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
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.
