Partial Differential ◽  
External Interference ◽  
Differential Control ◽  
Differential Control Method

It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equation (PDE) dynamic model of the manipulator system based on the infinite dimension of the working environment interference and the manipulator space. Hence, it resolves the common overflow instability problem in the micro-deformable manipulator system modeling. Furthermore, an infinite-dimensional radial basis function neural network compensator suitable for the dynamic model was proposed to compensate for boundary and uncertain external interference. Based on this compensation method, a distributed boundary proportional differential control method was designed to improve control accuracy and speed. The effectiveness of the proposed model and method was verified by theoretical analysis, numerical simulation, and experimental verification. The results show that the proposed method can effectively improve the response speed while ensuring accuracy.

scholarly journals Design and validation of an MPC controller for CMG-based testbed

2021 ◽  
Author(s):  
Matteo Facchino ◽  
Atsushi Totsuka ◽  
Elisa Capello ◽  
Satoshi Satoh ◽  
Giorgio Guglieri ◽  
...  
Keyword(s):  
Predictive Control ◽  
Attitude Control ◽  
High Speed ◽  
Control Method ◽  
Input Constraints ◽  
Virtual Reference ◽  
Control Moment ◽  
Pyramidal Configuration ◽  
Actuation Systems ◽  
Constraints Satisfaction

AbstractIn the last years, Control Moment Gyros (CMGs) are widely used for high-speed attitude control, since they are able to generate larger torque compared to “classical” actuation systems, such as Reaction Wheels . This paper describes the attitude control problem of a spacecraft, using a Model Predictive Control method. The features of the considered linear MPC are: (i) a virtual reference, to guarantee input constraints satisfaction, and (ii) an integrator state as a servo compensator, to reduce the steady-state error. Moreover, the real-time implementability is investigated using an experimental testbed with four CMGs in pyramidal configuration, where the capability of attitude control and the optimization solver for embedded systems are focused on. The effectiveness and the performance of the control system are shown in both simulations and experiments.

Model of the influence of Internet finance on monetary policy based on gibbs sampling and vector autoregression

2020 ◽  
pp. 1-11
Author(s):  
Hui Wang ◽  
Huang Shiwang
Keyword(s):  
Monetary Policy ◽  
Gibbs Sampling ◽  
Posterior Distribution ◽  
Estimation Method ◽  
Financial Supervision ◽  
Var Model ◽  
Model Parameters ◽  
State Variables ◽  
Frequency Data ◽  
Internet Finance

The various parts of the traditional financial supervision and management system can no longer meet the current needs, and further improvement is urgently needed. In this paper, the low-frequency data is regarded as the missing of the high-frequency data, and the mixed frequency VAR model is adopted. In order to overcome the problems caused by too many parameters of the VAR model, this paper adopts the Bayesian estimation method based on the Minnesota prior to obtain the posterior distribution of each parameter of the VAR model. Moreover, this paper uses methods based on Kalman filtering and Kalman smoothing to obtain the posterior distribution of latent state variables. Then, according to the posterior distribution of the VAR model parameters and the posterior distribution of the latent state variables, this paper uses the Gibbs sampling method to obtain the mixed Bayes vector autoregressive model and the estimation of the state variables. Finally, this article studies the influence of Internet finance on monetary policy with examples. The research results show that the method proposed in this article has a certain effect.

scholarly journals Industrial Plume Properties Retrieved by Optimal Estimation Using Combined Hyperspectral and Sentinel-2 Data

2021 ◽  
Vol 13 (10) ◽  
pp. 1865
Author(s):  
Gabriel Calassou ◽  
Pierre-Yves Foucher ◽  
Jean-François Léon
Keyword(s):  
Matched Filter ◽  
Estimation Method ◽  
Optimal Estimation ◽  
Model Parameters ◽  
Surface Reflectance ◽  
Sequential Method ◽  
Modal Radius ◽  
Sentinel 2

Stack emissions from the industrial sector are a subject of concern for air quality. However, the characterization of the stack emission plume properties from in situ observations remains a challenging task. This paper focuses on the characterization of the aerosol properties of a steel plant stack plume through the use of hyperspectral (HS) airborne remote sensing imagery. We propose a new method, based on the combination of HS airborne acquisition and surface reflectance imagery derived from the Sentinel-2 Multi-Spectral Instrument (MSI). The proposed method detects the plume footprint and estimates the surface reflectance under the plume, the aerosol optical thickness (AOT), and the modal radius of the plume. Hyperspectral surface reflectances are estimated using the coupled non-negative matrix factorization (CNMF) method combining HS and MSI data. The CNMF reduces the error associated with estimating the surface reflectance below the plume, particularly for heterogeneous classes. The AOT and modal radius are retrieved using an optimal estimation method (OEM), based on the forward model and allowing for uncertainties in the observations and in the model parameters. The a priori state vector is provided by a sequential method using the root mean square error (RMSE) metric, which outperforms the previously used cluster tuned matched filter (CTMF). The OEM degrees of freedom are then analysed, in order to refine the mask plume and to enhance the quality of the retrieval. The retrieved mean radii of aerosol particles in the plume is 0.125 μμm, with an uncertainty of 0.05 μμm. These results are close to the ultra-fine mode (modal radius around 0.1 μμm) observed from in situ measurements within metallurgical plant plumes from previous studies. The retrieved AOT values vary between 0.07 (near the source point) and 0.01, with uncertainties of 0.005 for the darkest surfaces and above 0.010 for the brightest surfaces.

scholarly journals Experimental Verification of Real-Time Flow-Rate Estimations in a Tilting-Ladle-Type Automatic Pouring Machine

2021 ◽  
Vol 11 (15) ◽  
pp. 6701
Author(s):  
Yuta Sueki ◽  
Yoshiyuki Noda
Keyword(s):  
Real Time ◽  
Molten Metal ◽  
Flow Rate ◽  
Kalman Filters ◽  
Estimation Method ◽  
Estimation Methods ◽  
Liquid Volume ◽  
Model Parameters ◽  
Rate Estimation ◽  
Time Flow

This paper discusses a real-time flow-rate estimation method for a tilting-ladle-type automatic pouring machine used in the casting industry. In most pouring machines, molten metal is poured into a mold by tilting the ladle. Precise pouring is required to improve productivity and ensure a safe pouring process. To achieve precise pouring, it is important to control the flow rate of the liquid outflow from the ladle. However, due to the high temperature of molten metal, directly measuring the flow rate to devise flow-rate feedback control is difficult. To solve this problem, specific flow-rate estimation methods have been developed. In the previous study by present authors, a simplified flow-rate estimation method was proposed, in which Kalman filters were decentralized to motor systems and the pouring process for implementing into the industrial controller of an automatic pouring machine used a complicatedly shaped ladle. The effectiveness of this flow rate estimation was verified in the experiment with the ideal condition. In the present study, the appropriateness of the real-time flow-rate estimation by decentralization of Kalman filters is verified by comparing it with two other types of existing real-time flow-rate estimations, i.e., time derivatives of the weight of the outflow liquid measured by the load cell and the liquid volume in the ladle measured by a visible camera. We especially confirmed the estimation errors of the candidate real-time flow-rate estimations in the experiments with the uncertainty of the model parameters. These flow-rate estimation methods were applied to a laboratory-type automatic pouring machine to verify their performance.

Design of Semi-Physical Simulation for Small Satellite by Virtual Display

2011 ◽  
Vol 130-134 ◽  
pp. 2684-2687 ◽  
Author(s):  
Kai Xu ◽  
Yan Lv ◽  
Guang Jin
Keyword(s):  
Control System ◽  
Real Time ◽  
Attitude Control ◽  
Physical Simulation ◽  
Simulation System ◽  
Space Environment ◽  
Small Satellite ◽  
Attitude Control System ◽  
Actual Environment ◽  
Virtual Display

Semi-physical simulation of attitude control system is the more synthetically test and verify for designing of small satellite control system. It is an important means of small satellite development. However, the results of current semi-physical simulation system have a lot of non-intuitive. Compare with the actual environment, the simulation environment still has striking disparity. So the shortcomings affect precision of simulation. Based on the virtual display technology, the group semi-physical simulation system has been constructed for attitude control of small satellite due to the combination with xPC real-time environment, the simulation computer, high-precision single-axis air-bearing turntable, reaction wheel, air thrust device, fiber gyroscopes, sensors synchronizer, power subsystem and wireless devices virtual display computer etc. Semi-physical simulation achieved the visual simulation in orbit and tracked new information of virtual environment of space into real-time simulation computer. Simulation results show that the simulation system for real-time attitude and orbit position of small satellite semi-physical simulation has an excellent display effect. At the same time, Real-time transfuse of orbit information provides a more accurate space environment simulation. The simulation system of small satellite attitude control to design and evaluate the more direct and convenient.

Sign in / Sign up

Export Citation Format

Share Document