scholarly journals Simulation of Quadcopter's Complex Spatial Motion in Virtual Environment Systems

2020 ◽  
pp. short4-1-short4-9
Author(s):  
Evgeny Strashnov ◽  
Mikhail Mikhaylyuk
Keyword(s):  
Mathematical Model ◽  
Virtual Environment ◽  
Motion Control ◽  
Software Package ◽  
Feedback Linearization ◽  
Linear Acceleration ◽  
Linearization Method ◽  
Spatial Motion

The paper considers the task of simulation quadcopter motion control in vir-tual environment systems. The proposed solution of this task is based on the application of a mathematical model of quadcopter dynamics, in which quaternion and axis-angle representation of the attitude are used. In this work, a feedback linearization method for the equations of quadcopter and its elec-tric motors dynamics is proposed to control the quadcopter. With the application of this approach, quadcopter motion is achieved by the obtained expressions for linear acceleration and the desired quaternion. The proposed methods and approaches for quadcopter simulation were implemented in the software package of virtual environment and tested using examples of the motion of a quadcopter model along a given path.

Dynamic Analysis on a Cable-Driven Interventional Active Catheter Using Kane's Method Combined with Screw Theory

2014 ◽  
Vol 527 ◽  
pp. 140-145
Author(s):  
Da Xu Zhao ◽  
Bai Chen ◽  
Guo Zhong Shou ◽  
Yu Qi Gu
Keyword(s):  
Mathematical Model ◽  
Dynamic Analysis ◽  
Motion Control ◽  
Screw Theory ◽  
Driving Forces ◽  
Structure Design ◽  
Kinematics And Dynamics ◽  
Existing Problems ◽  
Blind Area ◽  
The Mathematical Model

In view of the existing problems of traditional interventional catheters, particularly poor activity, operation difficulty and mass blind area, a novel interventional catheter with a cable-driven active head-end is proposed, and a prototype was built to verify the performance. This paper deals with the kinematics and dynamics of the cable-driven prototype, a dynamic model based on Kanes method combined with screw theory was presented in this paper. According the mathematical model and the prototypes structure, the analysis of kinematics and dynamics of active head-end-end is done in the environment of Mathematica. The needed driving forces of every joint when the system moving along planned trajectory are calculated. The results can provide a basis for the structure design and motion control of the interventional active catheter.

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

H∞Control for PMLSM Suspension Platform Based on PDFF

2011 ◽  
Vol 383-390 ◽  
pp. 6886-6892
Author(s):  
Jia Kuan Xia ◽  
Yi Na Wang ◽  
Yi Biao Sun
Keyword(s):  
Feedback Linearization ◽  
High Speed ◽  
Normal Force ◽  
Dynamic Stiffness ◽  
Linearization Method ◽  
Dynamic Decoupling ◽  
Fast Tracking ◽  
Speed Controller ◽  
Simulation Results ◽  
Proportional Controller

Permanent magnet linear synchronous motor (PMLSM) suspension system has the merits of no friction, high-speed, high response and so on, using the normal force achieve the mover suspension. The servo performance is affected by the nonlinear coupling between the horizontal trust and vertical normal force, parameters uncertainties and load disturbances. The feedback linearization method is used to achieve the dynamic decoupling of the PMLSM suspicion system and decoupling it Into two linear subsystems; to solve the conflict between disturbance restraint and fast tracking performance, increase the robustness and dynamic stiffness for system, H∞ speed controller based on PDFF and position proportional controller are designed. Simulation results show that the proposed control strategy guarantees the high speed and high precision positioning performance for horizontal axis; the good rigidity and stability for normal suspension length and the strong robustness against load disturbances and parameters variations for the two axes.

Kinematic Synthesis of an RS-SRR-SS Adjustable Spatial Motion Generator for Three Alternate Tasks

1993 ◽  
Author(s):  
Jin Yao ◽  
Liju Xu ◽  
Shou-wen Fan
Keyword(s):  
Mathematical Model ◽  
Spatial Motion ◽  
Kinematic Synthesis ◽  
Inversion Theory ◽  
Constant Distance ◽  
And Inversion ◽  
Distance Conditions ◽  
Motion Generator

Abstract A method is presented for kinematical synthesis of an RS-SRR-SS adjustable spatial motion generator for three alternate tasks. Three separate systems of synthesis equations to exactly generate the first and the last positions for each task are obtained for the R-S by co-plane and constant distance conditions, for the S-R-R by co-plane, constant distance conditions and inversion theory, and for S-S by constant distance condition. Based on these equations, mathematical model for approximately generating the intermediate positions for each task is formulated. This method is characterized by reduction of the unknowns and equations in both exact and approximate syntheses. As a result, computing work is to be decreased obviously.

Design of Control of DC Motor

2014 ◽  
Vol 611 ◽  
pp. 325-331
Author(s):  
Ľubica Miková ◽  
Michal Kelemen ◽  
Vladislav Maxim ◽  
Jaromír Jezný
Keyword(s):  
Mathematical Model ◽  
Virtual Environment ◽  
Computer Technology ◽  
Current Practice ◽  
Scientific Literature ◽  
Model Simulation ◽  
Graphical Interface ◽  
Dc Motors ◽  
Matlab Program ◽  
Simulation Results

In current practice the use of mathematical models is substantially widespread, reason being the recent increase in development of programs for this purpose, with the option of model simulation in a virtual environment, proportional to the evolving computer technology. The article contains a mathematical model created using Matlab program. The simulation results are compared with scientific literature that addresses DC motors and evaluated. For simplicity, a graphical interface was created.

scholarly journals On the ship course-keeping control system design by using robust feedback linearization

2013 ◽  
Vol 20 (1) ◽  
pp. 70-76 ◽  
Author(s):  
Zenon Zwierzewicz
Keyword(s):  
Feedback Linearization ◽  
High Performance ◽  
Linearization Method ◽  
Model Parameters ◽  
Control System Design ◽  
Control Approach ◽  
Ship Model ◽  
Control Techniques ◽  
System Nonlinearity ◽  
Ship Autopilot

Abstract In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.

scholarly journals Control system for trials on material ship model

2012 ◽  
Vol 19 (Special) ◽  
pp. 25-30 ◽  
Author(s):  
Janusz Pomirski ◽  
Andrzej Rak ◽  
Witold Gierusz
Keyword(s):  
Control System ◽  
Control Systems ◽  
Virtual Environment ◽  
Motion Control ◽  
Ship Motion ◽  
Matlab Simulink ◽  
Ship Model ◽  
Measurement Devices

ABSTRACT The paper presents software environement for fast prototyping and verification of motion control systems for ship. The environement is prepared for isomorphic reduced ship model which is used for training and in research in a area of ship motion control. The control system is build using Matlab-Simulink-xPC package which simplifies and accellerates design and verification of new control algorithms. The systems was prepared also for Hardwarein- the-loop trials when a designed control system is tested inside a virtual environment instead of real actuators, disturbances, communication and measurement devices.

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