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

Хэвлэлийн нэр: Монгол Оросын залуу эрдэмтдийн хуралд хураангуй хэвлүүлсэн

Зохиогч:  Ц.ТЭНГИС

Хамтран зохиогч: Batmunkh Amar

Хэвлүүлсэн огноо: 2016-05-03

Хуудас дугаар: 1

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 хянагддаггүй сэтгүүл

Өгүүллийн зэрэглэл: Дотоод

Түлхүүр үг: #brushless motor #pendulum #Kalman filter #propeller #state space model

Өгүүлэл нэмсэн: Ц.ТЭНГИС

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