scholarly journals A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1849
Author(s):  
Jianbo Liu ◽  
Rongqiang Guan ◽  
Yongming Yao ◽  
Hui Wang ◽  
Linqiang Hu
Keyword(s):  
Dynamic Model ◽  
Flight Control ◽  
Virtual Work ◽  
Influence Factors ◽  
Parallel Manipulators ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Helicopter Flight

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.

scholarly journals Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016 ◽  
Vol 7 (1) ◽  
pp. 9-17 ◽  
Author(s):  
M. Díaz-Rodríguez ◽  
J. A. Carretero ◽  
R. Bautista-Quintero
Keyword(s):  
Optimal Design ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Dynamic Models ◽  
Computational Cost ◽  
Parallel Manipulators ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Kinematic Chains ◽  
Model Based

Abstract. Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identification, model based control and even actuation redundancy approaches. In this context, by revisiting some of the current computationally-efficient solutions for obtaining the inverse dynamic model of parallel manipulators, this paper compares three different methods for inverse dynamic modelling of a general, lower mobility, 3-PRS parallel manipulator. The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains. Then, vector-loop closure constraints are introduced for obtaining the relationship between the dynamics of the open kinematic chains (such as a serial robot) and the closed chains (such as a parallel robot). The second method exploits certain characteristics of parallel manipulators such that the platform and the links are considered as independent subsystems. The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity. Analysis of these numerical formulations will provide fundamental software support for efficient model-based designs. In addition, computational cost reduction presented in this paper can also be an effective guideline for optimal design of this type of manipulator and for real-time embedded control.

Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

2010 ◽  
Vol 63 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Peter Paul Pott ◽  
Achim Wagner ◽  
Essameddin Badreddin ◽  
Hans-Peter Weiser ◽  
Markus L. R. Schwarz
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Control Application ◽  
Hybrid Kinematics

Flight Control System Design and Autonomous Flight Control of Small-Scale Unmanned Helicopter Based on Nanosensors

2021 ◽  
Vol 16 (4) ◽  
pp. 675-688
Author(s):  
Xinfan Yin ◽  
Xianmin Peng ◽  
Guichuan Zhang ◽  
Binghui Che ◽  
Chang Wang
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Algorithm ◽  
Installation Space ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Flight Control System ◽  
Autonomous Flight ◽  
Position Controller ◽  
Attitude Controller

Due to the limitation of the size and power, micro unmanned aerial vehicle (MUAV) usually has a small load capacity. Aiming at the problems of limited installation space and easy being interfered in flight attitude measurement of the small-scale unmanned helicopter (SUH), a low-cost and lightweight flight control system of the SUH based on ARM Cortex-M4 core microcontroller and Micro-Electro-Mechanical Systems (MEMS) sensors is developed in this paper. On this basis, in order to realize the autonomous flight control of SUH, firstly, the mathematical model of the SUH is given by using the Newton-Euler formulation. Secondly, a cascade flight controller consisting of the attitude controller and the position controller is developed based on linear active disturbance rejection control (LADRC) and proportional-integral-derivative (PID) control. Furthermore, simulations are conducted to validate the performance of the attitude controller and the position controller in MATLAB/SIMULINK simulation environment. Finally, based on the Align T-REX 470L SUH experimental platform, the hovering experiment and the route flight experiment are also carried out to validate the performance of the designed flight control system hardware and the proposed control algorithm. The results show that the flight control system designed in this paper has high reliability and strong anti-interference ability, and the control algorithm can effectively and reliably realize the attitude stabilization control and route control of the SUH, with high control accuracy and small error.

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Jun Wu ◽  
Binbin Zhang ◽  
Liping Wang
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Maximum Acceleration ◽  
Virtual Work Principle ◽  
Joint Force ◽  
Joint Forces ◽  
Three Degrees Of Freedom

The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.

DYNAMICS AND IMPROVED COMPUTED TORQUE CONTROL OF A NOVEL MEDICAL PARALLEL MANIPULATOR: APPLIED TO CHEST COMPRESSIONS TO ASSIST IN CARDIOPULMONARY RESUSCITATION

2015 ◽  
Vol 15 (04) ◽  
pp. 1550051 ◽  
Author(s):  
MOHSEN ASGARI ◽  
MAHDI A. ARDESTANI
Keyword(s):  
Cardiopulmonary Resuscitation ◽  
Fuzzy Inference ◽  
Virtual Work ◽  
Parallel Manipulators ◽  
Torque Control ◽  
Chest Compressions ◽  
Inverse Dynamic ◽  
Inference System ◽  
Novel Structure ◽  
Computed Torque

In cardiopulmonary resuscitation (CPR), in practice, the rescuer usually uses two hands to perform the action of chest compressions. During chest compressions action, the two arms of the rescuer actually constitute a parallel mechanism. Inspired by this performance, this paper presents a novel structure of parallel manipulators from Delta robot family for chest compressions in rescuing a patient. Also, two new control methodologies are applied to track the desired trajectory. Based on one supervisory approach and another one based upon adaptive neuro-fuzzy inference system (ANFIS) approach. Inverse dynamic modeling is performed based on principle of virtual work and the results are verified using MSC.Adams© software. The proportional derivative (PD) controllers of computed torque (C-T) method usually need manual retuning to make a successful task, particularly in the presence of disturbance. In the present paper, we study and compare the feasibility of applying supervisory controller and ANFIS instead of conventional controller used in C-T method to cope with the above mentioned problem. Several computer simulations imply that the proposed method is encouraging compared with C-T method implemented with conventional controller.

scholarly journals A Reevaluation of the Inverse Dynamic Model for Eye Movements

2007 ◽  
Vol 27 (6) ◽  
pp. 1346-1355 ◽  
Author(s):  
A. M. Green ◽  
H. Meng ◽  
D. E. Angelaki
Keyword(s):  
Eye Movements ◽  
Dynamic Model ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model
Sign in / Sign up

Export Citation Format

Share Document