scholarly journals Modeling and Control of a Single Rotor Composed of Two Fixed Wing Airplanes

Drones ◽  
2021 ◽  
Vol 5 (3) ◽  
pp. 92
Author(s):  
José Antonio Bautista-Medina ◽  
Rogelio Lozano ◽  
Antonio Osorio-Cordero
Keyword(s):  
Control Algorithm ◽  
Angular Displacement ◽  
The Other ◽  
Lagrange Equations ◽  
Modeling And Control ◽  
Rigid Rod ◽  
Induced Flow ◽  
Small Airplanes ◽  
And Control ◽  
Kinetic And Potential Energies

This paper proposes a simple flying rotor prototype composed of two small airplanes attached to each other with a rigid rod so that they can rotate around themselves. The prototype is intended to perform hover flights with more autonomy than existing classic helicopters or quad-rotors. Given that the two airplanes can fly apart from each other, the induced flow which normally appears in rotorcrafts will be significantly reduced. The issue that is addressed in the paper is how this flying rotor prototype can be modeled and controlled. A model of the prototype is obtained by computing the kinetic and potential energies and applying the Euler Lagrange equations. Furthermore, in order to simplify the equations, it has been considered that the yaw angular displacement evolves much faster than the other variables. Furthermore a study is presented to virtually create a swashplate which is a central mechanism in helicopters. Such virtual swashplate is created by introducing a sinusoidal control on the airplanes’ elevators. The torque amplitude will be proportional to the sinusoidal amplitude and the direction will be determined by the phase of the sinusoidal. A simple nonlinear control algorithm is proposed and its performance is tested in numerical simulations.

scholarly journals Modeling and Control of a Dragonfly-Like Robot

2010 ◽  
Vol 2010 ◽  
pp. 1-10 ◽  
Author(s):  
Micael S. Couceiro ◽  
N. M. Fonseca Ferreira ◽  
J. A. Tenreiro Machado
Keyword(s):  
System Performance ◽  
Computational Simulation ◽  
The Other ◽  
Control Algorithms ◽  
Kinematics And Dynamics ◽  
Flight Performance ◽  
Modeling And Control ◽  
Wing Motion ◽  
Simulation Based ◽  
And Control

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

scholarly journals Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 248 ◽  
Author(s):  
Chih-Keng Chen ◽  
Trung-Dung Chu ◽  
Xiao-Dong Zhang
Keyword(s):  
Dynamic Behavior ◽  
Degrees Of Freedom ◽  
Rear Seat ◽  
System Dynamic ◽  
Lagrange Equations ◽  
Modeling And Control ◽  
Control Actions ◽  
Bicycle Rider ◽  
Study Designs ◽  
And Control

This study designs and controls an active stabilizing assistant system (ASAS) for a bicycle. Using the gyroscopic effect of two spinning flywheels, the ASAS generates torques that assist the rider to stabilize the bicycle in various riding modes. Riding performance and the rider’s safety are improved. To simulate the system dynamic behavior, a model of a bicycle–rider system with the ASAS on the rear seat is developed. This model has 14 degrees of freedom and is derived using Lagrange equations. In order to evaluate the efficacy of the ASAS in interacting with the rider’s control actions, simulations of the bicycle–rider system with the ASAS are conducted. The results for the same rider for the bicycle with an ASAS and on a traditional bicycle are compared for various riding conditions. In three cases of simulation for different riding conditions, the bicycle with the proposed ASAS handles better, with fewer control actions being required than for a traditional bicycle.

Modeling and Control of a Multiphase Modular High-Frequency Converter/Inverter for Vehicle Applications

2018 ◽  
Vol 27 (03n04) ◽  
pp. 1840014
Author(s):  
Kiarash Ahi
Keyword(s):  
High Frequency ◽  
Control Algorithm ◽  
Frequency Converter ◽  
Switching Frequency ◽  
Effective Frequency ◽  
Boost Converters ◽  
Modeling And Control ◽  
Equivalent Models ◽  
Simulation Results ◽  
And Control

This paper presents a novel control algorithm for a modular high-frequency converter. This control algorithm is designed to achieve an effective frequency higher than the switching frequency on the passive elements. As a result, the ripple on the output is suppressed, and smaller capacitors can be used. In this work, the modular high-frequency converter is modeled by equivalent boost converters. Based on the equivalent models a control algorithm is developed. The accuracy of the algorithm has been verified by simulation results using PLECS in the MATLAB/Simulink environment.

scholarly journals Dynamics Modeling and Control of a Quadrotor with Swing Load

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
S. Sadr ◽  
S. Ali A. Moosavian ◽  
P. Zarafshan
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Suspended Load ◽  
Dynamics Modeling ◽  
Dynamics Model ◽  
Constant Length ◽  
Modeling And Control ◽  
Aerial Robots ◽  
And Control

Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.

Application of Improved Fuzzy PID Control Algorithm in Heating Furnace

2011 ◽  
Vol 383-390 ◽  
pp. 760-763
Author(s):  
Hong Jun Wang ◽  
De Xiong Li ◽  
Hui Juan Qi ◽  
Li Na Liu
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Gas Flow ◽  
Control Program ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Modeling And Control ◽  
And Control ◽  
Fuzzy Control Algorithm ◽  
Better Than

e furnace of steel plant is a complex controlled object and it has the properties of nonlinear, Time-varying and delay. Its modeling and control are very difficult. The temperature control of the furnace mainly depends on the control of gas flow. Therefore, the study of a reasonable gas flow control program is the key to increase the level of heating control. In this paper, an improved fuzzy PID control algorithm is proposed, in which, PID control algorithm and fuzzy control algorithm are integrated together, and its characteristics are improved according to feature of furnace. This made the algorithm to have good adaptability and Interference capability. The simulation results show that the improved control algorithm is better than traditional algorithm in overcoming the non-liner, delay of the object and the performance is excellent.

DYNAMIC ANALYSIS AND CONTROL OF CABLE DRIVEN ROBOTS WITH ELASTIC CABLES

2011 ◽  
Vol 35 (4) ◽  
pp. 543-557 ◽  
Author(s):  
Mohammad A. Khosravi ◽  
Hamid D. Taghirad
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Lyapunov Theorem ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Internal Forces ◽  
And Control ◽  
Flexible Cables ◽  
Elastic Cables

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the proposed control algorithm. The control algorithm is developed in cable coordinates in which the internal forces play an important role. Finally, asymptotic stability of the closed loop system is analyzed through Lyapunov theorem, and the performance of the proposed algorithm is studied by simulations.

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