Shaping the Ship Yaw Response by the State-Space Feedback Gain

2012 ◽  
Vol 566 ◽  
pp. 515-524
Author(s):  
Ramzi Fraga ◽  
Sheng Liu
Keyword(s):  
State Space ◽  
Environmental Conditions ◽  
Pid Controller ◽  
The State ◽  
Feedback Controller ◽  
Feedback Gain ◽  
Simulation Results ◽  
Linear State

Ship autopilots are usually designed based on PID controller because of the simplicity and the ease of construct. However its performance in various environmental conditions is not as good as desired. This disadvantage can be decreased by designing a linear state space feedback controller. This paper presents the utility of the state-space feedback controller to stabilize the system and shaping its response as desired. The simulation results for a 4DOF ship with real parameters show the effectiveness of the feedback controller in comparison with ordinary PID ship autopilots.

Optimal State-Space Control of a Gas Turbine Engine

1992 ◽  
Vol 114 (4) ◽  
pp. 763-767 ◽  
Author(s):  
J. W. Watts ◽  
T. E. Dwan ◽  
C. G. Brockus
Keyword(s):  
State Space ◽  
Gas Turbine ◽  
State Space Model ◽  
Gas Turbine Engine ◽  
The State ◽  
Operating Conditions ◽  
Turbine Engine ◽  
Analog Control ◽  
Linear State ◽  
High Level

An analog fuel control for a gas turbine engine was compared with several state-space derived fuel controls. A single-spool, simple cycle gas turbine engine was modeled using ACSL (high level simulation language based on FORTRAN). The model included an analog fuel control representative of existing commercial fuel controls. The ACSL model was stripped of nonessential states to produce an eight-state linear state-space model of the engine. The A, B, and C matrices, derived from rated operating conditions, were used to obtain feedback control gains by the following methods: (1) state feedback; (2) LQR theory; (3) Bellman method; and (4) polygonal search. An off-load transient followed by an on-load transient was run for each of these fuel controls. The transient curves obtained were used to compare the state-space fuel controls with the analog fuel control. The state-space fuel controls did better than the analog control.

scholarly journals PERANCANGAN AUTOPILOT LATERAL-DIREKSIONAL PESAWAT NIRAWAK LSU-05 (THE DESIGN OF THE LATERAL-DIRECTIONAL AUTOPILOT FOR THE LSU-05 UNMANNED AERIAL VEHICLE)

2018 ◽  
Vol 15 (2) ◽  
pp. 93 ◽  
Author(s):  
Muhammad Fajar ◽  
Ony Arifianto
Keyword(s):  
State Space ◽  
Linear Model ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Settling Time ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Directional Motion ◽  
Aerial Vehicle ◽  
Simulation Results

The autopilot on the aircraft is developed based on the mode of motion of the aircraft i.e. longitudinal and lateral-directional motion. In this paper, an autopilot is designed in lateral-directional mode for LSU-05 aircraft. The autopilot is designed at a range of aircraft operating speeds of 15 m/s, 20 m/s, 25 m/s, and 30 m/s at 1000 m altitude. Designed autopilots are Roll Attitude Hold, Heading Hold and Waypoint Following. Autopilot is designed based on linear model in the form of state-space. The controller used is a Proportional-Integral-Derivative (PID) controller. Simulation results show the value of overshoot / undershoot does not exceed 5% and settling time is less than 30 second if given step command. Abstrak Autopilot pada pesawat dikembangkan berdasarkan pada modus gerak pesawat yaitu modus gerak longitudinal dan lateral-directional. Pada makalah ini, dirancang autopilot pada modus gerak lateral-directional untuk pesawat LSU-05. Autopilot dirancang pada range kecepatan operasi pesawat yaitu 15 m/dtk, 20 m/dtk, 25 m/dtk, dan 30 m/dtk dengan ketinggian 1000 m. Autopilot yang dirancang adalah Roll Attitude Hold, Heading Hold dan Waypoint Following. Autopilot dirancang berdasarkan model linier dalam bentuk state-space. Pengendali yang digunakan adalah pengendali Proportional-Integral-Derivative (PID). Hasil simulasi menunjukan nilai overshoot/undershoot tidak melebihi 5% dan settling time kurang dari 30 detik jika diberikan perintah step.

scholarly journals Towards Energy Efficient Follow Behaviors for Unmanned Ground Vehicles Over Rugged Terrains

2012 ◽  
Author(s):  
Madan M. Dabbeeru ◽  
Joshua D. Langsfeld ◽  
Petr Svec ◽  
Satyandra K. Gupta
Keyword(s):  
State Space ◽  
Energy Efficient ◽  
The State ◽  
Unmanned Ground Vehicles ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicles ◽  
Ground Vehicle ◽  
Rugged Terrain ◽  
Simulation Results ◽  
The Relationship

This paper focuses on the development of a follow behavior for an unmanned ground vehicle (UGV) in collaborative scenarios. The scenario being studied involves a human traveling over a rugged terrain on foot. The UGV follows the human. We present an approach for automatically generating a reactive energy-efficient follow behavior that maps the vehicle’s states into motion goals. We start by partitioning the state space that encodes the relationship between the state of the vehicle and the human’s state, and the environment. For each cell in the partitioned state space, we either directly generate the motion goal for the vehicle to execute or a function that produces the motion goal. The motion goal defines not only the location towards which the vehicle should move but also specifies a zero activity zone around the human within which the vehicle is supposed to slow down and remain stationary to save its energy until it gets outside the margin caused by the movement of the human. Our approach utilizes off-line simulations to assess the performance of the generated behavior. Our simulation results show that the automatically generated follow behavior significantly outperforms a simple conservative tracking rule in terms of distance traveled and violation of proximity constraints. We anticipate that the approach presented in this paper will ultimately enable us to implement energy efficient follow behaviors on physical UGVs.

Path Planning for Vehicle with Constraint on Turning Radius among Obstacles

2010 ◽  
Vol 450 ◽  
pp. 128-132 ◽  
Author(s):  
Neng Jian Wang ◽  
De Fu Zhang ◽  
Li Jie Zhou
Keyword(s):  
Path Planning ◽  
State Space ◽  
Free Path ◽  
The State ◽  
Planning Method ◽  
Control Set ◽  
Simulation Results ◽  
Turning Radius ◽  
Feasible Path ◽  
Radius Constraint

A path re-planning method is proposed based on a discretization of the state space, aiming at finding a collision-free path for the vehicle which is capable of forward and backward motion when changes occur in the environment. A Control Set with Turning Radius Constraint (CSTRC) is formulated and the feasibility of paths in CSTRC is also proved out. The A* search is applied to produce a feasible path considering the distance and angle between the vehicle and the target pose. Path re-planning can be carried out efficiently when the environment changes. Simulation results demonstrate that the method realizes path re-planning effectively and the path satisfy the turning radius constraint.

State Feedback Controller - An Alternative Approach Applied to Unmanned Aerial Vehicle

2014 ◽  
Vol 704 ◽  
pp. 270-276
Author(s):  
Renato A. Aguiar ◽  
Fabrizio Leonardi
Keyword(s):  
Control Systems ◽  
Unmanned Aerial Vehicle ◽  
State Feedback ◽  
The State ◽  
Feedback Controller ◽  
Feedback Gain ◽  
State Feedback Controller ◽  
Alternative Approach ◽  
Aerial Vehicle ◽  
Alternative Methodology

The primary goal of this work is to propose an alternative methodology as a first approach in the design of control systems by means of a feedback state gain. The proposed method is detailed and an application is presented. The results show relevant aspects regarding the state feedback gain, especially in regard to variation in the parameters of the plant.

Performance Comparison between PID Controller and State-Feedback Controller with Integral Action in Position Control of DC Motor

2013 ◽  
Vol 367 ◽  
pp. 188-193
Author(s):  
A. Chowdhury ◽  
D. Debnath
Keyword(s):  
Pid Controller ◽  
State Feedback ◽  
Position Control ◽  
Performance Comparison ◽  
Feedback Controller ◽  
System Response ◽  
Feedback Gain ◽  
State Feedback Controller ◽  
Integral Action ◽  
The Time Domain

This paper presents the design of PID controller and State-Feedback controller with integral action to control the position of DC motor.PID controller is tuned using Ziegler-Nichol’s rules. State-Feedback controller is designed by determining the state feedback gain matrix using Ackermann’s formula. The aim of this paper is to compare the time domain characteristics of system response between PID controller and State feedback Controller with integral action. The Simulation results are demonstrated using MATLAB.Graphical User Interface (GUI) is developed for both the controllers. According to the Simulation result, State-Feedback controller with integral action has the better performance in terms of peak overshoot and settling time as compared to PID controller.

Research on Control System of Pump and Valve Parallel Connection

2010 ◽  
Vol 44-47 ◽  
pp. 1751-1757 ◽  
Author(s):  
Jing Luo ◽  
Chun Geng Sun ◽  
Peng Zhang ◽  
Sen Liu ◽  
Song Tao Wu
Keyword(s):  
Control System ◽  
State Space ◽  
State Space Model ◽  
The State ◽  
Parallel Connection ◽  
Space Model ◽  
Valve System ◽  
Simulation Results ◽  
Valve Control

This paper introduces the composition of pump and valve control system of parallel connection and the output flux of pump and valve is distributed optimally. Then, establish the state-space model of pump and valve system, the system is simulated by Simlink and AMESim software, the simulation results obtained.

Optimal State Space Control of a Gas Turbine Engine

1991 ◽  
Author(s):  
J. W. Watts ◽  
T. E. Dwan ◽  
C. G. Brockus
Keyword(s):  
State Space ◽  
Gas Turbine ◽  
State Space Model ◽  
Gas Turbine Engine ◽  
The State ◽  
Operating Conditions ◽  
Turbine Engine ◽  
Analog Control ◽  
Linear State ◽  
High Level

An analog fuel control for a gas turbine engine was compared with several state space derived fuel controls. A single spool, simple cycle gas turbine engine was modeled using ACSL (high level simulation language based on FORTRAN). The model included an analog fuel control representative of existing commercial fuel controls. The ACSL model was stripped of non-essential states to produce an 8 state linear state space model of the engine. The A, B, and C matrices, derived from rated operating conditions, were used to obtain feedback control gains by the following methods: (1) state feedback; (2) LQR theory; (3) Bellman method; and (4) polygonal search. An off-load transient followed by an on-load transient was run for each of these fuel controls. The transient curves obtained were used to compare the state space fuel controls with the analog fuel control. The state space fuel controls did better than the analog control.

Analysis of Multiple Degrees of Freedom Vibration Isolation System Using the State Space Method

2011 ◽  
Vol 338 ◽  
pp. 431-435 ◽  
Author(s):  
Yu Feng Luo ◽  
Yuan Shan Li ◽  
Xu Chen
Keyword(s):  
State Space ◽  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
The State ◽  
State Space Method ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Multiple Degrees Of Freedom ◽  
Simulation Results ◽  
Space Method

This papers deals with fast solving method of natural frequency and vibration isolation coefficient of multiple degrees of freedom vibration isolation system. In the foundation of a mathematical model of vibration motion differential equation, a new state space method is derived and presented. Through transforming the vibration isolation differential equations into the state space equations, it is convenient to facilitate the solution of vibration isolation coefficient of vibration isolation system of multiple degrees of freedom with damping, by using the state space method and the MATLAB/Simulink module. Simulation results showed the result is consistent with the theory result. Simulation results also showed that with the help of damping, the maximal vibration isolation coefficient of x direction is lowered from 90 to 3.2 in the 5.31Hz, which eliminate the resonance phenomenon. In y and z direction, the maximal vibration isolation coefficient is also decreased from 78 to 2.4 and from 210 to 2.35. The state space method can find further applications on the selection of vibration isolation system and the evaluation of vibration isolation efficiency.

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