USING A LUENBERGER OBSERVER  TO ESTIMATE THE PITCHING MOMENT OF THE VEHICLE

Pitching Moment ◽

Linear Quadratic ◽

Độ an toàn khi chuyển động là một yếu tố vô cùng quan trọng trong thiết kế ô tô. Có rất nhiều giải pháp được ứng dụng để nâng cao đặc tính này như: tối ưu hóa các thông số kết cấu của ô tô, sử dụng các hệ thống chủ động như phanh, treo, lái... Khi ô tô thay đổi tốc độ đột ngột, giữa các cầu của xe luôn xuất hiện sự chuyển tải và điều này gây nên một mô men quay quanh trọng tâm của ô tô, được gọi là “Mô men chuyển tải dọc”. Giá trị của mô men này càng lớn thì càng làm giảm tính ổn định và hiệu suất của ô tô, nên việc xác định chính xác mô men này sẽ giúp đưa ra những giải pháp tối ưu nhằm tăng tính an toàn cho ô tô. Trong thực tế, việc đo đạc được giá trị của mô men chuyển tải dọc còn gặp rất nhiều khó khăn và không có các cảm biến nào có thể thực hiện được trực tiếp trên ô tô thực. Bài báo này trình bày phương pháp mới để ước lượng mô men chuyển tải dọc bằng cách sử dụng bộ quan sát Luenberger kết hợp cùng phương pháp điều khiển linear quadratic regulator cho mô hình ½ ô tô. Kết quả mô phỏng trên miền thời gian với mô hình ô tô thực đã chỉ ra sự hiệu quả và chính xác của phương pháp với độ trễ tín hiệu rất nhỏ.

Autopilot design for an aircraft by using Luenberger observer design

Aircraft Engineering and Aerospace Technology ◽

10.1108/aeat-11-2016-0224 ◽

2018 ◽

Vol 90 (5) ◽

pp. 858-868 ◽

Cited By ~ 1

Author(s):

Muhammad Taimoor ◽

Li Aijun ◽

Rooh ul Amin ◽

Hongshi Lu

Keyword(s):

Design Methodology ◽

Research Work ◽

Observer Design ◽

Linear Quadratic ◽

Content Type ◽

Luenberger Observer ◽

Level Flight ◽

Aerial Vehicle ◽

The Cost

Purpose The purpose of this paper is to design linear quadratic regulator (LQR) based Luenberger observer for the estimation of unknown states of aircraft. Design/methodology/approach In this paper, the LQR-based Luenberger observer is deliberated for autonomous level flight of unmanned aerial vehicle (UAV) which has been attained productively. Various modes like phugoid and roll modes are exploited for controlling the rates of UAV. The Luenberger observer is exploited for estimation of the mysterious states of the system. The rates of roll, yaw and pitch are used as an input to the observer, while the remaining states such as velocities and angles have been anticipated. The main advantage of using Luenberger observer was to reduce the cost of the system which has been achieved lucratively. The Luenberger observer proposes sturdiness at the rate of completion to conquest over the turmoil and insecurities to overcome the privileged recital. The FlightGear simulator is exploited for the endorsement of the recital of the Luenberger observer-based autopilot. The level flight has been subjugated lucratively and has been legitimated by exploiting the FlightGear simulator. The authenticated and the validated results are offered in this paper. Microsoft Visual Studio has been engaged as a medium between the MATLAB and FlightGear Simulator. Findings The suggested observer based on LQR ensures the lucrative approximation of the unknown states of the system as well as the successful level flight of the system. The Luenberger observer is used for approximation of states while LQR is used as controller. Originality/value In this research work, not only the estimation of unknown states of both longitudinal and lateral model is made but also the level flight is achieved by using those estimated states and the autopilot is validated by using the FlightGear, while in most of the research work only the estimation is made of only longitudinal or lateral model.

Analytical Investigation on Elastodynamic Vibration Suppression of a Flexible Four-Bar Mechanism System Featuring a Smart Coupler Link and Multivariable Optimal Regulator

Volume 1C: 16th Biennial Conference on Mechanical Vibration and Noise ◽

10.1115/detc97/vib-3779 ◽

1997 ◽

Author(s):

Muhammad Sannah ◽

Ahmad Smaili

Keyword(s):

Active Control ◽

Smart Materials ◽

Vibration Suppression ◽

Controller Design ◽

Piezoelectric Sensor ◽

Analytical Investigation ◽

Vibration Modes ◽

Linear Quadratic ◽

Abstract This paper presents an analytical investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and multivariable optimal control. The 4R mechanism consists of a flexible coupler link, relatively flexible follower link, and a relatively rigid crank. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. As the mechanism changes configuration, its modal characteristics are recalculated, and the controller is redesigned. The dynamic model used for the controller design includes the second and fourth vibration modes of the mechanism system. These modes are predominated by the first two bending modes of the mechanism’s coupler link. The results showed that while the proposed active control strategy is successful in reducing the amplitudes of vibrations about the quasistatic response, it has no effect on the quasistatic deflections due to steady state loading.

Active Control of Elastodynamic Vibrations of a Four-Bar Mechanism System With a Smart Coupler Link Using Optimal Multivariable Control: Experimental Implementation

Volume 2A: 24th Biennial Mechanisms Conference ◽

10.1115/96-detc/mech-1184 ◽

1996 ◽

Author(s):

Muhammad Sannah ◽

Ahmad Smaili

Keyword(s):

Experimental Investigation ◽

Active Control ◽

Smart Materials ◽

Controller Design ◽

Piezoelectric Sensor ◽

High Mode ◽

Multivariable Control ◽

Linear Quadratic ◽

Abstract This paper presents an experimental investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and muitivariable optimal control. The experimental (4R) mechanism is made such that its coupler link is flexible, its follower link is slightly less flexible and its crank is relatively rigid. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at the high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. The results of the experimental investigation prove that in order to prevent high mode excitations, the controller design should be based on the modes representing vibrations of all components comprising the mechanism system rather than the modes corresponding to the link to which the S/A pairs are bonded. Response amplitude attenuation ratios up to 50 percent are achieved and high mode excitations are prevented.

Active Control of Elastodynamic Vibrations of a Four-Bar Mechanism System With a Smart Coupler Link Using Optimal Multivariable Control: Experimental Implementation

Journal of Mechanical Design ◽

10.1115/1.2826975 ◽

1998 ◽

Vol 120 (2) ◽

pp. 316-326 ◽

Cited By ~ 15

Author(s):

M. Sannah ◽

A. Smaili

Keyword(s):

Experimental Investigation ◽

Active Control ◽

Smart Materials ◽

Controller Design ◽

Piezoelectric Sensor ◽

High Mode ◽

Multivariable Control ◽

Linear Quadratic ◽

This paper presents an experimental investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and multivariable optimal control. The experimental 4R mechanism is made such that its coupler link is flexible, its follower link is slightly less flexible and its crank is relatively rigid. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at the high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. The results of the experimental investigation prove that in order to prevent high mode excitations, the controller design should be based on the modes representing vibrations of all components comprising the mechanism system rather than the modes corresponding to the link to which the S/A pairs are bonded. Response amplitude attenuation ratios up to 50 percent are achieved and high mode excitations are prevented.

Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification ◽

Digital Optimal Multivariable Control of a Smart Structure Featuring Piezoelectric Sensors and Actuators

10.1115/detc1995-0629 ◽

1995 ◽

Author(s):

Muhammad Sannah ◽

Ahmad Smaili ◽

Tarek Lahdhiri

Keyword(s):

Equations Of Motion ◽

Piezoelectric Sensors And Actuators

Element Model ◽

Smart Structure ◽

Piezoelectric Sensors ◽

Multivariable Control ◽

Linear Quadratic ◽

Sensors And Actuators ◽

Luenberger Observer ◽

Abstract In this paper, a digital regulator is designed and experimentally implemented for a smart structure featuring piezoelectric sensors and actuators using optimal multivariable control techniques. The controller consists of a linear quadratic regulator with output weightings and a state estimator, Luenberger observer. The structure is a cantilever beam synthesized with two sets of sensor/actuator PZT ceramic piezoelectric plates bonded to the beam surface at the high strain locations corresponding to the first and second vibration modes. Equations of motion of the beam are developed using finite beam element model. The model includes the mass and rigidity of the PZT ceramics. Experimental results of two regulators differing in the number of modes considered are presented and discussed. The results proved the applicability of the concept and the stability and robustness of the control algorithm.

Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification ◽

Digital Optimal Multivariable Control of a Smart Structure Featuring Piezoelectric Sensors and Actuators

10.1115/detc1995-0561 ◽

1995 ◽

Author(s):

Muhammad Sannah ◽

Ahmad Smaili ◽

Tarek Lahdhiri

Keyword(s):

Equations Of Motion ◽

Piezoelectric Sensors And Actuators

Element Model ◽

Smart Structure ◽

Piezoelectric Sensors ◽

Multivariable Control ◽

Linear Quadratic ◽

Sensors And Actuators ◽

Luenberger Observer ◽

Linear Quadratic Regulator and Luenberger Observer for Solar Tracking System

10.1109/ieit53149.2021.9587439 ◽

2021 ◽

Author(s):

Yandhika Surya Akbar Gumilang ◽

Mochammad Rusli ◽

Bambang Siswoyo

Keyword(s):

Tracking System ◽

Linear Quadratic ◽

Luenberger Observer ◽

Solar Tracking

Aeromechanics and Control of a Shrouded Rotor Micro Air Vehicle in Hover and in Edgewise Flow

Journal of the American Helicopter Society ◽

10.4050/jahs.56.042004 ◽

2011 ◽

Vol 56 (4) ◽

pp. 1-14 ◽

Cited By ~ 3

Author(s):

Vikram Hrishikeshavan ◽

Inderjit Chopra

Keyword(s):

Micro Air Vehicle ◽

Pitching Moment ◽

Attitude Dynamics ◽

Linear Quadratic ◽

Air Vehicle ◽

Lqr Controller ◽

Dynamics And Control ◽

And Control ◽

Shrouded Rotor

Shrouded rotors are efficient in hover but are quite sensitive to disturbances in external flow. In this paper, the dynamics and control of a shrouded rotor micro air vehicle is studied in hover and when it is subjected to edgewise gust. The importance of incorporating a hingeless rotor in a shrouded rotor configuration was shown and was flight-tested in hover using a proportional-integral attitude feedback controller. In edgewise flow, the shrouded rotor produced up to 300% higher pitching moment than the unshrouded rotor. To counter this pitching moment, the control moments were about 80–100% higher for the shrouded rotor. Time domain attitude dynamics identification of the vehicle, restrained in translation, was conducted with and without the flybar. It was shown to be desirable to incorporate a flybarless rotor for improved maneuverability and hover efficiency. A linear quadratic regulator (LQR) controller was developed based on the extracted attitude dynamics model. Gust disturbance rejection capabilities of the controller were tested with the vehicle in edgewise flow using a spherical gimbal setup. The shrouded vehicle was found to tolerate up to 2 m/s of edgewise gusts, whereas the unshrouded configuration could reject gusts of up to 4.8 m/s.