Analytical synthesis of the pitch-invariant control of the helicopter longitudinal motion with invariance of a pitch angle

2021 ◽  
Author(s):  
Keyword(s):  
Pitch Angle ◽  
Mimo System ◽  
Pole Placement ◽  
Longitudinal Motion ◽  
System Decomposition ◽  
Linearized Model ◽  
Invariant Control ◽  
Poles Placement ◽  
Analytical Expressions ◽  
Analytical Synthesis

The control for the linearized model of the longitudinal motion fourth order for a single-rotor helicopter is analytically synthesized which ensures the invariance of the pitch angle in the presence of disturbances in the control channels, as well as the required the poles placement of the closed-loop system, given from the region of their stability. The results of the numerical synthesis control for the longitudinal motion of a single-rotor helicopter by using analytically synthesized laws of invariant control, which confirm the reliability of the analytical expressions are shown. Keywords invariance; disturbances in the control channels; MIMO-system; decomposition; pole placement; analytical synthesis; longitudinal motion of a single-rotor helicopter; poles of a dynamical system

Numerical and Experimental Approaches to Investigate the Stability of a Motorcycle Vehicle

2006 ◽  
Author(s):  
Federico Cheli ◽  
Marco Bocciolone ◽  
Marco Pezzola ◽  
Elisabetta Leo
Keyword(s):  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Experimental Tests ◽  
Roll Angle ◽  
Longitudinal Motion ◽  
Reference Trajectory ◽  
Steering Angle ◽  
Steady State Condition ◽  
The Stability ◽  
Linearized Model

The study of motorcycle’s stability is an important task for the passenger’s safety. The range of frequencies involved for the handling stability is lower than 10 Hz. A numerical model was developed to access the stability of a motorcycle vehicle in this frequency range. The stability is analysed using a linearized model around the straight steady state condition. In this condition, the vehicle’s vertical and longitudinal motion are decoupled, hence the model has only four degrees of freedom (steering angle, yaw angle, roll angle and lateral translation), while longitudinal motion is imposed. The stability was studied increasing the longitudinal speed. The input of the model can be either a driver input manoeuvre (roll angle) or a transversal component of road input able to excite the vibration modes. The driver is introduced in the model as a steering torque that allows the vehicle to follow a reference trajectory. To validate the model, experimental tests were done. To excite the vehicle modes, the driver input was not taken into account considering both the danger for the driver and the repeatability of the manoeuvre. Two different vehicle configurations were tested: vehicle 1 is a motorcycle [7] and vehicle 2 is a scooter. Through the use of the validated model, a sensitivity analysis was done changing structural (for example normal trail, steering angle, mass) and non structural parameters (for example longitudinal speed).

scholarly journals Multi-Timescale-Based Partial Optimal Control of a Proton-Exchange Membrane Fuel Cell

Energies ◽  
2019 ◽  
Vol 13 (1) ◽  
pp. 166
Author(s):  
Milos Milanovic ◽  
Verica Radisavljevic-Gajic
Keyword(s):  
Optimal Control ◽  
Fuel Cell ◽  
Proton Exchange Membrane ◽  
Proton Exchange ◽  
Operating Conditions ◽  
Pole Placement ◽  
Control Technique ◽  
Transient Model ◽  
Linearized Model ◽  
Exchange Membrane

This paper presents a Proton-Exchange Membrane Fuel Cell (PEMFC) transient model in stack current cycling conditions and its partial optimal control. The derived model is used for a specific application of the recently published multistage control technique developed by the authors. The presented control-oriented transient PEMFC model is an extension of the steady-state control-oriented model previously established by the authors. The new model is experimentally validated for transient operating conditions on the Greenlight Innovation G60 testing station where the comparison of the experimental and simulation results is presented. The derived five-state nonlinear control-oriented model is linearized, and three clusters of eigenvalues can be clearly identified. This specific feature of the linearized model is known as the three timescale system. A novel multistage optimal control technique is particularly suitable for this class of systems. It is shown that this control technique enables the designer to construct a local LQR, pole-placement or any other linear controller type at the subsystem level completely independently, which further optimizes the performance of the whole non-decoupled system.

Design Procedure of Current Controllers for LCL-filtered Grid-Tied Inverters with Robust Stability Certification

2020 ◽  
Author(s):  
Caio R. D. Osório ◽  
Gustavo G. Koch ◽  
Pablo García ◽  
Vinicius F. Montagner
Keyword(s):  
Robust Stability ◽  
Design Procedure ◽  
Current Control ◽  
Pole Placement ◽  
Closed Loop System ◽  
Digital Implementation ◽  
Stationary Reference Frame ◽  
Analytical Expressions ◽  
Filter Capacitor

This paper proposes an alternative design procedure for current control of LCL-filtered grid-tied inverters, taking into account robustness against uncertain and possibly timevarying grid inductances. The control strategy is developed in stationary reference frame, and is based on a partial state feedback, including an active damping scheme of the LCL filter resonance. From the system parameters and the design specifications, analytical expressions for the calculation of the control gains are provided, oriented by a pole placement in discretetime domain. These expressions are obtained neglecting the dynamics of the filter capacitor, including resonant controllers to track sinusoidal references, and taken into account the delay due to digital implementation. To certicate robust stability of the closed-loop system undertime-varying grid inductances, a theoretical analysis based on a Lyapunov function is provided. Time and frequency domain results are presented for a case study, illustrating that the proposed design strategy is able to provide robust control gains leading to grid-injected currents with suitable responses for the entire range of grid inductances considered in the design.

Aircraft Free Flight Simulation in a Wind Tunnel

2014 ◽  
Vol 541-542 ◽  
pp. 1390-1393
Author(s):  
Atahir Elhashani ◽  
Adel Kurban ◽  
Marwa L. Agela
Keyword(s):  
Wind Tunnel ◽  
Pitch Angle ◽  
Pressure Sensors ◽  
Flight Simulation ◽  
Digital Data ◽  
Longitudinal Motion ◽  
Free Flight ◽  
Basic Algorithm ◽  
Analog To Digital ◽  
Mass Moment

The Unmanned Ariel Vehicle Model is Mounted in the Wind Tunnel. where its Longitudinal Motion of Electric Propeller was Developed and Simulated as a Free Aircraft Flight. the Numerical Values of the Aerodynamic Stability and Control Derivatives are Evaluated via the Digital Tornado Algorithm. this Evaluation is Carried out Based on the Geometric Parameters of the Airplane, Aircraft Center of Gravity and Mass Moment of Inertia. the Stability and Response of the Linearized Longitudinal Model of the Considered Aircraft are Tested and Investigated. the Onboard Computer is Implemented Based on a Microcontroller Pic16f877a, where the Pitch Angle and Speed of the Considered Free Flight Vehicle are Read Respectively by an Gyroscope and Pressure Sensors. and the Microcontroller Read these Signals via Analog to Digital Converter which are in Turns as a Serial Digital Data by Using of Universal Synchronous Asynchronous Receive Transmit. Apply the Personal Computer to Receive the Serial Signal through the PC RS232 Standard as Serial Data. where in the PC, the Visual Basic Algorithm is Written as well in Order to Display and Plot the Pitch Angle Airspeed Responses on the Screen. Finally, the Experimental Results of Aircraft Free Flight in Real Time are Obtained by Carrying out the Simulation in the Wind Tunnel.

scholarly journals Analytical Synthesis of Control Actions for Aircraft Longitudinal Motion

2015 ◽  
Author(s):  
Н.Е. Зубов ◽  
◽  
Е.А. Микрин ◽  
В.Н. Рябченко ◽  
Д.Е. Ефанов ◽  
...  
Keyword(s):  
Longitudinal Motion ◽  
Control Actions ◽  
Analytical Synthesis
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