Modeling and Control of Unbalanced Single-Propeller System on Single Axis

Хэвлэлийн нэр: MUST, Scientific transactions № 13/196,

Зохиогч:  Ц.ТЭНГИС

Хамтран зохиогч: Amar Batmunkh

Хэвлүүлсэн огноо: 2016-05-03

Хуудас дугаар: pages 74-80

Өгүүллийн хураангуй:

This article describes the recent results of the experiments in the framework of the project on creation of multi rotor unmanned flying vehicle. In this project we solve stabilization problem of a propeller driven one dimensional pendulum which is one of simplest models of multi-rotor vehicle. The position control at a given angle of a pendulum lever where angular position is measured by an accelerometer is controlled by draft force of a propeller at end of the lever.

First, using state space method and pole placement technique derived dynamic equations of motion and its parameters are simulated in MATLAB. Second, we implemented the real design of the system. Thereafter, experimental results and simulation results are compared. Electrical and mechanical noises in acceleration sensors were reduced by applying the Kalman filter. The work shows that results from the simulation of mathematical model and real implementation are very close.

Өгүүллийн төрөл: Мэргэжлийн түвшинд хянагддаг сэтгүүл

Өгүүллийн зэрэглэл: Дотоод

Түлхүүр үг: #Kalman filter #state space model

Өгүүлэл нэмсэн: Ц.ТЭНГИС

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