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Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

219
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
219
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

488
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
488
Buoyancy and Stability for Submerged and Floating Bodies01:11

Buoyancy and Stability for Submerged and Floating Bodies

1.8K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
1.8K
Controller Configurations01:22

Controller Configurations

96
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...
96
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

402
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
402
Gyroscope: Precession01:24

Gyroscope: Precession

4.1K
Precession can be demonstrated effectively through a spinning top. If a spinning top is placed on a flat surface near the surface of the Earth at a vertical angle and is not spinning, it will fall over due to the force of gravity producing a torque acting on its center of mass. However, if the top is spinning on its axis, it precesses about the vertical direction, rather than topple over due to this torque. Precessional motion is a combination of a steady circular motion of the axis and the...
4.1K

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相关实验视频

Updated: Jun 30, 2025

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
10:51

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

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以观察员为基础的自适应控制,用于用全功能的多旋翼无人机稳定悬挂有效载荷.

Jorge M Arizaga1, Armando Miranda-Moya1, Herman Castañeda1

  • 1Tecnologico de Monterrey, School of Sciences and Engineering, Av. Eugenio Garza Sada 2501 Sur, 64849, Monterrey, Mexico.

ISA transactions
|March 14, 2024
PubMed
概括

这项研究引入了一种适应式滑动模式控制器,用于携带有效载荷的六旋翼无人机. 新型观察器估计了有效载荷运动,减少了振荡,并在扰乱的环境中改善了轨迹跟踪.

关键词:
电缆暂停的有效载荷扩展观察员扩展观察员六直飞机无人机飞行器 (UAV) 是一个六直飞机无人机飞行器.滑动模式控制器 滑动模式控制器

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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 航空航天工程 航空航天工程

背景情况:

  • 六直升机无人机 (UAV) 需要精确的轨迹跟踪,特别是在携带有效载荷时.
  • 有效载荷的振荡会降低飞行性能和控制精度.
  • 传统的控制器与未测量的有效载荷动态和外部干扰作斗争.

研究的目的:

  • 开发一款基于观察者的自适应滑动模式控制器,用于六旋翼无人机.
  • 在没有专用传感器的情况下,估计和补偿有效载荷运动和外部干扰.
  • 为了提高轨迹跟踪性能和减少有效载荷振荡.

主要方法:

  • 扩展高增益观测器的设计,用于全态和干扰估计.
  • 实现一个自适应的滑动模式控制策略.
  • 在控制循环中对估计的干扰进行补偿.
  • 使用利亚普诺夫理论进行稳定性分析.

主要成果:

  • 有效估计有效载荷运动和系统干扰.
  • 有效载荷振荡的显著减少和改进的轨迹跟踪.
  • 证明了对边界扰动的强度.
  • 与传统方法相比,减少了聊天.
  • 在模拟中观察到的更快的有效载荷减压.

结论:

  • 拟议的基于观察者的自适应滑动模式控制器提高了六旋翼无人机的性能.
  • 控制器有效地管理有效载荷动态和环境干扰.
  • 这种方法为载有有效载荷的无人机提供了更好的飞行控制和稳定性.