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We present a design of an autopilot for a Bank-to-Turn asymmetric missile. The autopilot is synthesised using a method based on a linear parameter varying model of the missile, and because of significant cross-couplings in the different channels a multivariable design is considered. In the paper, attention is first focussed on the development of an LPV model of the missile. The choice of the scheduling...
In recent years, cars have been equipped with many devices for the improvement of the handling, safety and comfort. In this paper we propose a framework for the integration of different devices which can be used to better control the vehicle lateral dynamic. A quick overview on previous work on the topic is also given.
We investigate how unmanned aerial vehicles (UAVs) with flexible wings can be designed to exploit the aeroelasticity of wing deformation that is present in bat wings, with a view to improve the efficiency of flight. We constructed a robotic bat wing with fully passive elastic wing-folding properties. The robotic wing is powered by a gearbox running two synchronised motors, effectively providing one...
Numerical investigations on stratospheric airships of different tail configurations are conducted based on the Reynolds-averaged N-S equations and k-ω SST turbulent model in the condition of the same volume and total area of the tails. The influence of tail configurations on the force and moment characteristics as well as flow phenomena on both hull and fins are analyzed. In particular, the hull-fin...
Single-track vehicles including unicycles and bicycles are unstable, and require human riding skill and practice for acquiring the skill. Sometimes the practice of single-track vehicle may be difficult in many situations for beginners because it becomes relatively terrible and is difficult to carry on continuously. A unicycle simulator and a power-assist system for bicycles have been developed in...
Considering the strong uncertainties of aerodynamic parameters and atmospheric environment and the large dynamic variation during the Reusable Launch Vehicle (RLV) reentry process, this paper introduces an attitude controller design method which combines Linear Quadratic Regulator (LQR) with Fuzzy Gain-Scheduling (FGS). The whole operating envelope is divided into several design points firstly. And...
The present paper deals with the simulation and control design of the traction system of the VAL subway. The traction system is ensured by two DC machines connected in series. A common chopper supplies the armature windings and a double-chopper supplies the field windings. The novelty consists on modeling the physical system using Bond Graph, a structural formalism, whereas the control structure is...
In this paper, we propose to use small wind turbine in design education. The aim is to integrate the TRIZ theory (Theory of Inventive Problem Solving) as an innovation support tool in the classical design process of Pahl and Beitz. The new proposed methodology is confronted to the design problem of regulation system. The proposed process enhances creativity in the concepts research activity and improves...
In this work is treated the design of two controllers applied to a fixed-wing unmanned aerial vehicle (UAV). The aim is to stabilize an UAV type Cessna 182 in longitudinal and in lateral-directional flight. The UAV is identified by decoupling the system to longitudinal and lateral-directional modes and using off line modeling. The resulting models represent approximately the UAV because of nonlinearities...
This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aerial robot as well as the interaction force, when in contact. This work finds its way in various applications where different impedance and interaction force controllers provide high task...
In order to realize accurate target tracking for remote operated vehicle, this study has analyzed the tension force from the tether and model based dynamic control strategy. For precise control, the tether effects have been analyzed through a partial differential equation. Each element of the tether has been taken as an elastic body, and the tether has been divided into two parts: in the air and in...
This paper introduces the nonlinearity index theory for missile flight mechanics analysis. Further, the nonlinearity of a longitudinal and lateral-directional nonspinning missile simulation model is analyzed over the entire flight envelope. The aerodynamic coefficient envelope is flight speed, angle of attack and angle of sideslip region. Nonlinearity index theory provides a new methodology for measuring...
Special attention is given to vertical takeoff and landing air vehicles due to their unique capabilities and versatile missions. The main problem here is control effectiveness at low flight speeds and transition maneuvers because of the inherent instability. RMIT is a small sized tail-sitter ducted fan air vehicle with a particular configuration layout, multiple control surfaces, low weight, and high-speed...
The coupling effect caused by the rotation of the missile with blended lateral jets and aerodynamic control has great influence on the performance of the control system, so the decoupling design must be carried on. On the basis of the approximate linear dynamic model between the pitch channel and yaw channel, a complete compensation decoupling control method is designed by offsetting the kinematic...
The response characteristics of the moving-mass controlled flying vehicle is researched based on the moving-mass control system model of the flying saucer. Simulation results show that when the vehicle flies in the thick atmosphere at low altitude, the states of the vehicle are disturbed by the movement of the sliding mass block, but the disturbance does not appear when the vehicle flies at superhigh...
Uncertainties caused by modeling and flight of unmanned helicopter often simulated in the process of the control design. At present, many uncertainties are described by adding some easy little motion to the nonlinear model, which can't be accurately reflected in the MATLAB. For the way, this paper advanced a way to describe the uncertainties base on the complex plant characteristic in hover/low speed...
This paper presents aerodynamic analysis of an unmanned small-scaled gyroplane with a rotor having cyclic pitch system. A comprehensive nonlinear model is derived for it which involves force and moment generation mechanism for the flying vehicle. The nonlinear model is linearized with approximations and deduced on a prescribed flight condition. Our gyroplane dynamic modal response is further reconfigured...
The inverse dynamic of the leg with a (2-UPS+U)R series-parallel mechanism of the hybrid rescue robot is analyzed in this paper. First, the constrained relationships in the leg are determined, and the 6×6 Jacobian matrices of the series-parallel leg are derived and presented. Second, the velocity, acceleration, angular velocity and acceleration of center of mass in each link are solved and the dynamic...
This paper describes the control theory behind a new group of wind energy systems known as Airborne Wind Energy Systems (AWES). The control architecture of a kite system and rigid body system is explored and this is then compared to a lighter than air system developed by Altaeros Energies. The plant model of this system is described in detail and the main dynamics of the system are outlined. This...
Land yacht is a new type of mobile robot powered by the wind through the use of a sail. The structure and analysis of an autonomous controlled four wheeled land yacht are presented in this paper. The land yacht consists of a hull, a studding sail, a dual-front-wheel steering mechanism, two rear wheels, an axle, two wire ropes, a servomotor and a steering engine. As the studding sail and the dual-front-wheel...
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