Search results for: Dynamic Causal Modeling (DCM)

Authors: Abdelaziz Zaidi, Belkacem Ould Bouamama, Moncef Tagina

Abstract:

Bond Graph as a unified multidisciplinary tool is widely used not only for dynamic modelling but also for Fault Detection and Isolation because of its structural and causal proprieties. A binary Fault Signature Matrix is systematically generated but to make the final binary decision is not always feasible because of the problems revealed by such method. The purpose of this paper is introducing a methodology for the improvement of the classical binary method of decision-making, so that the unknown and identical failure signatures can be treated to improve the robustness. This approach consists of associating the evaluated residuals and the components reliability data to build a Hybrid Bayesian Network. This network is used in two distinct inference procedures: one for the continuous part and the other for the discrete part. The continuous nodes of the network are the prior probabilities of the components failures, which are used by the inference procedure on the discrete part to compute the posterior probabilities of the failures. The developed methodology is applied to a real steam generator pilot process.

Keywords: Redundancy relations, decision-making, Bond Graph, reliability, Bayesian Networks.

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Authors: Three-Dimensional Modeling of a Twisted-Blade Darrieus Vertical-Axis Wind Turbine

Abstract:

A complete CAD procedure to model a twisted-bladed vertical-axis wind turbine (VAWT) is presented with the aim of determining some practical guidelines to be used for the generation of an easily-meshable CAD geometry to be adopted as the basis of both CFD and FEM numerical simulations.

Keywords: Vertical-axis wind turbine (VAWT), twisted blade, CAD, 3D modeling.

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Authors: Ruiheng Li, Amir Parsa Anvar, Amir M. Anvar, Tien-Fu Lu

Abstract:

High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to the geometry of the manipulator which was studied for establishing the direct and inverse kinematics. Then, the dynamic model is developed and used by employing the Lagrange theorem. Furthermore, derivation and computer simulation is accomplished using the MATLAB environment. The result obtained is compared with mechanical system dynamics analysis software, ADAMS. In addition, the creation of intelligent artificial skin using Interlink Force Sensing ResistorTM technology is presented as groundwork for future work

Keywords: Manipulator System, Robot, AUV, Denavit- Hartenberg method Lagrange theorem, MALTAB, ADAMS, Direct and Inverse Kinematics, Dynamics, PD Control-law, Interlink Force Sensing ResistorTM, intelligent artificial skin system.

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Authors: Souâad Boudebza, Omar Nouali, Faiçal Azouaou

Abstract:

Social networks have recently gained a growing interest on the web. Traditional formalisms for representing social networks are static and suffer from the lack of semantics. In this paper, we will show how semantic web technologies can be used to model social data. The SemTemp ontology aligns and extends existing ontologies such as FOAF, SIOC, SKOS and OWL-Time to provide a temporal and semantically rich description of social data. We also present a modeling scenario to illustrate how our ontology can be used to model social networks.

Keywords: Ontology, semantic web, social network, temporal modeling.

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Authors: Johan Segeborn, Johan S. Carlson, Robert Bohlin, Rikard Söderberg

Abstract:

This paper presents a method to support dynamic packing in cases when no collision-free path can be found. The method, which is primarily based on path planning and shrinking of geometries, suggests a minimal geometry design change that results in a collision-free assembly path. A supplementing approach to optimize geometry design change with respect to redesign cost is described. Supporting this dynamic packing method, a new method to shrink geometry based on vertex translation, interweaved with retriangulation, is suggested. The shrinking method requires neither tetrahedralization nor calculation of medial axis and it preserves the topology of the geometry, i.e. holes are neither lost nor introduced. The proposed methods are successfully applied on industrial geometries.

Keywords: Dynamic packing, path planning, shrinking.

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Authors: Fouzieh Rouzmehr, Mehdi Mousavi

Abstract:

Hot mix asphalt concrete is a viscoelastic material, and its stress-strain relationship depends on the loading duration and the strain rate. To investigate the effect of elastic and viscoelastic modeling under traffic load, asphalt concrete pavement is modeled with both elastic and viscoelastic properties and the pavement performance is predicted. The differences of these two models are investigated on fatigue cracking and rutting problem which are the two main design parameters in flexible pavement design. Although the differences in rutting problem between two models were negligible, in fatigue cracking, the viscoelastic model results were more accurate. Results indicate that modeling the flexible pavement with elastic material is efficient enough and gives the acceptable results.

Keywords: Flexible pavement, asphalt, FEM modeling, viscoelastic, elastic, ANSYS.

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Authors: Pramod Goyal, S. K. Saxena

Abstract:

The convergence of heterogeneous wireless access technologies characterizes the 4G wireless networks. In such converged systems, the seamless and efficient handoff between different access technologies (vertical handoff) is essential and remains a challenging problem. The heterogeneous co-existence of access technologies with largely different characteristics creates a decision problem of determining the “best" available network at “best" time to reduce the unnecessary handoffs. This paper proposes a dynamic decision model to decide the “best" network at “best" time moment to handoffs. The proposed dynamic decision model make the right vertical handoff decisions by determining the “best" network at “best" time among available networks based on, dynamic factors such as “Received Signal Strength(RSS)" of network and “velocity" of mobile station simultaneously with static factors like Usage Expense, Link capacity(offered bandwidth) and power consumption. This model not only meets the individual user needs but also improve the whole system performance by reducing the unnecessary handoffs.

Keywords: Dynamic decision model, Seamless handoff, Vertical handoff, Wireless networks

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Authors: Jui P. Hung, Yuan L. Lai, Tzuo L. Luo, Hsi H. Hsiao

Abstract:

The machining performance is determined by the frequency characteristics of the machine-tool structure and the dynamics of the cutting process. Therefore, the prediction of dynamic vibration behavior of spindle tool system is of great importance for the design of a machine tool capable of high-precision and high-speed machining. The aim of this study is to develop a finite element model to predict the dynamic characteristics of milling machine tool and hence evaluate the influence of the preload of the spindle bearings. To this purpose, a three dimensional spindle bearing model of a high speed engraving spindle tool was created. In this model, the rolling interfaces with contact stiffness defined by Harris model were used to simulate the spindle bearing components. Then a full finite element model of a vertical milling machine was established by coupling the spindle tool unit with the machine frame structure. Using this model, the vibration mode that had a dominant influence on the dynamic stiffness was determined. The results of the finite element simulations reveal that spindle bearing with different preloads greatly affect the dynamic behavior of the spindle tool unit and hence the dynamic responses of the vertical column milling system. These results were validated by performing vibration on the individual spindle tool unit and the milling machine prototype, respectively. We conclude that preload of the spindle bearings is an important component affecting the dynamic characteristics and machining performance of the entire vertical column structure of the milling machine.

Keywords: Dynamic compliance, Milling machine, Spindle unit, Bearing preload.

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Authors: Seif Dalilsafaei

Abstract:

Crawling movement as a motive mode seen in nature of some animals such as snakes possesses a specific syntactic and dynamic analysis. Serpentine robot designed by inspiration from nature and snake-s crawling motion, is regarded as a crawling robot. In this paper, a serpentine robot with spiral motion model will be analyzed. The purpose of this analysis is to calculate the vertical and tangential forces along snake-s body and to determine the parameters affecting on these forces. Two types of serpentine robots have been designed in order to examine the achieved relations explained below.

Keywords: Force, Dynamic analyze, Joint and Snake robot.

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Authors: Shinji Oouchi, Hajime Nomura, Kung-Da Wu, Yong-Run Chen, Jui-Pin Hung

Abstract:

This paper presents the variation of the dynamic characteristics of a spindle with the change of bearing preload. The correlations between the variation of bearing preload and fundamental modal parameters were first examined by conducting vibration tests on physical spindle units. Experimental measurements show that the dynamic compliance and damping ratio associated with the dominating modes were affected to vary with variation of the bearing preload. When the bearing preload was slightly deviated from a standard value, the modal frequency and damping ability also vary to different extent, which further enable the spindle to perform with different compliance. For the spindle used in this study, a standard preload value set on bearings would enable the spindle to behave a higher stiffness as compared with others with a preload variation. This characteristic can be served as a reference to examine the variation of bearing preload of spindle in assemblage or operation.

Keywords: Dynamic compliance, Bearing preload, Modal damping.

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Authors: Ellips Masehian, Yalda Katebi

Abstract:

This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept. Then, a direction close to the shortest path to the target is selected from feasible directions in DC. The DC prevents the robot from being trapped in deadlocks or local minima. It is assumed that the target's velocity is known, while the speeds of dynamic obstacles, as well as the locations of static obstacles, are to be calculated online. Extensive simulations and experimental results demonstrated the efficiency of the proposed method and its success in coping with complex environments and obstacles.

Keywords: Dynamic Environment, Moving Target, RobotMotion Planning.

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Authors: H. Mohammadipanah, H. Zohoor

Abstract:

This paper presents kinematic and dynamic analysis of a novel 8-DOF hybrid robot manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOF, and the serial mechanism has five DOF so that the overall degree of freedom is eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions are described in closed form. The theoretical results are verified by a numerical example. Inverse dynamic analysis of the robot is presented by utilizing the Iterative Newton-Euler and Lagrange dynamic formulation methods. Finally, for performing a multi-step arc welding process, results have indicated that the introduced manipulator is highly capable of reducing the actuating energy.

Keywords: hybrid robot, closed form, inverse dynamic, actuating energy, arc welding

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Authors: Amir Tosson, Mohammad Reza, Christian Gutt

Abstract:

Metadata is one of the most important aspects for advancing data management practices within all research communities. Definitions and schemes of metadata are inter alia of particular significance in the domain of neutron and photon scattering experiments covering a broad area of different scientific disciplines. The demand of describing continuously evolving highly non-standardized experiments, including the resulting processed and published data, constitutes a considerable challenge for a static definition of metadata. Here, we present the concept of dynamic metadata for the neutron and photon scientific community, which enriches a static set of defined basic metadata. We explore the idea of dynamic metadata with the help of the use case of X-ray Photon Correlation Spectroscopy (XPCS), which is a synchrotron-based scattering technique that allows the investigation of nanoscale dynamic processes. It serves here as a demonstrator of how dynamic metadata can improve data acquisition, sharing, and analysis workflows. Our approach enables researchers to tailor metadata definitions dynamically and adapt them to the evolving demands of describing data and results from a diverse set of experiments. We demonstrate that dynamic metadata standards yield advantages that enhance data reproducibility, interoperability, and the dissemination of knowledge.

Keywords: Big data, metadata, schemas, XPCS, X-ray Photon Correlation Spectroscopy.

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Authors: Rosziati Ibrahim, Noraini Ibrahim

Abstract:

Unified Modeling Language (UML) is a standard language for modeling of a system. UML is used to visually specify the structure and behavior of a system. The system requirements are captured and then converted into UML specification. UML specification uses a set of rules and notations, and diagrams to specify the system requirements. In this paper, we present a tool for developing the UML specification. The tool will ease the use of the notations and diagrams for UML specification as well as increase the understanding and familiarity of the UML specification. The tool will also be able to check the conformance of the diagrams against each other for basic compliance of UML specification.

Keywords: Software Engineering, Unified Modeling Language (UML), UML Specification.

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Authors: Parvinder Singh Sandhu, Gurdev Singh

Abstract:

Metrics is the process by which numbers or symbols are assigned to attributes of entities in the real world in such a way as to describe them according to clearly defined rules. Software metrics are instruments or ways to measuring all the aspect of software product. These metrics are used throughout a software project to assist in estimation, quality control, productivity assessment, and project control. Object oriented software metrics focus on measurements that are applied to the class and other characteristics. These measurements convey the software engineer to the behavior of the software and how changes can be made that will reduce complexity and improve the continuing capability of the software. Object oriented software metric can be classified in two types static and dynamic. Static metrics are concerned with all the aspects of measuring by static analysis of software and dynamic metrics are concerned with all the measuring aspect of the software at run time. Major work done before, was focusing on static metric. Also some work has been done in the field of dynamic nature of the software measurements. But research in this area is demanding for more work. In this paper we give a set of dynamic metrics specifically for polymorphism in object oriented system.

Keywords: Metrics, Software, Quality, Object oriented system, Polymorphism.

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Authors: Kamel Hashem, David Mioduser

Abstract:

This paper describes part of a project about Learningby- Modeling (LbM). Studying complex systems is increasingly important in teaching and learning many science domains. Many features of complex systems make it difficult for students to develop deep understanding. Previous research indicates that involvement with modeling scientific phenomena and complex systems can play a powerful role in science learning. Some researchers argue with this view indicating that models and modeling do not contribute to understanding complexity concepts, since these increases the cognitive load on students. This study will investigate the effect of different modes of involvement in exploring scientific phenomena using computer simulation tools, on students- mental model from the perspective of structure, behavior and function. Quantitative and qualitative methods are used to report about 121 freshmen students that engaged in participatory simulations about complex phenomena, showing emergent, self-organized and decentralized patterns. Results show that LbM plays a major role in students' concept formation about complexity concepts.

Keywords: Complexity, Educational technology, Learning by modeling, Mental models

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Authors: Michael Todinov, Eberechi Weli

Abstract:

The paper suggests for the first time the use of dynamic programming techniques for optimal risk reduction in the railway industry. It is shown that by using the concept ‘amount of removed risk by a risk reduction option’, the problem related to optimal allocation of a fixed budget to achieve a maximum risk reduction in the railway industry can be reduced to an optimisation problem from dynamic programming. For n risk reduction options and size of the available risk reduction budget B (expressed as integer number), the worst-case running time of the proposed algorithm is O (n x (B+1)), which makes the proposed method a very efficient tool for solving the optimal risk reduction problem in the railway industry. 

Keywords: Optimisation, railway risk reduction, budget constraints, dynamic programming.

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Authors: Kazutaka Kobayashi, Norihiko Yoshida, Shuji Narazaki

Abstract:

This paper presents a dynamic adaptation scheme for the frequency of inter-deme migration in distributed genetic algorithms (GA), and its VLSI hardware design. Distributed GA, or multi-deme-based GA, uses multiple populations which evolve concurrently. The purpose of dynamic adaptation is to improve convergence performance so as to obtain better solutions. Through simulation experiments, we proved that our scheme achieves better performance than fixed frequency migration schemes.

Keywords: Genetic algorithms, dynamic adaptation, VLSI hardware.

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Authors: V. Vargas-Alejo, L. E. Montero-Moguel

Abstract:

Understanding the concept of function has been important in mathematics education for many years. In this study, the models built by a group of five business administration and accounting undergraduate students when carrying out a population growth activity are analyzed. The theoretical framework is the Models and Modeling Perspective. The results show how the students included tables, graphics, and algebraic representations in their models. Using technology was useful to interpret, describe, and predict the situation. The first model, the students built to describe the situation, was linear. After that, they modified and refined their ways of thinking; finally, they created exponential growth. Modeling the activity was useful to deep on mathematical concepts such as covariation, rate of change, and exponential function also to differentiate between linear and exponential growth.

Keywords: Covariation reasoning, exponential function, modeling, representations.

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Authors: F.Saadi, A.Aboudi Asl

Abstract:

In this paper, the dynamic analysis of fuel storage tanks has been studied and some equations are presented for the created fluid waves due to storage tank motions. Also, the equations for finite elements of fluid and structure interactions, and boundary conditions dominant on structure and fluid, were researched. In this paper, a numerical simulation is performed for the dynamic analysis of a storage tank contained a fluid. This simulation has carried out by ANSYS software, using FSI solver (Fluid and Structure Interaction solver), and by considering the simulated fluid dynamic motions due to earthquake loading, based on velocities and movements of structure and fluid according to all boundary conditions dominant on structure and fluid.

Keywords: fluid and structure interactions, finite elementmethod, ANSYS – FSI

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Authors: Robert J. Thomas, Colton Bedke, Andrew Sorensen

Abstract:

The exemplary mechanical performance and durability of ultra-high performance concrete (UHPC) has led to its rapid emergence as an advanced cementitious material. The uncharacteristically high mechanical strength and ductility of UHPC makes it a promising potential material for defense structures which may be subject to highly dynamic loads like impact or blast. However, the mechanical response of UHPC under dynamic loading has not been fully characterized. In particular, there is a need to characterize the energy absorption of UHPC under high-frequency shear loading. This paper presents preliminary results from a parametric study of the dynamic shear energy absorption of UHPC using the Charpy impact test. UHPC mixtures with compressive strengths in the range of 100-150 MPa exhibited dynamic shear energy absorption in the range of 0.9-1.5 kJ/m. Energy absorption is shown to be sensitive to the water/cement ratio, silica fume content, and aggregate gradation. Energy absorption was weakly correlated to compressive strength. Results are highly sensitive to specimen preparation methods, and there is a demonstrated need for a standardized test method for high frequency shear in cementitious composites.

Keywords: Charpy impact test, dynamic shear, impact loading, ultra-high performance concrete.

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Authors: G. Renuka Devi

Abstract:

This paper presents design and analysis of fault tolerate feature of n-phase induction motor drive. The n-phase induction motor (more than 3-phases) has a number of advantages over conventional 3-phase induction motor, it has low torque pulsation with increased torque density, more fault tolerant feature, low current ripple with increased efficiency. When increasing the number of phases, it has reduced current per phase without increasing per phase voltage, resulting in an increase in the total power rating of n-phase motors in the same volume machine. In this paper, the theory of operation of a multi-phase induction motor is discussed. The detailed study of d-q modeling of n-phase induction motors is elaborated. The d-q model of n-phase (5, 6, 7, 9 and 12) induction motors is developed in a MATLAB/Simulink environment. The steady state and dynamic performance of the multi-phase induction motor is studied under varying load conditions. Comparison of 5-phase induction is presented under normal and fault conditions.

Keywords: d-q model, dynamic Response, fault tolerant feature, matlab/simulink, multi-phase induction motor, transient response.

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Authors: A. Al-Rifaie, Z. W. Guan, S. W. Jones

Abstract:

This paper presents a method for modelling and analysing end plate beam-to-column connections to obtain the quasi-static behaviour using non-linear dynamic explicit integration. In addition to its importance to study the static behaviour of a structural member, quasi-static behaviour is largely needed to be compared with the dynamic behaviour of such members in order to investigate the dynamic effect by proposing dynamic increase factors (DIFs). The beam-to-column bolted connections contain various contact surfaces at which the implicit procedure may have difficulties converging, resulting in a large number of iterations. Contrary, explicit procedure could deal effectively with complex contacts without converging problems. Hence, finite element modelling using ABAQUS/explicit is used in this study to address the dynamic effect may be produced using explicit procedure. Also, the effect of loading rate and mass scaling are discussed to investigate their effect on the time of analysis. The results show that the explicit procedure is valuable to model the end plate beam-to-column connections in terms of failure mode, load-displacement relationships. Also, it is concluded that loading rate and mass scaling should be carefully selected to avoid the dynamic effect in the solution.

Keywords: Quasi-static, end plate, finite element, connections.

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Authors: H. Zabiri, N. Mazuki

Abstract:

Several valve stiction models have been proposed in the literature to help understand and study the behavior of sticky valves. In this paper, an alternative black-box modeling approach based on Neural Network (NN) is presented. It is shown that with proper network type and optimum model structures, the performance of the developed NN stiction model is comparable to other established method. The resulting NN model is also tested for its robustness against the uncertainty in the stiction parameter values. Predictive mode operation also shows excellent performance of the proposed model for multi-steps ahead prediction.

Keywords: Control valve stiction, neural network, modeling.

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Authors: Michael R. Johnson, Ian P. McCarthy

Abstract:

There is a growing body of evidence to support the proposition of product take back for remanufacturing particularly within the context of Extended Producer Responsibility (EPR). Remanufacturing however presents challenges unlike that of traditional manufacturing environments due to its high levels of uncertainty which may further distract organizations from considering its potential benefits. This paper presents a novel modeling approach for evaluating the uncertainty of part failures within the remanufacturing process and its impact on economic and environmental performance measures. This paper presents both the theoretical modeling approach and an example of its use in application.

Keywords: Remanufacturing, Demanufacturing, Extended Producer Responsibility, Sustainability, Uncertainty.

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Authors: David G. Maxínez, A. Ferreyra Ramírez, Ismael Echenique Álvarez, Francisco Javier Sánchez Rangel, Guillermo Castillo Tapia, Petra Baldivia Noyola, María Antonieta García Galván

Abstract:

The project describes the modeling of various architectures mechatronics specifically morphologies of robots in an educational environment. Each structure developed by students of pre-school, primary and secondary was created using the concept of reverse engineering in a constructivist environment, to later be integrated in educational software that promotes the teaching of educational Robotics in a virtual and economic environment.

Keywords: Modeling, constructivist, engineering, reverse, robotics education, virtual, morphology.

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Authors: Onesmus Muvengei, John Kihiu, Bernard Ikua

Abstract:

This paper numerically investigates the effects of input speed on the overall dynamic characteristics of a multi-body system with differently located revolute clearance joints without friction. A typical planar slider-crank mechanism is used as a demonstration case in which the effects of the input speed on the dynamic performance of the mechanism with a revolute clearance joint between the crank and connecting rod, and between the connecting rod and slider are separately investigated with comprehensive observations numerically presented. It is observed that, changing the driving speed of a multibody system makes the behavior of the system to change from either periodic to chaotic, or chaotic to periodic depending on which joint has clearance. The location of the clearance revolute joint and the operating speed of a multi-body system play a crucial role in predicting accurately the dynamic responses of the system. Therefore the dynamic behavior of one clearance revolute joint cannot be used as a general case for a mechanical system.

Keywords: Chaotic behavior, Contact-impact forces, Dynamic response, Multi-body mechanical system, Periodic behavior, Poincare maps, Quasi-periodic behavior, Revolute clearance joint

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Authors: Ali Hamadi Dicko, Nicolas Tong-Yette, Benjamin Gilles, François Faure, Olivier Palombi

Abstract:

A novel hybrid model of the lumbar spine, allowing fast static and dynamic simulations of the disc pressure and the spine mobility, is introduced in this work. Our contribution is to combine rigid bodies, deformable finite elements, articular constraints, and springs into a unique model of the spine. Each vertebra is represented by a rigid body controlling a surface mesh to model contacts on the facet joints and the spinous process. The discs are modeled using a heterogeneous tetrahedral finite element model. The facet joints are represented as elastic joints with six degrees of freedom, while the ligaments are modeled using non-linear one-dimensional elastic elements. The challenge we tackle is to make these different models efficiently interact while respecting the principles of Anatomy and Mechanics. The mobility, the intradiscal pressure, the facet joint force and the instantaneous center of rotation of the lumbar spine are validated against the experimental and theoretical results of the literature on flexion, extension, lateral bending as well as axial rotation. Our hybrid model greatly simplifies the modeling task and dramatically accelerates the simulation of pressure within the discs, as well as the evaluation of the range of motion and the instantaneous centers of rotation, without penalizing precision. These results suggest that for some types of biomechanical simulations, simplified models allow far easier modeling and faster simulations compared to usual full-FEM approaches without any loss of accuracy.

Keywords: Hybrid, modeling, fast simulation, lumbar spine.

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Authors: Reza Ziaie Moayed, Ehsan Azini

Abstract:

Jet grouting (JG) is one of the methods of improving and increasing the strength and bearing of soil in which the high pressure water or grout is injected through the nozzles into the soil. During this process, a part of the soil and grout particles comes out of the drill borehole, and the other part is mixed up with the grout in place, as a result of this process, a mass of modified soil is created. The purpose of this method is to change the soil into a mixture of soil and cement, commonly known as "soil-cement". In this paper, first, the principles of high pressure injection and then the effective parameters in the JG method are described. Then, the tests on the samples taken from the columns formed from the excavation around the soil-cement columns, as well as the static loading test on the created column, are discussed. In the other part of this paper, the soil behavior models for numerical modeling in PLAXIS software are mentioned. The purpose of this paper is to evaluate the results of numerical modeling based on in-situ static loading tests. The results indicate an acceptable agreement between the results of the tests mentioned and the modeling results. Also, modeling with this software as an appropriate option for technical feasibility can be used to soil improvement using JG.

Keywords: Jet grouting column, Soil improvement, Numerical modeling, In-situ loading test.

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Authors: Wei Dong, Guo-Ying Gu, Xiangyang Zhu, Han Ding

Abstract:

This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and controllers, simulations and experiments for altitude control, position control and trajectory tracking are carried out. The results show that the quadrotor UAV well follows the referenced commands, which clearly demonstrates the effectiveness of the proposed approach.

Keywords: Quadrotor UAV, Modeling, Control, Aerodynamics, System Identification.

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