Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance

Haiyun Bi; Guoyuan Qi; Xia Li

首页> 外文期刊>Applied Mathematical Modelling >Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance

【24h】

Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance

机译：干扰保险箱态度系统的特征分析，实验测试和控制

获取原文

获取原文并翻译 | 示例

掌桥外文数据库（机构版） >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相似文献
相关主题

摘要

The disturbance influences the dynamic characteristics of the quadrotor unmanned aerial vehicle (QUAV), especially the stability. With the disturbance, the study of characteristics and controller design is challenging. In this paper, an attitude system of a QUAV with disturbance and gyroscopic effect is developed. The disturbed QUAV attitude system dynamics influenced by the rotor speeds are analyzed via multi-parameter bifurcation diagrams. The chaotic parameter area in which the QUAV is in an abnormal vibration state is plotted, guiding the design of the fuselage structure and controller of the QUAV. The transient chaos characterizing chaos within a long period but eventually becoming periodic is found in the system. The chaotic phenomenon of the angular velocity trajectory of the QUAV is verified by obtaining the positive Lyapunov exponent using the experimental data. A back-stepping sliding mode controller is designed, and the stability of the closed system is proved via the Lyapunov method. Numerical simulations verify the effectiveness of controlling the QUAV. The designed controller is effective for suppressing chaos. The stability of the back-stepping sliding mode controller is superior to that of the PID controller is verified via numerical simulations.

机译：干扰会影响四轮车无人驾驶飞行器（巴厘），尤其是稳定性的动态特性。凭借干扰，对特性和控制器设计的研究具有挑战性。在本文中，开发了一种具有干扰和陀螺效果的缓冲器的姿态系统。通过多参数分叉图分析受转子速度影响的受扰动的巴态姿态系统动态。绘制了压缩参数区域，其中基站处于异常振动状态，引导了管制结构和控制器的设计。在长期内表征混乱的瞬态混乱，但最终在系统中发现了定期。通过使用实验数据获得正利亚诺夫指数来验证基站角速度轨迹的混沌现象。设计了后踩踏滑动模式控制器，并通过Lyapunov方法证明了封闭系统的稳定性。数值模拟验证了控制资站的有效性。设计的控制器对于抑制混沌是有效的。通过数值模拟验证了后踏步滑动模式控制器的稳定性优于PID控制器的稳定性。

著录项

来源
《Applied Mathematical Modelling》 |2021年第12期|77-91|共15页
作者
Haiyun Bi; Guoyuan Qi; Xia Li;
展开▼
作者单位

School of Mechanical Engineering Tiangong University Tianjin 300387 China The Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education and School of Mathematics Physics and Finance Anhui Polytechnic University Wuhu 241000 China;

Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tiangong University 399 Binshuixi Road Xiqing District Tianjin 300387 China;

School of Mechanical Engineering Tiangong University Tianjin 300387 China;

展开▼
收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类
关键词
QUAV attitude system; Disturbance; Bifurcation; Transient chaos; Back-stepping sliding mode controller; Chaos existence using experimental data;

机译：态度系统;骚乱;分叉;瞬态混乱;背踏踏滑动模式控制器;使用实验数据的混沌存在;

相似文献

外文文献
中文文献
专利

1. Design and experimental testing of a control system for a morphing wing model actuated with miniature BLDC motors [J] . Teodor Lucian GRIGORIE, Shehryar KHAN, Ruxandra Mihaela BOTEZ, 中国航空学报（英文版） . 2020,第004期
2. Design and Experimental Investigation for Subsea Control Module Test System [J] . Peng Jia, Zhehua Zhang, Xiangyu Wang, 船舶与海洋工程学报（英文版） . 2020,第003期
3. Experimental Study on Real-Time Control System Testing [J] . Jin-He Wang, Nan Zhang, Qing-Gang He 中国电子科技：英文版 . 2009,第004期
4. Experimental investigation of a compound force tracking control strategy for electro-hydraulic hybrid testing system with suppression of vibration disturbances [J] . Zhu Zhencai, Tang Yu, Shen Gang Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science . 2017,第6期

机译：抑制振动障碍的电液混合检测系统复合力跟踪控制策略的实验研究
5. Active Disturbance Rejection Attitude Control for Flapping Wing Micro Aerial Vehicle With Nonaffine-in-Control Characteristics [J] . Feng Cong, Wang Qing, Hu Changhua, Quality Control, Transactions . 2020,第期

机译：具有非共进控制特性的扑振翼微型空中飞行器的主动扰动蚀力态度控制
6. Anti-disturbance control for attitude and altitude systems of the helicopter under random disturbances [J] . Aerospace science and technology . 2020,第Jana期

机译：随机干扰下直升机姿态和高度系统的防干扰控制
7. Robust Attitude Control of a Quadrotor System against Disturbance Using a Time-delayed Control Method: Experimental Studies [C] . Jeong Geun Lim, Seul Jung Conference of the Society of Instrument and Control Engineers of Japan . 2015

机译：使用时间延迟控制方法对抗扰动的强大姿态控制：实验研究
8. The design, implementation and testing of the thermal control system of the CanX-2 nanosatellite, and, The preliminary design of the attitude determination and control system for the generic nanosatellite bus. [D] . Sarda, Karan. 2006

机译：CanX-2纳米卫星热控制系统的设计，实施和测试，以及通用纳米卫星总线的姿态确定和控制系统的初步设计。
9. Experimental Study on Vibration Characteristics of Unit-Plate Ballastless Track Systems Laid on Long-Span Bridges Using Full-Scale Test Rigs [O] . Weiqi Zheng, Xingwang Sheng, Zhihui Zhu, 2020

机译：大跨度桥梁在大跨度桥梁上单板无Ball轨道系统振动特性试验研究
10. Decision-making is the process of analyzing information about a problem situation and comparing it to a specific conclusion in order to solve a specific problematic (Yıkılmaz, 2001; Miller and Byrnes, 2001). Decision-making styles are a mechanism that is influenced by the internal and external conditions that determine the direction of the decisions of the individual, the content of the decision-making process, and the outcome of the decision-making process (Payne, Bettman and Johson, 1993; Bavol’ár and Orosová, 2015). ACT is a contemporary member of the Cognitive Behavioral Therapy family. ACT (Acceptance and commitment therapy) has both similar and different directions with Behavioral Therapies and Cognitive Therapies (Herbet and Forman, 2011; Hayes, 2004). KKT responds to classical behavioral treatments using both existential and cognitive approaches in the analysis of behavior. KKT is a science wing that tries to solve human problems with a wider perspective aimed at solving problematic human behaviors (Plumb, Stewart, Dahl and Lundgren, 2009). It is seen that there is very little research about the new approach of ACT approach when the aiming country of our country is screened and it is thought that our country will contribute to the field of psychological counseling with the work done. In the scope of the research, experimental and control groups and preliminary test, post-test and follow-up measurements of 2x3 experimental design were used. The study's study group consists of a total of 24 (12 experimental and 12 control groups) university students studying in different departments and levels, continuing their education in the academic year of 2015-2016 in Ağrı province and İbrahim Chechen University in 2015-2016 academic year. The average age of participants in the experiment and control group is 20. There were 12 participants in the experimental group, 7 female and 5 male, and 12 participants, 7 female and 5 male in the control group. Personal Information Form and Decision Making Style Scale prepared by the researcher were used in the research. In order to decide on the tests to be used in the course of analyzing the data, the scores of the participant's Decision Styles Scale pre-test, which are placed primarily in the experimental and control groups, it was analyzed whether the basic expectations of parametric tests were answered. As a result of the analysis made, the scores, skewness and kurtosis coefficients obtained from the Decision Making Styles Scale were given to the experimental and control groups. It was determined that the distribution was normal in the result of Shapiro-Wilk test, in which the skewness and kurtosis coefficients of each sub-scale were ranked between -1 and +1. Participants in the experimental and control groups; homogeneity test results for decision-style pre-test measurements indicate that the data are homogeneous. According to the results of the Mauchly Globalness Test, it has been determined that working supports the hypothesis. It was determined that there was no significant difference between the pre-test scores obtained from dependent decision-making style of experiment and control groups, but the test group showed lower mean scores at the significant level within the scores of post-test and follow-up tests. Therefore, it can be said that the ACT-oriented psychoeducation program applied to the experimental group reduces the dependent decision-making style scores from the decision style sub-dimensions and the psychoeducation program has a lasting effect. It was determined that there was no significant difference between pre-test, post-test and follow-up scores obtained from the Spontaneous-Instant Decision Style of experiment and control groups. Thus, it can be said that this situation does not cause a significant difference in the Spontaneous-Decision-Making Style scores from the decision style sub-dimensions of the ACT-oriented psychoeducation program applied to the experimental group. The ACT -oriented psychoeducation program had a decline in the intuitive decision-making styles of the individuals, but this decrease did not create significant differences. Thus, it can be said that this situation does not make a meaningful difference in the intuitive decision style scores from the decision style sub-dimensions of the KKT oriented psychoeducation program applied to the experimental group. The pre-test scores obtained from the rational decision-making style of the experimental and control groups showed that there was a difference between the post-test and the follow-up scores, but this difference was not significant. As a result of the analysis, it was determined that the test group had higher levels of rational decision style than the pre - test scores in the post test and follow - up scores, whereas the post test and follow - up test scores in the control group rational decision style showed a decrease compared to the pre - test scores. the pre - test scores. Decision-making Styles Scale Avoidant Decision Making As a result of the analysis of the mean scores of the subscale scores of pre-test, post-test and follow-up measures, the group effect was found to be insignificant. It was determined that the experimental and control groups differed significantly from the pre-test scores obtained from the avoidant decision-making style but did not show any significant change within the scores of the post-test and follow-up tests. [O] . mustafa ercengiz, ali haydar şar 2018

机译：决策是分析有关问题情况的信息并将其与特定结论进行比较的过程，以解决特定的问题（Yıkılmaz，2001; Miller和Byrnes，2001）。决策风格是一种机制，受到内部和外部条件的影响，确定个人决定的方向，决策过程的内容以及决策过程的结果（PAYNE，BETTMAN和BEDNE） Johson，1993;Bavol'ár和奥萨洛瓦，2015）。法案是认知行为治疗家庭的当代成员。行为（验收和承诺治疗）具有与行为疗法和认知疗法的类似和不同方向（Herbet和Forman，2011; Hayes，2004）。 KKT在分析行为中使用存在性和认知方法来响应古典行为治疗方法。 KKT是一个科学翼，试图解决人类问题，旨在解决有问题的人类行为（铅垂，斯图尔特，Dahl和Lundgren，2009）。有人认为，当我们国家的瞄准国家进行筛选时，有关行动方法的新方法几乎没有研究，并且认为我们的国家将为完成工作做出贡献的心理咨询领域。在研究的范围内，使用实验和对照组和初步测试，使用后测试和后续测量的2x3实验设计。该研究的研究小组包括共24名（12个实验和12个对照组）大学学生在不同的部门和水平上学习，在2015-2016学术上继续进行2015-2016的学术年度2015-2016学年年。实验和对照组参与者的平均年龄是20.实验组中有12名参与者，7名女性和5名男性，12名参与者，7名女性和5名男性。研究人员准备的个人信息表格和决策制定风格规模在研究中使用。为了决定在分析数据的过程中使用的测试，参与者的决策风格刻度预测的分数主要在实验和对照组中进行，分析了参数的基本期望吗？测试得到了回答。由于对实验和对照组给出了从决策曲调标度获得的分数，偏移和峰度分子系数。确定该分布是正常的在成熟的-WILK试验结果中，其中每亚级的偏差和刚度系数在-1到+1之间排名。实验和对照组的参与者;决策式预测测量的同质性测试结果表明数据是均匀的。根据毛毛环保试验的结果，已确定工作支持假设。据确定，从依赖决策风格的实验和对照组获得的预测分数之间没有显着差异，但测试组在测试后的分数内显示出较低的平均分数和后续的分数 - 测试。因此，可以说，应用于实验组的面向活动的心理教育程序减少了决策风格子维度的依赖决策风格分数，并且心理教育程序具有持久的效果。据确定，从实验和对照组自发决策风格获得的预测试，测试后和后续评分之间没有显着差异。因此，可以说这种情况不会导致从应用于实验组的活动导向的心理教育程序的决策风格分数的自发决策风格分数显着差异。行为的心理教育计划在个人直观的决策风格下降，但这种减少并没有产生显着的差异。因此，可以说，这种情况不会在从应用于实验组的KKT导向的心理教育程序的决策风格分数中产生有意义的决策风格分数。从实验和对照组的理性决策风格获得的预测分数显示后检验后和随访评分之间存在差异，但这种差异并不重要。由于分析，确定测试组的理性决策风格较高，而不是后测试和后续分数的预测分数，而对照组合理决策风格的后测试和后续测试分数显示出与预测试分数相比的减少。预测分数。决策款式扩展避免决策由于分析了预测试，测试后和后续措施的班次评分的平均分数，发现群体效应是微不足道的。确定实验和对照组从避免决策风格获得的预测评分中显着不同，但在测试后和后续测试的分数内没有显示出任何重大变化。
11. Work/Energy Principles Applied to a Deadband Attitude Control System to Analyze Bending Limit Cycles. [R] . loesch,frank hecht,calvin 1975

机译：工作/能量原理应用于死区姿态控制系统分析弯曲极限环。

Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance

摘要

著录项

相似文献

相关主题

期刊订阅