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对于空中操纵器来说,一种分散的方法是强大的轨迹跟踪
Yarai Elizabeth Tlatelpa-Osorio1, Hugo Rodríguez-Cortés1, J Á Acosta2
1Sección de Mecatrónica, Deparatamento de Ingeniería Eléctrica del Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Ciudad de México, México.
PloS one
|March 7, 2024
概括
本研究提出了一种新的去中心化控制策略,用于垂直飞机操作中的无人机操纵器 (UAM). 该方法有效地管理空中飞行器.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 航空航天工程 航空航天工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 无人机操纵器 (UAM) 需要复杂的控制策略来管理空中飞行器和操纵器之间的复杂动态.
- 现有的方法经常与合动力学和外部干扰 (如风暴) 进行斗争.
- 分散控制为UAM系统的模块化和稳定性提供了一个有希望的方法.
研究的目的:
- 为在垂直平面上运行的UAM引入和评估新的去中心化控制策略.
- 为了解决空中飞行器和操纵器之间的动态合.
- 为了增强对外部干扰的强度,例如风暴.
主要方法:
- 提出了一个双循环的去中心化控制架构.
- 第一个循环补偿了空中飞行器对操纵器的影响.
- 第二个循环使用空中飞行器和操纵器的独立控制器,并包含空中飞行器动态和干扰补偿的估计器.
主要成果:
- 空中飞行器的控制器有效地估计和补偿操纵器的动态影响.
- 该系统表现出对外部风味干扰的强度.
- 模拟结果验证了性能,考虑到车辆空气动力学和操纵器接触力.
结论:
- 拟议的分散控制策略对于垂直平面UAM操作是有效的.
- 双循环方法成功地将空中飞行器和操纵器的控制分离开来.
- 该战略为面临动态合和外部干扰的UAM提供了强大的解决方案.
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