Disturbance Rejection Control for Unbalanced Double-Propeller System on Single Axis

Хэвлэлийн нэр: Khureltogoot-2016, Proceeding of International Conference of Technology and Innovation,

Зохиогч:  Ц.ТЭНГИС

Хамтран зохиогч: Batmunkh Amar

Хэвлүүлсэн огноо: 2016-05-03

Хуудас дугаар: pages 20-23

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 seesawwhich is one of simplest models of multi-rotor vehicle. The position control at a given angle of a seesaw lever where angular position is measured by an accelerometer is controlled by draft force of a propellers at end of the levers. Using state space method and pole placement technique we derived dynamic equations of motion and its parameters are simulated in MATLAB. Due to a significant simplification of mathematical model of the system dynamic’s the accuracy of stability tracking the reference point was reduced. Disturbance like adding weights or changing power supply the system could not stay in reference point. This paper deals with disturbances rejection control which is easily compensated by adding additional integrator feedback.   The effectiveness of the proposed method is demonstrated through real time experiments on real model. 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: #seesaw #Kalman filter #brushless motor #multi rotor #state space model

Өгүүлэл нэмсэн: Ц.ТЭНГИС

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