Search results for: flight control system

Authors: Isaac Laryea

Abstract:

Underwater remote-operated vehicles (ROVs) are highly useful in aquatic research and underwater operations. Unfortunately, unsteady and unpredictable conditions underwater make it difficult for underwater vehicles to maintain a steady attitude during motion. Existing underwater vehicles make use of multiple thrusters positioned at specific positions on their frame to maintain a certain pose. This study proposes an alternate way of maintaining a steady attitude during horizontal motion at low speeds by making use of a thrust vector-controlled propulsion system. The study began by carrying out some preliminary calculations to get an idea of a suitable shape and form factor. Flow simulations were carried out to ensure that enough thrust could be generated to move the system. Using the Lagrangian approach, a mathematical system was developed for the ROV, and this model was used to design a control system. A PID controller was selected for the control system. However, after tuning, it was realized that a PD controller satisfied the design specifications. The designed control system produced an overshoot of 6.72%, with a settling time of 0.192s. To achieve the effect of thrust vectoring, an inverse kinematics synthesis was carried out to determine what angle the actuators need to move to. After building the system, intermittent angular displacements of 10°, 15°, and 20° were given during bench testing, and the response of the control system as well as the servo motor angle was plotted. The final design was able to move in water but was not able to handle large angular displacements as a result of the small angle approximation used in the mathematical model.

Keywords: PID control, thrust vectoring, parallel manipulators, ROV, underwater, attitude control

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Authors: Dae-Hee Son, Soon-Ryul Nam

Abstract:

The power system frequency falls when disturbance such as rapid increase of system load or loss of a generating unit occurs in power systems. Especially, increase in the number of renewable generating units has a bad influence on the power system because of loss of generating unit depending on the circumstance. Conventional technologies use frequency droop control battery output for the frequency regulation and balance between supply and demand. If power is supplied using the fast output characteristic of the battery, power system stability can be further more improved. To improve the power system stability, we propose battery output control using ROCOF (Rate of Change of Frequency) in this paper. The bigger the power difference between the supply and the demand, the bigger the ROCOF drops. Battery output is controlled proportionally to the magnitude of the ROCOF, allowing for faster response to power imbalances. To simulate the control method of battery output system, we develop the user defined model using PSS/E and confirm that power system stability is improved by comparing with frequency droop control.

Keywords: PSS/E user defined model, power deviation, frequency droop control, ROCOF (rate of change of frequency)

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Authors: Hasan Basaran, Emre Unal

Abstract:

Formation flying of satellites is a mission that involves a relative position keeping of different satellites in the constellation. In this study, different control algorithms are compared with one another in terms of ΔV, velocity increment, and tracking error. Various control methods, covering continuous and impulsive approaches are implemented and tested for satellites flying in low Earth orbit. Feedback linearization, sliding mode control, and model predictive control are designed and compared with an impulsive feedback law, which is based on mean orbital elements. Feedback linearization and sliding mode control approaches have identical mathematical models that include second order Earth oblateness effects. The model predictive control, on the other hand, does not include any perturbations and assumes circular chief orbit. The comparison is done with 4 different initial errors and achieved with velocity increment, root mean square error, maximum steady state error, and settling time. It was observed that impulsive law consumed the least ΔV, while produced the highest maximum error in the steady state. The continuous control laws, however, consumed higher velocity increments and produced lower amounts of tracking errors. Finally, the inversely proportional relationship between tracking error and velocity increment was established.

Keywords: chief-deputy satellites, feedback linearization, follower-leader satellites, formation flight, fuel consumption, model predictive control, rendezvous, sliding mode

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Authors: Muhammad M. A. S. Mahmoud

Abstract:

Natural gas sweetening process is a controlled process that must be done at maximum efficiency and with the highest quality. In this work, due to complexity and non-linearity of the process, the H₂S gas separation and the intelligent fuzzy controller, which is used to enhance the process, are simulated in MATLAB – Simulink. The new design of fuzzy control for Gas Separator is discussed in this paper. The design is based on the utilization of linear state-estimation to generate the internal knowledge-base that stores input-output pairs. The obtained input/output pairs are then used to design a feedback fuzzy controller. The proposed closed-loop fuzzy control system maintains the system asymptotically-stability while it enhances the system time response to achieve better control of the concentration of the output gas from the tower. Simulation studies are carried out to illustrate the Gas Separator system performance.

Keywords: gas separator, gas sweetening, intelligent controller, fuzzy control

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Authors: Ebrahim Hassan Kapeel, Ahmed Mohsen Kamel, Hossan Hendy, Yehia Z. Elhalwagy

Abstract:

Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control lawisdesigned for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: UAV dynamic model, attitude control, nonlinear PID, dynamic inversion

Procedia PDF Downloads 83

Authors: Fekkak Bouazza, Menaa Mohamed, Loukriz Abdelhamid, Krim Mohamed L.

Abstract:

This paper presents modeling and control strategy for the grid connected wind turbine system based on Permanent Magnet Synchronous Generator (PMSG). The considered system is based on back-to-back converter topology. The Grid Side Converter (GSC) achieves the DC bus voltage control and unity power factor. The Machine Side Converter (MSC) assures the PMSG speed control. The PMSG is used as a variable speed generator and connected directly to the turbine without gearbox. The pitch angle control is not either considered in this study. Further, Optimal Tip Speed Ratio (OTSR) based MPPT control strategy is used to ensure the most energy efficiency whatever the wind speed variations. A filter (L) is put between the GSC and the grid to reduce current ripple and to improve the injected power quality. The proposed grid connected wind system is built under MATLAB/Simulink environment. The simulation results show the feasibility of the proposed topology and performance of its control strategies.

Keywords: wind, grid, PMSG, MPPT, OTSR

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Authors: Pingping Zhang, Yanpeng Cai, Jianlong Wang

Abstract:

Stormwater storage tank (SST) is a popular low impact development technology for reducing stormwater runoff in the construction of sponge city. At present, it is difficult to perform the automatic control of SST for reducing peak flow. In this paper, fuzzy control was introduced into the peak control of SST to improve the efficiency of reducing stormwater runoff. Firstly, the design of SST was investigated. A catchment area and a return period were assumed, a SST model was manufactured, and then the storage capacity of the SST was verified. Secondly, the control parameters of the SST based on reducing stormwater runoff were analyzed, and a schematic diagram of real-time control (RTC) system based on peak control SST was established. Finally, fuzzy control system of a double input (flow and water level) and double output (inlet and outlet valve) was designed. The results showed that 1) under the different return periods (one year, three years, five years), the SST had the effect of delayed peak control and storage by increasing the detention time, 2) rainfall, pipeline flow, the influent time and the water level in the SST could be used as RTC parameters, and 3) the response curves of flow velocity and water level fluctuated very little and reached equilibrium in a short time. The combination of online monitoring and fuzzy control was feasible to control the SST automatically. This paper provides a theoretical reference for reducing stormwater runoff and improving the operation efficiency of SST.

Keywords: stormwater runoff, stormwater storage tank, real-time control, fuzzy control

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Authors: N. Smaoui, B. Chentouf

Abstract:

The boundary stabilization problem of the rotating disk-beam system is a topic of interest in research studies. This system involves a flexible beam attached to the center of a disk, and the control and stabilization of this system have been extensively studied. This research focuses on the case where the center of mass is fixed in an inertial frame, and the rotation of the center is non-uniform. The system is represented by a set of nonlinear coupled partial differential equations and ordinary differential equations. The boundary stabilization problem of this system via a delayed boundary control is considered. We assume that the boundary control is either of a force type control or a moment type control and is subject to the presence of a constant time-delay. The aim of this research is threefold: First, we demonstrate that the rotating disk-beam system is well-posed in an appropriate functional space. Then, we establish the exponential stability property of the system. Finally, we provide numerical simulations that illustrate the theoretical findings. The research utilizes the semigroup theory to establish the well-posedness of the system. The resolvent method is then employed to prove the exponential stability property. Finally, the finite element method is used to demonstrate the theoretical results through numerical simulations. The research findings indicate that the rotating disk-beam system can be stabilized using a boundary control with a time delay. The proof of stability is based on the resolvent method and a variation of constants formula. The numerical simulations further illustrate the theoretical results. The findings have potential implications for the design and implementation of control strategies in similar systems. In conclusion, this research demonstrates that the rotating disk-beam system can be stabilized using a boundary control with time delay. The well-posedness and exponential stability properties are established through theoretical analysis, and these findings are further supported by numerical simulations. The research contributes to the understanding and practical application of control strategies for flexible structures, providing insights into the stability of rotating disk-beam systems.

Keywords: rotating disk-beam, delayed force control, delayed moment control, torque control, exponential stability

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Authors: S. Thomas, D. Ho, A. Kerroux, L. Lixi, N. Rackham, S. Rosenfeld

Abstract:

In this first paper, the different concepts and designs to build a single-wing MAV are discussed. Six scratch-building prototypes using three different designs have been tested regarding sufficient lift and weight distribution, of which various configurations were explored. Samare prototypes achieved wireless control over the motor and flap whilst obtaining data from the IMU, though obtaining an increase in lift was the key issue due to insufficient thrust. The final prototype was able to demonstrate an improvement in weight distribution.

Keywords: SAMARE, micro aerial vehicle (MAV), unmanned aerial vehicle (UAV), mono-copter, single-wing, mono-wing, flight control, aerofoil, lift

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Authors: Orhan Kurtuluş, Cüneyt Yavuz

Abstract:

The end of the line controls of the finished products in the automotive industry is important. The control that has been conducted with the manual methods for the sliding doors tracks is not sufficient and faulty products cannot be identified. As a result, the customer has the faulty products. In the scope of this study, the design criteria of the PLC integrated modular end of line control unit has been examined, designed and manufactured to make the control of the 10 different track profile to 2 different vehicles with an objective to minimize the salvage costs by obtaining more sensitive, certain and accurate measurement results. In the study that started with literature and patent review, the design inputs have been specified, the technical concept has been developed, computer supported mechanic design, control system and automation design, design review and design improvement have been made. Laser analog sensors at high sensitivity, probes and modular blocks have been used in the unit. The measurement has been conducted in the system and it is observed that measurement results are more sensitive than the previous methods.

Keywords: control unit design, end of line, modular design, sliding door system

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Authors: Glaoui Hachemi

Abstract:

In this paper, a scheme based on multi-input multi output Fuzzy Sliding Mode control (MIMO-FSMC) for linear speed regulation of winding system is proposed. Once the uncoupled model of the winding system was obtained, a smooth control function with a threshold was selected to indicate how far away the case was from the sliding surface. nevertheless, this control function depends closely on the higher bound of the uncertainties, which generates overlap. So, this size has to be chosen with broad care to obtain high performances. Usually, the upper bound of uncertainties is difficult to know before motor operation, so, a Fuzzy Sliding Mode controller is investigated to resolve this problem, a simple Fuzzy inference mechanism is used to decrease the chattering phenomenon by simple adjustments. A simulation study is achieved and that the indicate fuzzy sliding mode controllers have great potential for use as an alternative to the conventional sliding mode control.

Keywords: Winding system, induction machine, Mechanical tension, Proportional-integral (PI), sliding mode control, Fuzzy logic

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Authors: Amol Parikh

Abstract:

The goal of this study is to understand the most preferred ways to spend time at an airport while waiting for a flight to board. Survey was done on 1639 people of the United States of America. In the overall data, it was found that majority people always preferred spending time doing something in their mobile phone. Second most preferred option was reading something, followed by wanting a companion to talk to or to eat/drink. Least preferred option was to eat/drink alone. Overall data was then filtered based on age, gender, income and urban density groups. Percentage of people wanting to use a mobile phone was highest in the age group of 18-24. People aged 45 and above chose reading as the most preferred option. In any of the ranges of income, gender or urban density using mobile phone was the most preferred option. Conclusion of this study is that introducing a mobile app to search for a companion at an airport to do like minded activity would get noticed by majority travelers and would be a business idea worth trying as wanting a companion to talk or eat/drink with is not the least preferred option.

Keywords: waiting for a flight, airport, mobile phone, companion

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Authors: Dao Phuong Nam, Tran Van Tuyen, Do Trong Tan, Bui Minh Dinh, Nguyen Van Huong

Abstract:

In this paper, we investigate the adaptive optimal control law for continuous-time systems with input disturbances and unknown parameters. This paper extends previous works to obtain the robust control law of uncertain systems. Through theoretical analysis, an adaptive dynamic programming (ADP) based optimal control is proposed to stabilize the closed-loop system and ensure the convergence properties of proposed iterative algorithm. Moreover, the global asymptotic stability (GAS) for closed system is also analyzed. The theoretical analysis for continuous-time systems and simulation results demonstrate the performance of the proposed algorithm for an inverted pendulum system.

Keywords: approximate/adaptive dynamic programming, ADP, adaptive optimal control law, input state stability, ISS, inverted pendulum

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Authors: Maitree Thamma, Witchupong Wiboonjaroen, Thanat Suknuan, Karan Homchat

Abstract:

First order plus dead time (FOPDT) is a high dynamic system. Therefore, the controller must be intelligent. This paper presents the development and implementation of self-tuning Fuzzy-PID controller for controlling the FOPDT system. The water level process used represented FOPDT system and the mathematical model of the system was approximated by using System Identification toolbox in Matlab. The control programming and Fuzzy-PID algorithm used Matlab/Simulink and run on Microcontroller STM32.

Keywords: real-time control, self-tuning fuzzy-PID, FOPDT system, the water lever process

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Authors: W. Du, X. Wang, Jun Cao, H. F. Wang

Abstract:

Due to the randomness and uncertainty of wind energy, modern power systems integrating large-scale wind generation will be significantly impacted in terms of system performance and technical challenges. System inertia with high wind penetration is decreasing when conventional thermal generators are gradually replaced by wind turbines, which do not naturally contribute to inertia response. The power imbalance caused by wind power or demand fluctuations leads to the instability of system frequency. Accordingly, the need to attach the supplementary virtual inertia control to wind farms (WFs) strongly arises. When multi-wind farms are connected to the grid simultaneously, the selection of which critical WFs to install the virtual inertia control is greatly important to enhance the stability of system frequency. By building the small signal model of wind power systems considering frequency regulation, the installation locations are identified by the geometric measures of the mode observability of WFs. In addition, this paper takes the impacts of grid topology and selection of feedback control signals into consideration. Finally, simulations are conducted on a multi-wind farms power system and the results demonstrate that the designed virtual inertia control method can effectively assist the frequency regulation.

Keywords: frequency regulation, virtual inertia control, installation locations, observability, wind farms

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Authors: Keiju Matsui, Mikio Yasubayashi, Masayoshi Umeno

Abstract:

Consumption of energy is increasing every year, and yet does not the decline at all. The main energy source is fossil fuels such as petroleum and natural gas. Since it is the finite resources, they will be exhausted someday. Moreover, to make the fossil fuel an energy source causes an environment problem. In such way, one solution of the problems is the solar battery that is remarkable as one of the alternative energies. Under such circumstances, in this paper, we propose a novel maximum power control circuit for photovoltaic power generation system with simple and fast-response operation. In addition to an application to the solar battery, since this control system is possible to operate with simple circuit and fast-response, the polar value control like the maximum or the minimum value tracking for general application could be easily realized.

Keywords: maximum power control, inter-connection, photovoltaic power generation, PI controller, multiplier, exclusive-or, power system

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Authors: Chinazo Onyeka Eziuzo

Abstract:

This work presents the simulation and control of the flywheel system in the rotor of a wind turbine using Simulink and OpenFAST for assessing the effect on the mechanical loads. This concept allows the flywheel system to serve two main tasks: supporting the power system and mitigating the mechanical loads in the wind turbine. These tasks are grouped into four control scenarios; scenario 1 represents steadying the power infeed in the Flywheel, scenario 2 represents steadying power with FW and grid loss, scenario 3 represents mitigating excitations from gravity, and scenario 4 represents damping in-plane blade vibrations. The s-function of the OpenFAST model was used to substitute the given 1st Eigen mode model of the WT. After that, the simulations were run for the above-listed scenarios. Additionally, the effects of the control options on the mechanical loads were assessed, and it was established that the FW system assists in steadying infeed power and mechanical load mitigation.

Keywords: simulation, control, wind turbine, OpenFAST

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Authors: Yuri V. Kim

Abstract:

This article presents a new approach to the Functional Testing of Space Systems (SS). It can be considered as a generic test and used for a wide class of SS that from the point of view of System Dynamics and Control may be described by the ordinary differential equations. Suggested methodology is based on using semi-natural experiment- laboratory stand that doesn’t require complicated, precise and expensive technological control-verification equipment. However, it allows for testing system as a whole totally assembled unit during Assembling, Integration and Testing (AIT) activities, involving system hardware (HW) and software (SW). The test physically activates system input (sensors) and output (actuators) and requires recording their outputs in real time. The data is then inserted in laboratory PC where it is post-experiment processed by Matlab/Simulink Identification Toolbox. It allows for estimating system dynamics in form of estimation of system differential equations by the experimental way and comparing them with expected mathematical model prematurely verified by mathematical simulation during the design process.

Keywords: system dynamics, space system ground tests and space qualification, system dynamics identification, satellite attitude control, assembling, integration and testing

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Authors: M. Khairudin

Abstract:

This paper investigates the system identification and design quantitative feedback theory (QFT) for the robust control of a lathe spindle. The dynamic of the lathe spindle is uncertain and time variation due to the deepness variation on cutting process. System identification was used to obtain the dynamics model of the lathe spindle. In this work, real time system identification is used to construct a linear model of the system from the nonlinear system. These linear models and its uncertainty bound can then be used for controller synthesis. The real time nonlinear system identification process to obtain a set of linear models of the lathe spindle that represents the operating ranges of the dynamic system. With a selected input signal, the data of output and response is acquired and nonlinear system identification is performed using Matlab to obtain a linear model of the system. Practical design steps are presented in which the QFT-based conditions are formulated to obtain a compensator and pre-filter to control the lathe spindle. The performances of the proposed controller are evaluated in terms of velocity responses of the the lathe machine spindle in corporating deepness on cutting process.

Keywords: lathe spindle, QFT, robust control, system identification

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Authors: Ebrahim H. Kapeel, Ahmed M. Kamel, Hossam Hendy, Yehia Z. Elhalwagy

Abstract:

Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control law is designed for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: attitude control, nonlinear PID, dynamic inversion

Procedia PDF Downloads 86

Authors: Gustavo J. Costa, Felipe J. Costa, Bruno L. Coelho, Ronaldo L. Cardoso, Rafael O. Santos, Israel S. Rêgo, Marco A. S. Minucci, Antonio C. Oliveira, Paulo G. P. Toro

Abstract:

The Prof. Henry T. Nagamatsu Aerothermodynamics and Hipersonics Laboratory, of the Institute for Advanced Studies (IEAv) conducts research and development (R&D) of the Technological Demonstrator scramjet 14-X S, aiming atmospheric flight at 30 km altitude with the speed correspondent to Mach number 7, using scramjet technology providing hypersonic propulsion system based on supersonic combustion. Hypersonic aerospace vehicles with air-breathing supersonic propulsion system face extremal environments for super/hypersonic flights in terms of thermal and aerodynamic loads. Thus, it is necessary to use aerodynamic protection at the scramjet engine inlet to face the thermal and aerodynamic loads without compromising the efficiency of scramjet engine, taking into account: i) inlet design (boundary layer, oblique shockwave and reflected oblique shockwave); ii) wall temperature of the cowl and of the compression ramp; iii) supersonic flow into the combustion chamber. The aerodynamic protection of the scramjet engine inlet will act to prevent the engine unstart and match the predictions made by theoretical-analytical, numerical analysis and experimental research, during the atmospheric flight of the Technological Demonstrator scramjet 14-X S.

Keywords: 14-X, hypersonic, scramjet, supersonic combustion

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Authors: K. Kusakana

Abstract:

A hybrid energy system is a combination of renewable energy sources with back up, as well as a storage system used to respond to given load energy requirements. Given that the electrical output of each renewable source is fluctuating with changes in weather conditions, and since the load demand also varies with time; one of the main attributes of hybrid systems is to be able to respond to the load demand at any time by optimally controlling each energy source, storage and back-up system. The induced optimization problem is to compute the optimal operation control of the system with the aim of minimizing operation costs while efficiently and reliably responding to the load energy requirement. Current optimization research and development on hybrid systems are mainly focusing on the sizing aspect. Thus, the aim of this paper is to report on the state-of-the-art of optimal operation control of hybrid renewable energy systems. This paper also discusses different challenges encountered, as well as future developments that can help in improving the optimal operation control of hybrid renewable energy systems.

Keywords: renewable energies, hybrid systems, optimization, operation control

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Authors: Artem Sedov, Aigerim Uyzbayeva, Valeriya Tyo

Abstract:

The presented article is showing results of dynamic modeling with Mathlab software of optimal automatic room climate control system for two experimental houses in Astana, one of which has circle plan and the other one has square plan. These results are showing that building geometry doesn't influence on climate system PID-controls configuring. This confirms theoretical implication that optimal automatic climate control system parameters configuring should depend on building's internal space volume, envelope heat transfer, number of people inside, supply ventilation air flow and outdoor temperature.

Keywords: climate control system, climate physics, dome-like building, mathematical modeling

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Authors: Xie Kefeng, Zhang He

Abstract:

For the stability and control demand of offshore small floating platform, a 2-HUS/U parallel mechanism was presented as offshore platform. Inverse kinematics was obtained by institutional constraint equation, and the dynamic model of offshore 2-HUS/U parallel platform was derived based on rigid body’s Lagrangian method. The equivalent moment of inertia, damping and driving force/torque variation of offshore 2-HUS/U parallel platform were analyzed. A numerical example shows that, for parallel platform of given motion, system’s equivalent inertia changes 1.25 times maximally. During the movement of platform, they change dramatically with the system configuration and have coupling characteristics. The maximum equivalent drive torque is 800 N. At the same time, the curve of platform’s driving force/torque is smooth and has good sine features. The control system needs to be adjusted according to kinetic equation during stability and control and it provides a basis for the optimization of control system.

Keywords: 2-HUS/U platform, dynamics, Lagrange, parallel platform

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Authors: Bruno Vilić Belina, Jadranko Matuško

Abstract:

The rapid development of cyber-physical systems significantly influences modern control systems introducing a whole new range of applications of control systems but also putting them under new challenges to ensure their resiliency to possible cyber attacks, either in the form of data integrity attacks or deception attacks. This paper presents a model predictive approach to the control of cyber-physical systems robust to cyber attacks. We assume that a cyber attack can be modelled as an additive disturbance that acts in the measuring channel. For such a system, we designed a tube-based predictive controller based. The performance of the designed controller has been verified in Matlab/Simulink environment.

Keywords: control systems, cyber attacks, resiliency, robustness, tube based model predictive control

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Authors: Ma Hongqiang, Yang Hui, Wen Haoju, Feng Jiabo, Bi Zhixian, Nie Ying

Abstract:

In order to measure thrust and torque of airship propeller, a two-component balance and data acquisition system was developed in China Academy of Aerospace Aerodynamics(CAAA) in early time. During the development, some problems were encountered. At first, the measuring system and its protective parts made the weight of whole system increase significantly. Secondly, more parts might induce more failures, so the reliability of the system was decreased. In addition, the rigidity of the system was lowered, and the structure was more possible to vibrate. Therefore, CAAA and the Academy of Opto-Electronics, Chinese Academy of Science(AOECAS) developed a new technology, use the propeller supporting rack as a spring element, attach strain gages onto it, sum up as a generalized balance. And new math models, new calibration methods and new load determining methods were developed.

Keywords: airship, propeller, thrust and torque, flight test

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Authors: Noureddine Seddari, Mohamed Belaoued, Salah Bougueroua

Abstract:

The modeling of complex systems is generally based on the decomposition of their components into sub-systems easier to handle. This division has to be made in a methodical way. In this paper, we introduce an industrial control system modeling and simulation based on the Multi-Agent System (MAS) methodology AALAADIN and more particularly the underlying conceptual model Agent/Group/Role (AGR). Indeed, in this division using AGR model, the overall system is decomposed into sub-systems in order to improve the understanding of regulation and control systems, and to simplify the implementation of the obtained agents and their groups, which are implemented using the Multi-Agents Development KIT (MAD-KIT) platform. This approach appears to us to be the most appropriate for modeling of this type of systems because, due to the use of MAS, it is possible to model real systems in which very complex behaviors emerge from relatively simple and local interactions between many different individuals, therefore a MAS is well adapted to describe a system from the standpoint of the activity of its components, that is to say when the behavior of the individuals is complex (difficult to describe with equations). The main aim of this approach is the take advantage of the performance, the scalability and the robustness that are intuitively provided by MAS.

Keywords: complex systems, modeling and simulation, industrial control system, MAS, AALAADIN, AGR, MAD-KIT

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Authors: Sofiane Bououden, Ilyes Boulkaibet

Abstract:

In this paper, a robust model predictive controller (RMPC) for uncertain nonlinear system under actuator saturation is designed to control a DC-DC buck converter in PV pumping application, where this system is subject to actuator saturation and parameter uncertainties. The considered nonlinear system contains a linear constant part perturbed by an additive state-dependent nonlinear term. Based on the saturating actuator property, an appropriate linear feedback control law is constructed and used to minimize an infinite horizon cost function within the framework of linear matrix inequalities. The proposed approach has successfully provided a solution to the optimization problem that can stabilize the nonlinear plants. Furthermore, sufficient conditions for the existence of the proposed controller guarantee the robust stability of the system in the presence of polytypic uncertainties. In addition, the simulation results have demonstrated the efficiency of the proposed control scheme.

Keywords: PV pumping system, DC-DC buck converter, robust model predictive controller, nonlinear system, actuator saturation, linear matrix inequality

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Authors: Yankun Yang, Xinggang Yan, Konstantinos Sirlantzis, Gareth Howells

Abstract:

This paper presents a static output feedback sliding mode control method to regulate a two-wheeled inverted pendulum system with considerations of matched and unmatched uncertainties. A sliding surface is designed and the associated sliding motion stability is analysed based on the reduced-order dynamics. A static output sliding mode control law is synthesised to drive the system to the sliding surface and maintain a sliding motion afterwards. The nonlinear bounds on the uncertainties are employed in the stability analysis and control design to improve the robustness. The simulation results demonstrate the effectiveness of the proposed control.

Keywords: two-wheeled inverted pendulum, output feedback sliding mode control, nonlinear systems, robotics

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Authors: Raúl Pereda García, Julio Manuel de Luis Ruiz, Elena Castillo López, Rubén Pérez Álvarez, Felipe Piña García

Abstract:

New technologies for the capture of point clouds have experienced a great advance in recent years. In this way, its use has been extended in geomatics, providing measurement solutions that have been popularized without there being, many times, a detailed study of its accuracy. This research focuses on the study of the viability of topographic works with drones incorporating different sensors sensitive to the visible spectrum. The fundamentals have been applied to a road, located in Cantabria (Spain), where a platform extension and the reform of a riprap were being constructed. A total of six flights were made during two months, all of them with GPS as part of the photogrammetric process, and the results were contrasted with those measured with total station. The obtained results show that the choice of the camera and the planning of the flight have an important impact on the accuracy. In fact, the representations with a level of detail corresponding to 1/1000 scale are admissible, depending on the existing vegetation, and obtaining better results in the area of the riprap. This set of techniques is, therefore, suitable for the control of earthworks in road works but with certain limitations which are exposed in this paper.

Keywords: drone, earth movement control, global position system, surveying technology.

Procedia PDF Downloads 164