Modeling and Control of a Micro Flapping Wing Rotor

2014 ◽  
Vol 635-637 ◽  
pp. 1360-1363 ◽  
Author(s):  
Yan Fang Hang ◽  
Jing Lu ◽  
Ying Jun Hu
Keyword(s):  
Output Feedback Control ◽  
Open Loop ◽  
Flapping Wing ◽  
The Body ◽  
Control Surface ◽  
Flight Performance ◽  
Design Decisions ◽  
Modeling And Control ◽  
Simulation Testing ◽  
And Control

The system of Micro Flapping-wing Rotor to achieve the flapping and rotation motions is first introduced briefly. Then the system dynamic model which includes the flapping rotary flight aerodynamics at a low Reynolds number regime, the body dynamics, the electromagnetic actuator and the control surface is described. This model and system simulation in the preliminary design phase may provide the opportunity for designers to make fundamental design decisions early to improve the flight performance. Also, the simulator is used to study open loop flight dynamics and test a periodic proportional output feedback control law. Simulation testing shows that the control system has a good flight performance for this flapping wing rotor.

Open-Loop Control Co-Design of Floating Offshore Wind Turbines Using Linear Parameter-Varying Models

2021 ◽  
Author(s):  
Athul K. Sundarrajan ◽  
Yong Hoon Lee ◽  
James T. Allison ◽  
Daniel R. Herber
Keyword(s):  
Wind Turbines ◽  
Open Loop ◽  
Offshore Wind ◽  
Linear Parameter ◽  
Design Decisions ◽  
Linear Parameter Varying ◽  
Offshore Wind Turbines ◽  
Floating Offshore Wind Turbines ◽  
Parameter Varying ◽  
And Control

Abstract This paper discusses a framework to design elements of the plant and control systems for floating offshore wind turbines (FOWTs) in an integrated manner using linear parameter-varying models. Multiple linearized models derived from high-fidelity software are used to model the system in different operating regions characterized by the incoming wind speed. The combined model is then used to generate open-loop optimal control trajectories as part of a nested control co-design strategy that explores the system’s stability and power production in the context of crucial plant and control design decisions. A cost model is developed for the FOWT system, and the effect of plant decisions and subsequent power and stability response of the FOWT is quantified in terms of the levelized cost of energy (LCOE) for that system. The results show that the stability constraints and the plant design decisions affect the turbine’s power and, subsequently, LCOE of the system. The results indicate that a lighter plant in terms of mass can produce the same power for a lower LCOE while still satisfying the constraints.

Modeling and Control of a Rotary Crane

1985 ◽  
Vol 107 (3) ◽  
pp. 200-206 ◽  
Author(s):  
Y. Sakawa ◽  
A. Nakazumi
Keyword(s):  
Feedback Control ◽  
Equilibrium State ◽  
Open Loop ◽  
The State ◽  
Control Input ◽  
Loop Control ◽  
Modeling And Control ◽  
Control Scheme ◽  
Rotary Crane ◽  
And Control

In this paper we first derive a dynamical model for the control of a rotary crane, which makes three kinds of motion (rotation, load hoisting, and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of transfer the swing of the load decays as quickly as possible. We first apply an open-loop control input to the system such that the state of the system can be transferred to a neighborhood of the equilibrium state. Then we apply a feedback control signal so that the state of the system approaches the equilibrium state as quickly as possible. The results of computer simulation prove that the open-loop plus feedback control scheme works well.

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.

Modeling and control through leadership of a refined flocking system

2014 ◽  
Vol 25 (02) ◽  
pp. 255-282 ◽  
Author(s):  
Alfio Borzì ◽  
Suttida Wongkaew
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Social Systems ◽  
Open Loop ◽  
Modeling And Control ◽  
Control Scheme ◽  
Nonlinear Conjugate Gradient ◽  
Optimality Systems ◽  
And Control ◽  
Conjugate Gradient Solver

A new refined flocking model that includes self-propelling, friction, attraction and repulsion, and alignment features is presented. This model takes into account various behavioral phenomena observed in biological and social systems. In addition, the presence of a leader is included in the system in order to develop a control strategy for the flocking model to accomplish desired objectives. Specifically, a model predictive control scheme is proposed that requires the solution of a sequence of open-loop optimality systems. An accurate Runge–Kutta scheme to discretize the optimality systems and a nonlinear conjugate gradient solver are implemented and discussed. Numerical experiments are performed that investigate the properties of the refined flocking model and demonstrate the ability of the control strategy to drive the flocking system to attain a desired target configuration and to follow a given trajectory.

Four-Fin Bio-Inspired UUV: Modeling and Control Solutions

2011 ◽  
Author(s):  
Jason D. Geder ◽  
Ravi Ramamurti ◽  
John Palmisano ◽  
Marius Pruessner ◽  
Banahalli Ratna ◽  
...  
Keyword(s):  
Stream Flow ◽  
Free Stream ◽  
Open Loop ◽  
Control Algorithms ◽  
Loop Control ◽  
Modeling And Control ◽  
Pectoral Fins ◽  
Flow Speeds ◽  
Computational Fluid Dynamics Cfd ◽  
And Control

This paper describes the modeling and control development of a bio-inspired unmanned underwater vehicle (UUV) propelled by four pectoral fins. Based on both computational fluid dynamics (CFD) and experimental fin data, we develop a UUV model that focuses on an accurate representation of the fin-generated forces. Models of these forces span a range of controllable fin parameters, as well as take into account leading-trailing fin interactions and free stream flow speeds. The vehicle model is validated by comparing open-loop simulated responses with experimentally measured responses to identical fin inputs. Closed-loop control algorithms, which command changes in fin kinematics, are tested on the vehicle. Comparison of experimental and simulation results for various maneuvers validates the fin and vehicle models, and demonstrates the precise maneuvering capabilities enabled by the actively controlled curvature pectoral fins.

Modeling and Control of an Automotive All-Wheel Drive Clutch as a Piecewise Affine System

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Shiming Duan ◽  
Jun Ni ◽  
A. Galip Ulsoy
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Lyapunov Theory ◽  
Loop System ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Piecewise Affine ◽  
Wheel Drive ◽  
And Control

Piecewise affine (PWA) systems belong to a subclass of switched systems and provide good flexibility and traceability for modeling a variety of nonlinear systems. In this paper, application of the PWA system framework to the modeling and control of an automotive all-wheel drive (AWD) clutch system is presented. The open-loop system is first modeled as a PWA system, followed by the design of a piecewise linear (i.e., switched) feedback controller. The stability of the closed-loop system, including model uncertainty and time delays, is examined using linear matrix inequalities based on Lyapunov theory. Finally, the responses of the closed-loop system under step and sine reference signals and temperature disturbance signals are simulated to illustrate the effectiveness of the design.

scholarly journals Modeling and control of flapping wing micro aerial vehicles

2019 ◽  
Vol 14 (2) ◽  
pp. 026004 ◽  
Author(s):  
Shiba Biswal ◽  
Marc Mignolet ◽  
Armando A Rodriguez
Keyword(s):  
Flapping Wing ◽  
Micro Aerial Vehicles ◽  
Modeling And Control ◽  
Aerial Vehicles ◽  
And Control

Modeling and control of a torque load system with servo actuator's dynamics

2016 ◽  
Vol 231 (9) ◽  
pp. 1676-1685 ◽  
Author(s):  
Xin Wang
Keyword(s):  
Control Method ◽  
Dynamic Performance ◽  
Torque Control ◽  
Control Surface ◽  
Phase Lag ◽  
Load Torque ◽  
Modeling And Control ◽  
Torque Load ◽  
Actuation Systems ◽  
And Control

In this work, the models and control strategy of the Electric Servo-torque System(ESS) which is used as an experiment rig for conducting dynamic performance and stability tests of aerial vehicle control surface actuation systems are presented. The detailed dynamics of the load motor and loaded flight actuator’s rotating movement in the ESS are analyzed, leading to an integrated load torque synchronization system. The kinematic dynamics of the loaded control surface driving actuator is an important consideration to estimate the trend of torque variation and to improve the performance of the load system. The load control method is expressed in terms of a multi-loop torque control law, which uses feedback and feedforward loops to meet system design requirements. Numerical examples together with experimental results are included to illustrate the effectiveness of the proposed models and control parameters. This brief addressed a specific utilization of the loaded actuator’s dynamics, revealing that it can reduce both the phase lag and the amplitude gain of the load torque in the Electric Servo-torque System.

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