Modeling and control of a quadrotor with variable geometry arms

2015 ◽  
Vol 3 (2) ◽  
pp. 35-57 ◽  
Author(s):  
Gabriele Barbaraci
Keyword(s):  
Mathematical Model ◽  
Euler Angles ◽  
Variable Geometry ◽  
Modeling And Control ◽  
Lateral Dynamics ◽  
Geometry Structure ◽  
Geometric Configurations ◽  
Simulation Results ◽  
And Control

The goal of this paper is to study the dynamics of a quadcopter using a variable geometry structure and discuss the advantages of using the geometry variation. A mathematical model has been described using simulation to show quadcopter dynamics. Based on the different geometric configurations of arms it is shown how the arms’ angles affect longitudinal and lateral dynamics. The design's assumptions refer to hovering and rotation with Euler angles. Simulation results show that both controllers stabilize the quadrotor and the amplitude of the vibrations is significantly decreased, compared to the vibration of a common quadcopter with fixed arms, by varying the arm's angle. The quadcopter remains stable and all Euler rotations are perfectly controlled.

scholarly journals Modeling and Simulation of Energy Management Hybrid Sources System composed of Solar-PV and Battery

2016 ◽  
Vol 1 (1) ◽  
pp. 12
Author(s):  
Madiha Maamir ◽  
Achour Betka ◽  
Hania Aboub
Keyword(s):  
Energy Management ◽  
Solar Pv ◽  
Modeling And Control ◽  
Control Techniques ◽  
Simulation Results ◽  
Power Manager ◽  
And Control ◽  
Different Sources ◽  
Pv Generator ◽  
Auxiliary Source

This paper describes the  modeling and control of a hybrid source consisting of PV generator (as  main  source)  along  with  a  battery (as  an  auxiliary source)  and a dc-load are connected through power converters and a dc-link. The main objective of this paper is to design a power manager to control effectively the power of the different sources. To test the effectiveness of the different control techniques involved, simulation results are plotted and commented.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Study of Topology and Control Strategy of the Bidirectional Energy Storage Converter Based on Three-Level

2013 ◽  
Vol 397-400 ◽  
pp. 1169-1173
Author(s):  
Hong Wei Tang ◽  
Xi Kun Chen ◽  
Yan Xia Gao
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Control Strategy ◽  
Lithium Battery ◽  
Decoupling Control ◽  
Midpoint Potential ◽  
Simulation Results ◽  
And Control ◽  
The Mathematical Model ◽  
Battery Module

To adapt to the requirements of the charging and discharging of the lithium battery, the paper presents a three-level based bidirectional energy storage converter topology.It has strong adaptability and can manage the charge and discharge of multi-series and parallel battery module. The mathematical model of the converter is analyzed, and the two operation modes of the converter control strategy are studied; Analysis the feed-forward decoupling control of three-level rectifier, and the variable scale factor is used to control midpoint potential. The simulation results demonstrate the feasibility of the design.

Modeling and Control of an Electro-Hydraulic Poppet Valve

2004 ◽  
Author(s):  
Patrick Opdenbosch ◽  
Nader Sadegh ◽  
Wayne J. Book
Keyword(s):  
Mathematical Model ◽  
Control Valve ◽  
Model Parameters ◽  
Hydraulic Control ◽  
Nonlinear Mathematical Model ◽  
Modeling And Control ◽  
Poppet Valve ◽  
Control Scheme ◽  
Experimental Approaches ◽  
And Control

This paper explores the dynamic modeling of a novel two stage bidirectional poppet valve and proposes a control scheme that uses a Nodal Link Perceptron Network (NLPN). The dynamic nonlinear mathematical model of this Electro-Hydraulic Control Valve (EHCV) is based on the analysis of the interactions among its mechanical, hydraulic, and electromagnetic subsystems. A discussion on experimental approaches to determine the model parameters is included along with model validation results. Finally, the control scheme is developed by proposing that the states of the EHCV follow a set of desired states, which are calculated based upon the desired valve flow conductance coefficient KV. A simulation is presented at the end to verify the proposed control scheme.

scholarly journals Modeling and Control of a Compliantly Engineered Anthropomimetic Robot in Contact Tasks

2011 ◽  
Author(s):  
Veljko Potkonjak ◽  
Kosta Jovanovic ◽  
Bratislav Svetozarevic ◽  
Owen Holland ◽  
Dusan Mikicic
Keyword(s):  
Mathematical Model ◽  
Nonlinear Control ◽  
Joint Motion ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
Dc Motors ◽  
Mechanical Compliance ◽  
And Control ◽  
Contact Tasks ◽  
Robot Body

This paper attempts to develop a dynamic model and design a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot’s joints are actuated by DC motors antagonistically coupled through tendons. To ensure safe interaction with humans in a human-centered environment, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot’s dynamics, starting from the “Flier” approach. The control of the antagonistic drives is based on a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply the theory of robustness in order to extend control to the multi-jointed robot body.

Modeling and Control of a Multiphase Modular High-Frequency Converter/Inverter for Vehicle Applications

2018 ◽  
Vol 27 (03n04) ◽  
pp. 1840014
Author(s):  
Kiarash Ahi
Keyword(s):  
High Frequency ◽  
Control Algorithm ◽  
Frequency Converter ◽  
Switching Frequency ◽  
Effective Frequency ◽  
Boost Converters ◽  
Modeling And Control ◽  
Equivalent Models ◽  
Simulation Results ◽  
And Control

This paper presents a novel control algorithm for a modular high-frequency converter. This control algorithm is designed to achieve an effective frequency higher than the switching frequency on the passive elements. As a result, the ripple on the output is suppressed, and smaller capacitors can be used. In this work, the modular high-frequency converter is modeled by equivalent boost converters. Based on the equivalent models a control algorithm is developed. The accuracy of the algorithm has been verified by simulation results using PLECS in the MATLAB/Simulink environment.

scholarly journals Modeling and control of two five-phase induction machines connected in series powered by matrix converter

2021 ◽  
Vol 12 (2) ◽  
pp. 685
Author(s):  
Mohamed Nekkaz ◽  
Abdelkader Djahbar ◽  
Rachid Taleb
Keyword(s):  
Induction Machines ◽  
Matrix Converter ◽  
Drive System ◽  
Modeling And Control ◽  
Input Side ◽  
In Series ◽  
Decoupled Control ◽  
Simulation Results ◽  
Five Phases ◽  
And Control

The two five-phase Induction Motor (IM) drive system that is serially connected is available in literature. The power supply of such system is considered as a matrix converter (a direct AC to AC converter system) by three and five-phases outputs. The main benefit from the drive topology is the sinusoidal source as a side current with a controllable input side power factor. The decoupled control is achieved similarly to the inverter based drive system. In this paper; the decoupled control of two five-phase induction machines serially connected and powered by a five-phase matrix converter as well as analytical and simulation results are presented.

scholarly journals On modelling and control design for self-balanced two-wheel vehicle

2008 ◽  
Vol 30 (3) ◽  
Author(s):  
Nguyen Hoang Quang
Keyword(s):  
Numerical Simulation ◽  
Differential Equations ◽  
Mobile Robot ◽  
Equations Of Motion ◽  
Control Design ◽  
Modeling And Control ◽  
Linearized Equations ◽  
Stable Motion ◽  
Simulation Results ◽  
And Control

In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

Modelling and Realisation of a Three-Level PWM Inverter Using a DSP Controller to Feed an Asynchronous Machine

2015 ◽  
pp. 687-718
Author(s):  
Denoun Hakim ◽  
Benyahia Nabil ◽  
Zaouia Mustapha ◽  
Benamrouche Nacereddine ◽  
Salah Haddad ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Output Voltage ◽  
Asynchronous Motor ◽  
Signal Spectrum ◽  
Pwm Inverter ◽  
Multilevel Inverters ◽  
Simulation Results ◽  
And Control ◽  
Dsp Controller ◽  
The Mathematical Model

Multilevel inverters have seen an increasing popularity in the last few years for medium- and high-voltage applications. The most popular has been the three-level neutral clamped inverter. Multilevel inverters synthesize output voltage from more than two voltage levels. Thus, the output signal spectrum is significantly improved in comparison with the classical two-level converters. This chapter discusses modelling and control of a Neutral Point Clamped (NPC) inverter which operates with the PWM switching pattern using a DSP. The mathematical model of the NPC inverter is carried out using conversion and connection functions for an easier understanding of the system operation. Simulation results using MATLAB program are reported, and it is shown that the performances obtained for driving an asynchronous motor using this inverter are very promising. Finally, analysis of the theoretical and the experimental results is carried out in order to validate the effectiveness of the proposed control solution.

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