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变桨距四旋翼飞行器的建模与控制研究 总被引:1,自引:0,他引:1
《电光与控制》2015,(10)
变桨距四旋翼飞行器可以通过改变4个旋翼的桨距大小来控制对应旋翼的拉力,从而调节四旋翼飞行器的姿态和位置。四旋翼飞行器的桨距调节控制策略相比传统的单一转速调节对于提高自身运动的机动性及可靠性具有重要意义,未来在微型飞行器的编队飞行、精确任务方面应用前景广阔。为了分析变桨距四旋翼飞行器大角度非线性运动的控制可实现性,采用欧拉法对其建立了非线性动力学模型,并将反馈线性化的非线性控制方法应用于所建立的飞行器模型。最后,结合Simulink软件对非线性控制下四旋翼运动过程的仿真,探讨了非线性控制理论对四旋翼飞行器运动的控制作用,为变桨距四旋翼飞行器大角度非线性运动的控制实现提供参考。 相似文献
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《电子技术与软件工程》2016,(4)
四旋翼飞行器具有不稳定,非线性,强耦合等特点。为了使飞行器能够稳定飞行,采用两个PID串联,同时对位置式PID算法进行改进,PID参数整定后试飞结果显示,飞行器能够稳定的保持平衡。 相似文献
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四旋翼飞行器的飞行控制系统可对多输入多输出的非线性系统进行稳定控制。针对复杂集总干扰下四旋翼姿态与位置的稳定控制,提出了一种基于静态H_∞输出反馈控制算法。首先通过Euler-Lagrangian方程获得四旋翼的飞行动力学模型,并将其转换成线性系统的状态空间形式;其次根据时间尺度原理依次构建四旋翼的姿态和位置控制回路,并设计静态H_∞输出反馈控制策略来实现两个控制回路的抗干扰控制,同时利用布谷鸟算法的寻优优势来计算最优的输出反馈控制增益;最后通过两组仿真算例对所提控制算法的有效性进行了验证,结果表明,基于静态H_∞输出反馈控制的四旋翼系统能够有效抑制集总干扰的影响,实现各控制环状态变量的稳定控制。 相似文献
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The elimination of the position sensor has been one important requirement in vector control systems because the position sensor spoils the reliability and simplicity of drive systems. Therefore, we present a sensorless vector control technique for synchronous reluctance motors. The rotor position is calculated easily from ds-qs-axes flux linkages which are estimated with a first-order lag compensator. Furthermore, utilizing estimated rotor position as the input of the full-order observer, the rotor speed and disturbance torque are estimated. The proposed sensorless vector control scheme is demonstrated with experimental results 相似文献
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A sensorless initial rotor position estimation scheme for a direct torque controlled interior permanent magnet synchronous motor drive 总被引:2,自引:0,他引:2
In direct torque control (DTC) scheme, the requirement of the continuous rotor position sensor and coordinate transformation is eliminated since all the calculation is done in stator reference frame. However, the DTC scheme requires the position sensor to determine the initial position of the rotor at starting. Elimination of the shaft-mounted position encoder is a very desirable objective in many applications since this sensor is often one of the most expensive and fragile components in the entire drive system. This paper presents a sensorless method of determining the initial rotor position of a direct torque controlled interior permanent magnet (IPM) synchronous motor drive. The method consists of injecting a high frequency voltage to the windings and examining the effects of the saliency on the amplitude of the corresponding stator current components. This method does not depend on the level of static load and on any motor parameters. The magnet polarity of the rotor at its initial position is also identified using the effect of saliency. Modeling and experimental results verify the effectiveness of the proposed method. 相似文献
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Concepts for the sensorless position control of induction motor drives rely on anisotropic properties of the machine rotor. Such anisotropies can be incorporated as periodic variations of magnetic saliencies in various ways. The built-in spatial anisotropy is detected by injecting a high-frequency flux wave into the stator. The resulting stator current harmonics contain frequency components that depend on the rotor position. Models of the rotor saliency serve to extract the rotor position signal using phase-locked loop techniques. A different approach makes use of the parasitic effects that originate from the discrete winding structure of a cage rotor. It has the merit of providing high spatial resolution for incremental positioning without sensor. The practical implementation of sensorless position identification and of a high-accuracy position control system are reported 相似文献
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《Mechatronics》2023
A Variable-Reluctance resolver (VR-Resolver) with a novel structure is proposed in this paper as an absolute position sensor, where two possible structures are analyzed. The signals and excitation windings are located on the stator. Hence the slip rings are eliminated in the rotor. The rotor is considered by slot/teeth configuration so the rotor is shaped in a simple variable reluctance structure with a low sensitivity to the manufacturing tolerance. The excitation winding is wound in toroidal configuration that leads to having a smaller fill factor as well as turns can be considered for the windings. Maximum position error (MPE) is evaluated for the proposed resolvers in both healthy and eccentric cases. Therefore, the resolvers performance and their sensitivity to the eccentricity fault are evaluated. A flexible Magnetic Equivalent Circuit (MEC) with adjustable accuracy is used for modeling thanks to its capability and shorter processing time compared to the Finite-Element Method (FEM), where different cases are analyzed by a unique MEC model. Finally, comparison between the MEC and FEM-based results as well as experimental tests are presented to show effeteness of the proposed resolver as an accurate absolute position sensor for industries applications. 相似文献
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六旋翼飞行器是一种新型的旋翼飞行器,文中主要针对该飞行器在航迹规划时的Voronoi算法进行了改进,优化了飞行器的航迹规划路线.通过对电院大草坪的树林作为障碍物的情况下,飞行器穿过树林到达空旷地方的航迹规划的数学建模发现,使用传统的Voronoi算法的航迹规划的距离为169.113m,使用改进的Voronoi算法的航迹规划的距离为152.8753m,比起传统的Voronoi算法规划出来的航迹的距离缩短了10.6%. 相似文献
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针对《自动控制原理》课程教学中存在学和用两张皮、授课模式单一和学生动手能力差等问题,将无人旋翼机引入到日常理论教学工作中,从而抽象理论与工程对象紧密结合。针对课堂授课内容,设计低成本开放性强的无人旋翼机实践教学平台,通过首尾闭环教学模式和课堂交互模式的优化改进,提高学生对课堂知识点的理解掌握能力,并进一步通过评估体系的优化改进,促进学生重视控制理论在实际工程中的应用,提高学生分析问题和解决问题的能力;改革后的教学方法在教学实践中取得了良好的效果. 相似文献
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广播式自动相关监视(ADS-B)开放式监视构架的特点使其面临易受人为虚假欺骗的安全性挑战。本文设置多个ADS-B基站,利用ADS-B信号的到达时间差(TDOA)与到达时间和(TSOA)对飞机实际位置进行多点定位,与ADS-B信号解码所得位置信息进行比对,从而剔除虚假飞机目标。首先实现ADS-B基站间的时间同步,建立基于TDOA/TSOA的定位模型与算法,给出了利用Friedlander算法获取初值的改进的Taylor级数算法以获取飞机位置。运用蒙特卡洛方法进行了四基站和五基站的仿真实验,结果表明,与现有Taylor级数算法相比,改进算法能提供更精确的飞机位置,并且五基站的定位性能要优于四基站的定位性能。 相似文献