对非线性运动系统的切换步骤集成后退控制,适用于实验室直升机
A Haruna1, Z Mohamed2, M Ö Efe3
1Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Johor, Malaysia; Department of Mechatronics Engineering, Bayero University Kano, Nigeria.
ISA transactions
|July 28, 2023
概括
本研究介绍了非线性运动系统的交换式步骤集成后退控制 (SSIBC),提高了能源效率和噪声免疫力. 与传统的后退和PID控制器相比,SSIBC方法降低了功耗,提高了精度.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 非线性动力学是一种非线性动力学.
背景情况:
- 后退控制广泛应用于非线性运动系统.
- 传统的后退方法可能容易受到测量噪音和能源效率低下的影响.
- 在像双旋翼直升机这样的复杂系统中提高控制性能仍然是一个挑战.
研究的目的:
- 调查和提高非线性运动系统的反向控制的能源效率.
- 引入一种新的控制方案,即转换式步骤集成后退控制 (SSIBC),以解决传统方法的局限性.
- 在一个具有挑战性的系统上实验验验证拟议的SSIBC方法.
主要方法:
- 转换步骤集成后退控制 (SSIBC) 计划的开发.
- 实现双状态依赖性歇斯底里规则,以实现控制器之间的稳定切换.
- 在一个多输入多输出 (MIMO) 双旋转机实验室直升机上进行实验验证.
主要成果:
- 通过SSIBC计划,测量噪声的免疫力得到改善,能源效率提高.
- 实验结果显示,与传统的后退相比,减少了功耗,控制信号和电机动.
- 与优化解PID控制器相比,观察到精度和能源效率的显著改善.
- 在受到外部干扰时,SSIBC表现出强性.
结论:
- 拟议的SSIBC是非线性运动系统的有效控制策略,提供了更高的能源效率和稳定性.
- 与传统的后退和PID控制相比,SSIBC提供了实际的改进,特别是在杂的环境和合动态系统中.
- 该方法在实际应用中成功解决了与测量噪声和功耗相关的限制.
相关概念视频
01:24PI Controller: Design
334
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
334
01:26Feedback control systems
347
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
347
01:17Open and closed-loop control systems
814
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
814
01:22Controller Configurations
121
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
121
01:21Linear Approximation in Time Domain
101
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
101
01:22Multi-input and Multi-variable systems
129
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
129