Search results for: nonlinear rotor

Authors: Santhosh Kumat T., Priya E.

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The control of a doubly fed induction generator by fuzzy is described. The active and reactive power can be controlled by rotor and grid side converters with fuzzy controller. The main objective is to maintain constant voltage and frequency at the output of the generator. However the Line Side Converter (LSC) can be controlled to supply up to 50% of the required reactive current. When the crowbar is not activated the DFIG can supply reactive power from the rotor side through the machine as well as through the LSC.

Keywords: Doubly Fed Induction Generator (DFIG), Rotor Side Converter (RSC), Grid Side Converter (GSC), Wind Energy Conversion Systems (WECS)

Procedia PDF Downloads 588

Authors: T. Yamaguchi, M. Watanabe, M. Sasajima, C. Yuan, S. Maruyama, T. B. Ibrahim, H. Tomita

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This paper deals with nonlinear vibration analysis using finite element method for frame structures consisting of elastic and viscoelastic damping layers supported by multiple nonlinear concentrated springs with hysteresis damping. The frame is supported by four nonlinear concentrated springs near the four corners. The restoring forces of the springs have cubic non-linearity and linear component of the nonlinear springs has complex quantity to represent linear hysteresis damping. The damping layer of the frame structures has complex modulus of elasticity. Further, the discretized equations in physical coordinate are transformed into the nonlinear ordinary coupled differential equations using normal coordinate corresponding to linear natural modes. Comparing shares of strain energy of the elastic frame, the damping layer and the springs, we evaluate the influences of the damping couplings on the linear and nonlinear impact responses. We also investigate influences of damping changed by stiffness of the elastic frame on the nonlinear coupling in the damped impact responses.

Keywords: dynamic response, nonlinear impact response, finite element analysis, numerical analysis

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Authors: Huai-Cong Liu，Tae Chul Jeong，Ju Lee

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This paper describes characteristic analysis of a synchronous reluctance motor (SynRM)’s rotor with the Multi-segment and Multi-layer structure. The magnetic-saturation phenomenon in SynRM is often appeared. Therefore, when modeling analysis of SynRM the calculation of nonlinear magnetic field needs to be considered. An important influence factor on the convergence process is how to determine the relative permeability. An improved method, which ensures the calculation, is convergence by linear iterative method for saturated magnetic field. If there are inflection points on the magnetic curve,an optimum convergence method of solution for nonlinear magnetic field was provided. Then the equivalent magnetic circuit is calculated, and d,q-axis inductance can be got. At last, this process is applied to design a 7.5Kw SynRM and its validity is verified by comparing with the result of finite element method (FEM) and experimental test data.

Keywords: SynRM, magnetic-saturation, magnetic circuit, analytical modeling

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Authors: Denis V. Shutin, Alexander Yu. Babin, Leonid A. Savin

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One of the ways of reducing vibroactivity of rotor systems is to apply active hybrid bearings. Their design allows correction of the rotor’s location by means of separately controlling the supply pressure of the lubricant into the friction area. In a most simple case, the control system is based on a P-regulator. Increase of the gain coefficient allows decreasing the amplitude of rotor’s vibrations. The same effect can be achieved by means of increasing the pressure in the collector of a traditional passive hybrid bearing. However, these approaches affect the dynamic characteristics of the bearing differently. Theoretical studies show that the increase of the gain coefficient of an active bearing increases the stiffness of the bearing, as well as the increase of the pressure in the collector. Nevertheless, in case of a passive bearing, the damping properties deteriorate, whereas the active hybrid bearings obtain higher damping properties, which allow effectively providing the energy dissipation of the rotor vibrations and reducing the load on the constructional elements of a machine.

Keywords: active bearings, control system, damping, hybrid bearings, stiffness

Procedia PDF Downloads 383

Authors: Petter Eklund, Jonathan Sjölund, Sandra Eriksson, Mats Leijon

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The spoke type rotor can be used to obtain magnetic flux concentration in permanent magnet machines. This allows the air gap magnetic flux density to exceed the remanent flux density of the permanent magnets but gives problems with leakage fluxes in the magnetic circuit. The end leakage flux of one spoke type permanent magnet rotor design is studied through measurements and finite element simulations. The measurements are performed in the end regions of a 12 kW prototype generator for a vertical axis wind turbine. The simulations are made using three dimensional finite elements to calculate the magnetic field distribution in the end regions of the machine. Also two dimensional finite element simulations are performed and the impact of the two dimensional approximation is studied. It is found that the magnetic leakage flux in the end regions of the machine is equal to about 20% of the flux in the permanent magnets. The overestimation of the performance by the two dimensional approximation is quantified and a curve-fitted expression for its behavior is suggested.

Keywords: end effects, end leakage flux, permanent magnet machine, spoke type rotor

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Authors: Boo-Sung Koh, Seung-Eock Kim

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In this paper, a direct design using a nonlinear inelastic analysis is suggested. Also, this paper compares the load carrying capacity obtained by a nonlinear inelastic analysis with experiment results to verify the accuracy of the results. The allowable stress design results of a railroad through a plate girder bridge and the safety factor of the nonlinear inelastic analysis were compared to examine the safety performance. As a result, the load safety factor for the nonlinear inelastic analysis was twice as high as the required safety factor under the allowable stress design standard specified in the civil engineering structure design standards for urban magnetic levitation railways, which further verified the advantages of the proposed direct design method.

Keywords: direct design, nonlinear inelastic analysis, residual stress, initial geometric imperfection

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Authors: H. Triki, Y. Hamaizi, A. El-Akrmi

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We consider the higher order nonlinear Schrödinger equation model with fourth-order dispersion, cubic-quintic terms, and self-steepening. This equation governs the propagation of fem to second pulses in optical fibers. We present new bright and dark solitary wave type solutions for such a model under certain parametric conditions. This kind of solution may be useful to explain some physical phenomena related to wave propagation in a nonlinear optical fiber systems supporting high-order nonlinear and dispersive effects.

Keywords: nonlinear Schrödinger equation, high-order effects, soliton solution

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Authors: Assel Thami Lahlou, Soufiane Stouti, Ismail Lagrat, Hamid Mounir, Oussama Bouazaoui

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The purpose of this research work is to predict the helicopter from stalling by finding the minimum and maximum values that the pitch angle can take in order to fly in a hover state condition. The stall of a helicopter in hover occurs when the pitch angle is too small to generate the thrust required to support its weight or when the critical angle of attack that gives maximum lift is reached or exceeded. In order to find the minimum pitch angle, a 3D CFD simulation was done in this work using ANSYS FLUENT as the CFD solver. We started with a small value of the pitch angle θ, and we kept increasing its value until we found the thrust coefficient required to fly in a hover state and support the weight of the helicopter. For the CFD analysis, the Multiple Reference Frame (MRF) method with k-ε turbulent model was used to study the 3D flow around the rotor for θmin. On the other hand, a 2D simulation of the airfoil NACA 0012 was executed with a velocity inlet Vin=ΩR/2 to visualize the flow at the location span R/2 of the disk rotor using the Spallart-Allmaras turbulent model. Finding the critical angle of attack at this position will give us the ability to predict the stall in hover flight. The results obtained will be exposed later in the article. This study was so useful in analyzing the limitations of the helicopter’s main rotor and thus, in predicting accidents that can lead to a lot of damage.

Keywords: aerodynamic, CFD, helicopter, stall, blades, main rotor, minimum pitch angle, maximum pitch angle

Procedia PDF Downloads 86

Authors: Nouredine Benouzza, Ahmed Hamida Boudinar, Azeddine Bendiabdellah

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An algorithm for Eccentricity Fault Detection (EFD) applied to a squirrel cage induction machine is proposed in this paper. This algorithm employs the behavior of the stator current spectral analysis and the localization of the Rotor Slot Harmonic (RSH) frequency to detect eccentricity faults in three phase induction machine. The RHS frequency once obtained is used as a key parameter into a simple developed expression to directly compute the eccentricity fault frequencies in the induction machine. Experimental tests performed for both a healthy motor and a faulty motor with different eccentricity fault severities illustrate the effectiveness and merits of the proposed EFD algorithm.

Keywords: squirrel cage motor, diagnosis, eccentricity faults, current spectral analysis, rotor slot harmonic

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Authors: Wataru Nakamura, Tomoaki Hashimoto, Liang-Kuang Chen

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This paper provides a state estimation method for automatic control systems of nonlinear vehicle dynamics. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. In general, all the state variables of control systems are not precisedly known, because those variables are observed through output sensors and limited parts of them might be only measurable. Hence, automatic control systems must incorporate some type of state estimation. It is needed to establish a state estimation method for nonlinear vehicle dynamics with restricted measurable state variables. For this purpose, unscented Kalman filter method is applied in this study for estimating the state variables of nonlinear vehicle dynamics. The objective of this paper is to propose a state estimation method using unscented Kalman filter for nonlinear vehicle dynamics. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: state estimation, control systems, observer systems, nonlinear systems

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Authors: Umit Candan, Kadir Dogan, Ozkan Akin

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In this study, the use of a modified rotor 6/4 Switched Reluctance Motor (SRM) and a Brushless Direct Current Motor (BLDC) in pan-tilt systems is compared. Pan-tilt systems are critical mechanisms that enable the precise orientation of cameras and sensors, and their performance largely depends on the characteristics of the motors used. The aim of the study is to determine how the performance of the SRM can be improved through rotor modifications and how these improvements can compete with BLDC motors. Using Finite Element Method (FEM) analyses, the design characteristics and magnetic performance of the 6/4 Switched Reluctance Motor are examined in detail. The modified SRM is found to offer increased torque capacity and efficiency while standing out with its simple construction and robustness. FEM analysis results of SRM indicate that considering its cost-effectiveness and performance improvements achieved through modifications, the SRM is a strong alternative for certain pan-tilt applications. This study aims to provide engineers and researchers with a performance comparison of the modified rotor 6/4 SRM and BLDC motors in pan-tilt systems, helping them make more informed and effective motor selections.

Keywords: reluctance machines, switched reluctance machines, pan-tilt application, comparison, FEM analysis

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Authors: Kholod Mohammad Abualnaja

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A new algorithm is presented to find some new iterative methods for solving nonlinear equations F(x)=0 by using the variational iteration method. The efficiency of the considered method is illustrated by example. The results show that the proposed iteration technique, without linearization or small perturbation, is very effective and convenient.

Keywords: variational iteration method, nonlinear equations, Lagrange multiplier, algorithms

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Authors: Suyong Kim

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Recently because of the rise in the price of rare earth magnet, interest of non-rare earth or less-rare earth motor is growing. Especially to achieve the high power density, Spoke-Type BLDC (Brushless Permanent Magnet) Motor with ferrite permanent magnet are spotlighted. But Spoke-Type Ferrite BLDC Motor has much of magnetic flux leakage in the direction of rotor shaft. In order to solve this problem, there are two conventional ways. But conventional ways bring the increases of product cost or the decreases of the power density. Therefore, this paper proposes new Spoke-Type BLDC Rotor shape that has the advantages of both conventional methods. The new shape is consists of a one-piece core. The inside and the outside of the rotor are open alternately. So it can take reduced production cost and high power density.

Keywords: motor, BLDC, spoke, ferrite

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Authors: A. Keshavarz, Z. Roosta

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In this paper, propagation of cos-Gaussian beam in strongly nonlocal nonlinear media has been stimulated by using paraxial group transformation. At first, cos-Gaussian beam, nonlocal nonlinear media, critical power, transfer matrix, and paraxial group transformation are introduced. Then, the propagation of the cos-Gaussian beam in strongly nonlocal nonlinear media is simulated. Results show that beam propagation has periodic structure during self-focusing effect in this case. However, this simple method can be used for investigation of propagation of kinds of beams in ABCD optical media.

Keywords: paraxial group transformation, nonlocal nonlinear media, cos-Gaussian beam, ABCD law

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Authors: Subrato Saha, Yun-Hyun Cho

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In electric power steering (EPS), spoke type brushless ac (BLAC) motors offer distinct advantages over other electric motor types in terms torque smoothness, reliability and efficiency. This paper deals with the shape optimization of spoke type BLAC motor, in order to reduce cogging torque. This paper examines 3 steps skewing rotor angle, optimizing rotor core edge and rotor overlap length for reducing cogging torque in spoke type BLAC motor. The methods were applied to existing machine designs and their performance was calculated using finite- element analysis (FEA). Prototypes of the machine designs were constructed and experimental results obtained. It is shown that the FEA predicted the cogging torque to be nearly reduce using those methods.

Keywords: EPS, 3-Step skewing, spoke type BLAC, cogging torque, FEA, optimization

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Authors: A. Giniatoulline

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A nonlinear model of the mathematical fluid dynamics which describes the motion of an incompressible viscous rotating fluid in a homogeneous gravitational field is considered. The model is a generalization of the known Navier-Stokes system with the addition of the Coriolis parameter and the equations for changeable density. An explicit algorithm for the solution is constructed, and the proof of the existence and uniqueness theorems for the strong solution of the nonlinear problem is given. For the linear case, the localization and the structure of the spectrum of inner waves are also investigated.

Keywords: Galerkin method, Navier-Stokes equations, nonlinear partial differential equations, Sobolev spaces, stratified fluid

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Authors: C. Pislaru, A. Shebani

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This paper uses the radial basis function neural network (RBFNN) for system identification of nonlinear systems. Five nonlinear systems are used to examine the activity of RBFNN in system modeling of nonlinear systems; the five nonlinear systems are dual tank system, single tank system, DC motor system, and two academic models. The feed forward method is considered in this work for modelling the non-linear dynamic models, where the K-Means clustering algorithm used in this paper to select the centers of radial basis function network, because it is reliable, offers fast convergence and can handle large data sets. The least mean square method is used to adjust the weights to the output layer, and Euclidean distance method used to measure the width of the Gaussian function.

Keywords: system identification, nonlinear systems, neural networks, radial basis function, K-means clustering algorithm

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Authors: Mounir Bekaik, Messaoud Ramdani

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We present in this work a new technique of stabilization for fault nonlinear systems. The approach we adopt focus on a fuzzy Luenverger observer. The T-S approximation of the nonlinear observer is based on fuzzy C-Means clustering algorithm to find local linear subsystems. The MOESP identification approach was applied to design an empirical model describing the subsystems state variables. The gain of the observer is given by the minimization of the estimation error through Lyapunov-krasovskii functional and LMI approach. We consider a three tank hydraulic system for an illustrative example.

Keywords: nonlinear system, fuzzy, faults, TS, Lyapunov-Krasovskii, observer

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Authors: Shahbaz Amin, Sabir Hussain Shah, Sahib Khan

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This paper presents a thorough review concerning the design types of axial flux permanent magnet machines (AFPM) in terms of different features such as construction, design, materials, and manufacturing. Particular emphasis is given on the design and performance analysis of AFPM machines. A comparison among different permanent magnet machines is also provided. First of all, early and modern axial flux machines are mentioned. Secondly, rotor construction of different axial flux machines is described, then different stator constructions are mentioned depending upon the presence of slots and stator back iron. Then according to the arrangement of the rotor stator structure the machines are classified into single, double and multi-stack arrangements. Advantages, disadvantages and applications of each type of rotor and stator are pointed out. Finally on the basis of the reviewed literature merits, demerits, features and application of different axial flux machines structures are explained and clarified. Thus, this paper provides connection between the machines that are currently being used in industry and the developments of AFPM throughout the years.

Keywords: axial flux machines, axial flux applications, coreless machines, PM machines

Procedia PDF Downloads 219

Authors: Shahroz Khan, Osman Taha Şen

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In automotive brake systems, brake noise has been a major problem, and brake squeal is one of the critical ones which is an instability issue. The brake squeal produces an audible sound at high frequency that is irritating to the human ear. To study this critical problem, first a nonlinear mathematical model with three degree of freedom is developed. This model consists of a point mass that simulates the brake pad and a sliding surface that simulates the brake rotor. The model exposes kinematic and clearance nonlinearities, but no friction nonlinearity. In the formulation, the friction coefficient is assumed to be constant and the friction force does not change direction. The nonlinear governing equations of the model are first obtained, and numerical solutions are sought for different cases. Second, a computational model for the squeal problem is developed with a commercial software, and computational solutions are obtained with two different types of contact cases (solid-to-solid and sphere-to-plane). This model consists of three rigid bodies and several elastic elements that simulate the key characteristics of a brake system. The response obtained from this model is compared with numerical solutions in time and frequency domain.

Keywords: contact force, nonlinearities, brake squeal, vehicle brake

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Authors: Mohammadreza Akbari, Sara Akbari, Davood Domiri Ganji, Pooya Solimani, Reza Khalili

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As all experts know most of engineering system behavior in practical are nonlinear process (especially heat, fluid and mass, etc.) and analytical solving (no numeric) these problems are difficult, complex and sometimes impossible like (fluids and gas wave, these problems can't solve with numeric method, because of no have boundary condition) accordingly in this symposium we are going to exposure a innovative approach which we have named it Akbari-Ganji's Method or AGM in engineering, that can solve sets of coupled nonlinear differential equations (ODE, PDE) with high accuracy and simple solution and so this issue will be emerged after comparing the achieved solutions by Numerical method (Runge-Kutte 4th) and so compare to other methods such as HPM, ADM,… and exact solutions. Eventually, AGM method will be proved that could be created huge evolution for researchers, professors and students (engineering and basic science) in whole over the world, because of AGM coding system, so by using this software we can analytically solve all complicated linear and nonlinear differential equations, with help of that there is no difficulty for solving nonlinear differential equations(ODE and PDE). In this paper, we investigate and solve 4 types of the nonlinear differential equation with AGM method : 1-Heat and fluid, 2-Unsteady state of nonlinear partial differential, 3-Coupled nonlinear partial differential in wave equation, and 4-Nonlinear integro-differential equation.

Keywords: new method AGM, sets of coupled nonlinear equations at engineering field, waves equations, integro-differential, fluid and thermal

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Authors: Karima Kimouche

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In this paper, we consider the asymptotic problems in spectral analysis of stationary causal random fields. We impose conditions only involving (conditional) moments, which are easily verifiable for a variety of nonlinear random fields. Limiting distributions of periodograms and smoothed periodogram spectral density estimates are obtained and applications to the spectral domain bootstrap are given.

Keywords: spatial nonlinear processes, spectral estimators, GMC condition, bootstrap method

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Authors: Evgeniia V. Mekhonoshina, Vladimir Ya. Modorskii, Vasilii Yu. Petrov

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At present, vibrations of rotors of gas transmittal unit evade sustainable forecasting. This paper describes elastic oscillation modes in resilient supports and rotor impellers modeled during computational experiments with regard to interference in the system of gas-dynamic flow and compressor rotor. Verification of aeroelastic approach was done on model problem of interaction between supersonic jet in shock tube with deformed plate. ANSYS 15.0 engineering analysis system was used as a modeling tool of numerical simulation in this paper. Finite volume method for gas dynamics and finite elements method for assessment of the strain stress state (SSS) components were used as research methods. Rotation speed and material’s elasticity modulus varied during calculations, and SSS components and gas-dynamic parameters in the dynamic system of gas-dynamic flow and compressor rotor were evaluated. The analysis of time dependence demonstrated that gas-dynamic parameters near the rotor blades oscillate at 200 Hz, and SSS parameters at the upper blade edge oscillate four times higher, i.e. with blade frequency. It has been detected that vibration amplitudes correction in the test points at magnetic bearings by aeroelasticity may correspond up to 50%, and about -π/4 for phases.

Keywords: Centrifugal compressor, aeroelasticity, interdisciplinary calculation, oscillation phase displacement, vibration, nonstationarity

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Authors: Abdur Rosyid, Mohamed El-Madany, Mohanad Alata

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Due to simplicity and low cost, rotordynamic system is often modeled by using lumped parameters. Recently, finite elements have been used to model rotordynamic system as it offers higher accuracy. However, it involves high degrees of freedom. In some applications such as control design, this requires higher cost. For this reason, various model reduction methods have been proposed. This work demonstrates the quality of model reduction of rotor-bearing-support system through substructuring. The quality of the model reduction is evaluated by comparing some first natural frequencies, modal damping ratio, critical speeds and response of both the full system and the reduced system. The simulation shows that the substructuring is proven adequate to reduce finite element rotor model in the frequency range of interest as long as the numbers and the locations of master nodes are determined appropriately. However, the reduction is less accurate in an unstable or nearly-unstable system.

Keywords: rotordynamic, finite element model, timoshenko beam, 3D solid elements, Guyan reduction method

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Authors: Arash Jafari, Mehdi Taghaddosi, Azin Parvin

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In the paper, our purpose is to enhance the ability to solve a nonlinear differential equation which is about the motion of an incompressible fluid flow going down of an inclined plane without thermal effect with a simple and innovative approach which we have named it new method. Comparisons are made amongst the Numerical, new method, and HPM methods, and the results reveal that this method is very effective and simple and can be applied to other nonlinear problems. It is noteworthy that there are some valuable advantages in this way of solving differential equations, and also most of the sets of differential equations can be answered in this manner which in the other methods they do not have acceptable solutions up to now. A summary of the excellence of this method in comparison to the other manners is as follows: 1) Differential equations are directly solvable by this method. 2) Without any dimensionless procedure, we can solve equation(s). 3) It is not necessary to convert variables into new ones. According to the afore-mentioned assertions which will be proved in this case study, the process of solving nonlinear equation(s) will be very easy and convenient in comparison to the other methods.

Keywords: viscos fluid, incompressible fluid flow, inclined plane, nonlinear phenomena

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Authors: Rajkumar N. Ingle

Abstract:

In this paper, the existence of a solution of nonlinear functional random differential equations of the first order is proved under caratheodory condition. The study of the functional random differential equation has got importance in the random analysis of the dynamical systems of universal phenomena. Objectives: Nonlinear functional random differential equation is useful to the scientists, engineers, and mathematicians, who are engaged in N.F.R.D.E. analyzing a universal random phenomenon, govern by nonlinear random initial value problems of D.E. Applications of this in the theory of diffusion or heat conduction. Methodology: Using the concepts of probability theory, functional analysis, generally the existence theorems for the nonlinear F.R.D.E. are prove by using some tools such as fixed point theorem. The significance of the study: Our contribution will be the generalization of some well-known results in the theory of Nonlinear F.R.D.E.s. Further, it seems that our study will be useful to scientist, engineers, economists and mathematicians in their endeavors to analyses the nonlinear random problems of the universe in a better way.

Keywords: Random Fixed Point Theorem, functional random differential equation, N.F.R.D.E., universal random phenomenon

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Authors: A. Belmeguenai, K. Mansouri, R. Djemili

Abstract:

This work present a new algorithm based on the nonlinear filter generator for speech encryption and decryption. The proposed algorithm consists on the use a linear feedback shift register (LFSR) whose polynomial is primitive and nonlinear Boolean function. The purpose of this system is to construct Keystream with good statistical properties, but also easily computable on a machine with limited capacity calculated. This proposed speech encryption scheme is very simple, highly efficient, and fast to implement the speech encryption and decryption. We conclude the paper by showing that this system can resist certain known attacks.

Keywords: nonlinear filter generator, stream ciphers, speech encryption, security analysis

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Authors: Nicolò Vaiana, Giorgio Serino

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The nonlinear time history analysis of seismically base-isolated structures can require a significant computational effort when the behavior of each seismic isolator is predicted by adopting the widely used differential equation Bouc-Wen model. In this paper, a nonlinear exponential model, able to simulate the response of seismic isolation bearings within a relatively large displacements range, is described and adopted in order to reduce the numerical computations and speed up the nonlinear dynamic analysis. Compared to the Bouc-Wen model, the proposed one does not require the numerical solution of a nonlinear differential equation for each time step of the analysis. The seismic response of a 3d base-isolated structure with a lead rubber bearing system subjected to harmonic earthquake excitation is simulated by modeling each isolator using the proposed analytical model. The comparison of the numerical results and computational time with those obtained by modeling the lead rubber bearings using the Bouc-Wen model demonstrates the good accuracy of the proposed model and its capability to reduce significantly the computational effort of the analysis.

Keywords: base isolation, computational efficiency, nonlinear exponential model, nonlinear time history analysis

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Authors: Melusi Khumalo, Anastacia Dlamini

Abstract:

In this paper, we consider a numerical solution for nonlinear Fredholm integral equations of the second kind. We work with uniform mesh and use the Lagrange polynomials together with the Galerkin finite element method, where the weight function is chosen in such a way that it takes the form of the approximate solution but with arbitrary coefficients. We implement the finite element method to the nonlinear Fredholm integral equations of the second kind. We consider the error analysis of the method. Furthermore, we look at a specific example to illustrate the implementation of the finite element method.

Keywords: finite element method, Galerkin approach, Fredholm integral equations, nonlinear integral equations

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Authors: Doğan Yıldız, Aydan Müşerref Erkmen

Abstract:

The controller of the octocopter is mostly based on the PID controller. For complex maneuvers, PID controllers have limited performance capability like in collision avoidance. When an octocopter needs avoidance from an obstacle, it must instantly show an agile maneuver. Also, this kind of maneuver is affected severely by the nonlinear characteristic of octocopter. When these kinds of limitations are considered, the situation is highly challenging for the PID controller. In the proposed study, these challenges are tried to minimize by using the model predictive controller (MPC) for collision avoidance with a nonlinear octocopter model. The aim is to show that MPC-based collision avoidance has the capability to deal with fast varying conditions in case of obstacle detection and diminish the nonlinear effects of octocopter with varying disturbances.

Keywords: model predictive control, nonlinear octocopter model, collision avoidance, obstacle detection

Procedia PDF Downloads 191