Automated System of Stabilization and Position Control of Aviation Equipment

2019 ◽  
pp. 297-330
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Automated System of Stabilization and Position Control of Aviation Equipment

2021 ◽  
pp. 995-1029
Author(s):  
Olha Sushchenko
Keyword(s):  
Position Control ◽  
Transfer Functions ◽  
Controller Design ◽  
Robust Stabilization ◽  
Automated System ◽  
Simulink Model ◽  
The Matrix ◽  
Stabilized Platform ◽  
And Control ◽  
The Mathematical Model

In this chapter, the author presents the problems of design of the robust automated system for stabilization and control of platforms with aircraft observation equipment. The mathematical model of the triaxial stabilized platform is developed. The procedure of synthesis of robust stabilization system based on robust structural synthesis is represented. The above-mentioned procedure uses loop-shaping approach and method of the mixed sensitivity. The matrix weighting transfer functions are obtained. The optimization programs in MatLab are developed. The developed procedures are approved based on the results of simulation by means of the appropriate Simulink model. The obtained results can be useful for unmanned aerial vehicles and aircraft of special aviation, which are used for monitoring technical objects and aerial photography. The technical contributions are procedures of the robust controller design represented as the flowchart. The proposed approach is validated by application of the theoretical suppositions to the concrete example and appropriate simulation results.

Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 2: Modeling Based on Experimental Identification and Autonomous Flight Control Experiments

2003 ◽  
Vol 15 (5) ◽  
pp. 546-554 ◽  
Author(s):  
Kensaku Hazawa ◽  
◽  
Jinok Shin ◽  
Daigo Fujiwara ◽  
Kazuhiro Igarashi ◽  
...  
Keyword(s):  
Flight Control ◽  
Position Control ◽  
Control Structure ◽  
Controller Design ◽  
Autonomous Flight ◽  
Velocity Models ◽  
Single Output ◽  
Hover Control ◽  
Function Models ◽  
And Control

We developed a small autonomous hobby-class unmanned helicopter that weighs about 9 kg, focusing on attitude and velocity models and controller design. Simge Input Single Output (SISO) transfer function models are derived from brief kinematical analysis and system identification for each of the helicopter dynamics of pitch, roll, yaw, and three direction velocities. We designed six separate controllers based on derived models using LQG and LQI control theory. The models and control structure are verified by experimental results. Accurate position control, namely, hover control and trajectory-following control, is achieved by a simple control algorithm using a designed attitude and velocity control structure. Robustness of the controller against wind was confirmed in a windy-day experiment. To verify robustness against the perturbation of physical helicopter parameters, the controller is applied to a larger helicopter.

Robust Stabilization of Large Amplitude Ship Rolling in Beam Seas

1997 ◽  
Vol 122 (1) ◽  
pp. 108-113 ◽  
Author(s):  
Shyh-Leh Chen ◽  
Steven W. Shaw ◽  
Hassan K. Khalil ◽  
Armin W. Troesch
Keyword(s):  
Large Amplitude ◽  
Controller Design ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Vertical Plane ◽  
Singularly Perturbed Systems ◽  
Strongly Nonlinear ◽  
Beam Seas ◽  
Dynamics And Control ◽  
And Control

The dynamics and control of a strongly nonlinear 3-DOF model for ship motion are investigated. The model describes the roll, sway, and heave motions occurring in a vertical plane when the vessel is subjected to beam seas. The ship is installed with active antiroll tanks as a means of preventing large amplitude roll motions. A robust state feedback controller for the pumps is designed that can handle model uncertainties, which arise primarily from unknown hydrodynamic loads. The approach for the controller design is a combination of sliding mode control and composite control for singularly perturbed systems, with the help of the backstepping technique. It is shown that this design can effectively control roll motions of large amplitude, including capsize prevention. Numerical simulation results for an existing fishing vessel, the twice-capsized Patti-B, are used to verify the analysis. [S0022-0434(00)02701-5]

scholarly journals Integrated SolidWorks and Simscape platform for the design and control of an inverted pendulum system

2020 ◽  
Vol 71 (2) ◽  
pp. 122-126
Author(s):  
Ahmed Alkamachi
Keyword(s):  
Inverted Pendulum ◽  
Controller Design ◽  
State Feedback Control ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Control Scheme ◽  
Implicit System ◽  
Physical Elements ◽  
And Control ◽  
The Mathematical Model

AbstractA single inverted pendulum on a cart (SIPC) is designed and modeled physically using SolidWorks. The model is then exported to the Simulink environment to form a Simscape model for simulation and test purposes. This type of modeling uses a physical grid tactic to model mechanical structures. It requires connection of the physical elements with physical signal converter to define the implicit system dynamics to be modeled. The integration between the SolidWorks and Simscape eliminates the need of deriving the mathematical model and provides a platform for the rapid controller design for the system. State feedback control scheme is proposed, designed, and tuned aiming to maintain the pendulum in the upright place while tracking the desired cart position. Several simulation cases are studied to prove the controller abilities. In order to examine the controller robustness, disturbance rejection and noise attenuation capabilities are also discovered.

Small-Signal Equivalent Circuit Modeling and Controller Design of DC/DC Converter Based on Matlab

2014 ◽  
Vol 1070-1072 ◽  
pp. 1586-1591
Author(s):  
Xiao Long Xiao ◽  
Xiao Jun Lu ◽  
Jian Wei Yi ◽  
Xiao Hua Ding
Keyword(s):  
Mathematical Model ◽  
Control Strategy ◽  
Model Building ◽  
Controller Design ◽  
Dynamic Performance ◽  
Feedback System ◽  
Small Signal ◽  
Loop Feedback ◽  
And Control ◽  
The Mathematical Model

The model-building of DC/DC converter is the key to design the control of system. It is important to study DC/DC converter stability and dynamic performance. A small-signal model of buck/boost circuit was built by average state-space. By analyzing the transfer function of buck/boost circuit, a voltage closed-loop feedback system was designed. Building system of simulation circuit in the Matlab, the result of simulation shows the system has a good static and dynamic performance. It verifies the rationality of the mathematical model and control strategy. It verifies the rationality of the mathematical model and control strategy.

Modeling and Control of a Balloon Borne Stabilized Platform

1990 ◽  
Vol 112 (4) ◽  
pp. 703-710 ◽  
Author(s):  
A. O. Chingcuanco ◽  
P. M. Lubin ◽  
P. R. Meinhold ◽  
M. Tomizuka
Keyword(s):  
Controller Design ◽  
Continuous Operation ◽  
Point System ◽  
Modeling And Control ◽  
Ground Testing ◽  
System A ◽  
Stabilized Platform ◽  
And Control ◽  
Telescope System ◽  
Better Than

A balloon borne stabilized platform has been developed for a remotely operated altitude-azimuth pointing of a millimeter wave telescope system. A modeling and controller design of the azimuth point system of the platform is presented. Simulation results show that the system is capable of continuous operation with pointing rms to better than 0.01 deg. Ground testing results show continuous operation with pointing rms to better than 0.02 deg; while results of the first flight from the National Scientific Balloon Facility (NSBF) at Palestine, Texas show pointing rms better than 0.02 deg.

scholarly journals Harmonic transfer functions based controllers for linear time-periodic systems

2018 ◽  
Vol 41 (8) ◽  
pp. 2171-2184
Author(s):  
Elvan Kuzucu Hidir ◽  
Ismail Uyanik ◽  
Ömer Morgül
Keyword(s):  
State Space ◽  
Design Methodology ◽  
Performance Metrics ◽  
Transfer Functions ◽  
Controller Design ◽  
Linear Time ◽  
Data Driven ◽  
Periodic Systems ◽  
And Control ◽  
Time Periodic

The analysis, identification and control of periodic systems has gained increasing interest during the last few decades due to the increased use of dynamical systems that exhibit periodic motion. The vast majority of these studies focus on the analysis and control problem for a known state-space formulation of the linear time-periodic (LTP) system. On the other hand, there are also some studies that focus on data-driven identification of LTP systems with unknown state-space formulations. However, most of these methods provide numerical estimates for the harmonic transfer functions (HTFs) of an LTP system that are extremely difficult to work with during controller design. The goal of this paper is to provide a simple controller design methodology for unknown LTP systems by utilizing so-called HTFs estimates. To this end, we first build a mathematical basis of LTP controller design for known LTP systems using the Nyquist diagrams and analytically derived HTFs. We propose a new methodology to design P-, PD- and PID-type controllers for LTP systems using Nyquist diagrams and the eigenlocus of the HTFs. Having established the HTF-based controller design procedure, we extend our methodology to unknown LTP systems by presenting a new sum-of-cosine signal-based data-driven system identification method. We show that the proposed data-driven controller design method allows estimation of the HTFs and it provides simple tools for optimizing certain time-domain performance metrics. We provide numerical examples for both known and unknown LTP system cases to illustrate the performance of the proposed controller design methodology.

Application of the Optimal Preview Control Theory to the Vibration Reduction of the Elastic Beam under Moving Load

1976 ◽  
Vol 98 (1) ◽  
pp. 320-326
Author(s):  
M. Sasaki ◽  
T. Shimogo
Keyword(s):  
Transfer Functions ◽  
Moving Load ◽  
Vibration Reduction ◽  
Elastic Beam ◽  
Random Load ◽  
Reduction Problem ◽  
The Matrix ◽  
Future Value ◽  
The Mean ◽  
And Control

In this paper, the vibration reduction problem of simply supported beam excited by distributed random moving load is investigated. The optimal transfer functions of preview filters, of which input is the future value of random load picked up at upstream position are obtained by solving the matrix Wiener-Hopf integral equations. The properties and control effects are shown numerically for two concrete examples. The results are compared with that of the system with passive elements in order to certify the effects of control. That is, the mean square deflection of beam corresponding to a certain constraint on the force transmitted by the controller is reduced in comparison with that of the system with passive elements, and it is further reduced with increasing of preview time to some extent.

scholarly journals Electro Magneto Elastic Actuator for Nanoscience

2019 ◽  
Vol 3 (1) ◽  
Keyword(s):  
Mathematical Model ◽  
Transfer Function ◽  
External Load ◽  
Transfer Functions ◽  
Physical Parameters ◽  
Structural Scheme ◽  
Matrix Transfer Function ◽  
The Matrix ◽  
The Mathematical Model

The mathematical model, the structural scheme, the matrix transfer function, the characteristics of the electro magneto elastic actuator is obtained. The transfer functions of the magneto elastic actuator are described the characteristics of the actuator with regard to its physical parameters and external load.

scholarly journals Modeling and Control of Torso Compass Gait Biped Robot with AI Controller

2017 ◽  
Vol 13 (1) ◽  
pp. 32-37
Author(s):  
Abbas Miry
Keyword(s):  
Degrees Of Freedom ◽  
Biped Robot ◽  
Optimization Method ◽  
Genetic Optimization ◽  
Modeling And Control ◽  
Optimal Value ◽  
Result Show ◽  
The Matrix ◽  
And Control ◽  
The Mathematical Model

This work presents the mathematical model for a torso compass gait biped robot with three degrees of freedom (DOF) which is comprised of two legs and torso. Euler Lagrange method's is used to drive the dynamic equation of robot with computed control is used as a controller. The relative angles are used to simplify the robot equation and get the symmetry of the matrix. Convention controller uses critical sampling to find the value of KP and Kv in computed controller, in this paper the Genetic optimization method is used to find the optimal value of KP and Kv with suitable objective function which employ the error and overshoot to make the biped motion smooth as possible. To investigate the work of robot a Matlab 2013b is used and the result show success of modeling.

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