This paper suggests a novel model-based nonlinear DC motor speed regulator without the use of a current sensor.The current dynamics,machine parameters and mismatched load variations are considered.The proposed control...This paper suggests a novel model-based nonlinear DC motor speed regulator without the use of a current sensor.The current dynamics,machine parameters and mismatched load variations are considered.The proposed controller is designed to include an active damping term that regulates the motor speed in accordance with the first-order low-pass filter dynamics through the pole-zero cancellation.Meanwhile,the angular acceleration and its reference are obtained from simple first-order estimators using only the speed information.The effectiveness is experimentally verified using hardware comprising the QUBEServo2,myRIO-1900,and LabVIEW.展开更多
Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complement...Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complementary filtering.First,an attitude controller is designed using angular acceleration feedback to decouple aerodynamic interactions without relying on precise system models.Second,complementary filtering is introduced to estimate angular acceleration,resolving phase lag and avoiding noise amplification inherent in differentiation.Finally,robustness is validated through comparative simulations with PID control under aerodynamic parameter perturbations and angular rate noise.Results demonstrate that the proposed method enhances robustness to parametric uncertainties and suppresses noise effects more effectively than PID,achieving stable attitude tracking.The framework addresses aerospacespecific nonlinear dynamics and stability challenges,providing a model-agnostic control solution for morphologically complex UAVs.展开更多
According to the three-dimensional geometry of the engagement,the explicit algebraic expression of differential geometric guidance command(DGGC)is proposed.Compared with the existing solutions,the algebraic solution i...According to the three-dimensional geometry of the engagement,the explicit algebraic expression of differential geometric guidance command(DGGC)is proposed.Compared with the existing solutions,the algebraic solution is much simpler and better for the further research of the characteristics of DGGC.Time delay control(TDC)is a useful method to tackle the uncertainty problem of a control system.Based on TDC,taking the target maneuvering acceleration as a disturbance,the estimation algorithm of the target maneuvering acceleration is presented,which can be introduced in DGGC to improve its performance.Then,the augmented DGGC(ADGGC)is obtained.The numerical simulation of intercepting a high maneuvering target is conducted to demonstrate the effectiveness of ADGGC.展开更多
基金supported in part by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(2020M3H4A3106326)supported in part by the NRF grant funded by the Korea government(Ministry of Science and ICT)(NRF-2020R1A2C1005449)。
文摘This paper suggests a novel model-based nonlinear DC motor speed regulator without the use of a current sensor.The current dynamics,machine parameters and mismatched load variations are considered.The proposed controller is designed to include an active damping term that regulates the motor speed in accordance with the first-order low-pass filter dynamics through the pole-zero cancellation.Meanwhile,the angular acceleration and its reference are obtained from simple first-order estimators using only the speed information.The effectiveness is experimentally verified using hardware comprising the QUBEServo2,myRIO-1900,and LabVIEW.
文摘Aiming at strong aerodynamic coupling,poor directional stability,and modelling challenges in flying-wing UAVs,this study proposes an incremental nonlinear dynamic inversion(INDI)control method incorporating complementary filtering.First,an attitude controller is designed using angular acceleration feedback to decouple aerodynamic interactions without relying on precise system models.Second,complementary filtering is introduced to estimate angular acceleration,resolving phase lag and avoiding noise amplification inherent in differentiation.Finally,robustness is validated through comparative simulations with PID control under aerodynamic parameter perturbations and angular rate noise.Results demonstrate that the proposed method enhances robustness to parametric uncertainties and suppresses noise effects more effectively than PID,achieving stable attitude tracking.The framework addresses aerospacespecific nonlinear dynamics and stability challenges,providing a model-agnostic control solution for morphologically complex UAVs.
基金supported by the National Natural Science Foundation of China(Grant Nos.11272346)the National Basic Research Program of China("973"Project)(Grant No.2013CB733100)
文摘According to the three-dimensional geometry of the engagement,the explicit algebraic expression of differential geometric guidance command(DGGC)is proposed.Compared with the existing solutions,the algebraic solution is much simpler and better for the further research of the characteristics of DGGC.Time delay control(TDC)is a useful method to tackle the uncertainty problem of a control system.Based on TDC,taking the target maneuvering acceleration as a disturbance,the estimation algorithm of the target maneuvering acceleration is presented,which can be introduced in DGGC to improve its performance.Then,the augmented DGGC(ADGGC)is obtained.The numerical simulation of intercepting a high maneuvering target is conducted to demonstrate the effectiveness of ADGGC.
