بررسی تأثیر مکانیسم گام متغیر در توسعه عملکرد ربات پرنده چهارپره با استفاده از واپایشگر خطی‌سازی بازخورد

نوع مقاله: مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری هوافضا / مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک اشتر

2 عضو هیات علمی / مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک اشتر

چکیده

هدف از این تحقیق، توسعه روش‌های واپایش ربات هوایی چهارپره-کوادروتور- با استفاده از مکانیسم گام متغیر و مقایسه آن با روش غالب واپایش این‌گونه پرنده‌ها مبنی بر تغییر سرعت دوران روتورهای اصلی، است. مدل‌سازی دینامیکی در این بررسی اساساً شامل مدل آئرودینامیک روتورهای اصلی در رینولدز پایین، مدل‌سازی دینامیکی موتور و سیستم پیشران با تلفیق تئوری ممنتم المان پره است. با قید حداقل مصرف توان و بهره‌گیری مکان هندسی ریشه‌ها، بهینه‌سازی پرواز ایستا، پیاده‌سازی و با دو حلقه وضعیت و موقعیت از روش‌های خطی و همچنین خطی‌سازی بازخورد پرنده واپایش گردیده است. واپایش موقعیت پرنده در مکانیسم گام متغیر بهبود مانور پذیری پرنده را نمایش می‌دهد. مقایسه نتایج شبیه‌سازی، بهبود عملکرد را در مکانیسم گام متغیر با استفاده از خطی‌سازی بازخورد در مقابل روش واپایشگر خطی اثبات می‌نماید.

کلیدواژه‌ها


عنوان مقاله [English]

Feedback Linearization of Variable Pitch Flying Robot: Improvement of Stability and Performance

نویسندگان [English]

  • Yasin Sarafraz 1
  • Farid Shahmiri 2
  • Seyeh Hoseyn Sadati 2
چکیده [English]

This paper concerned with the performance improvement of quad rotor using by variable pitch control system. The methodology was laid out based on dynamic modeling of six degree of freedom motion, trim calculations, linearization, and robust control system design for a candidate variable pitch quad-rotor at hover. Therefore, a comprehensive mathematical model of rotors was derived based on the blade element-momentum theory (BEMT) at low Reynolds number, and then, the engine and propulsion models were appended to form the real quad-rotor as a whole. Two control loops including of an inner loop for attitude control system and the outer loop for motion control applied with the robust control system, is the main structure of control system design. Linear controller and feedback linearization controller was also implemented to cover the stability of the quad rotor and compensation of fixed and variable pitch control mechanisms.. Variable pitch quad rotor helped the user to made bigger quad rotor with the less problem in control system which prepared from gyroscopic effect in fixed pitch quad rotor.

کلیدواژه‌ها [English]

  • Quad Rotor
  • Variable Pitch
  • Linear Controller
  • Feedback linearization
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