Control design with inverse feedback shaper for quadcopter with suspended load

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F18%3A00325884" target="_blank" >RIV/68407700:21220/18:00325884 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21230/18:00325884 RIV/68407700:21730/18:00325884

Výsledek na webu

<a href="http://dx.doi.org/10.1115/DSCC2018-9052" target="_blank" >http://dx.doi.org/10.1115/DSCC2018-9052</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1115/DSCC2018-9052" target="_blank" >10.1115/DSCC2018-9052</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Control design with inverse feedback shaper for quadcopter with suspended load

Popis výsledku v původním jazyce

A control design and numerical study is presented for the problem of maneuvering a quadcopter with suspended load. An inverse shaper with a distributed time delay is applied to the feedback path in order to pre-compensate the oscillatory mode of the two-body system. As the first step, the mode to be targeted by the inverse shaper is determined, which is neither the oscillatory mode of the overall system dynamics, nor the oscillatory mode of the suspended load. Next, the established cascade control scheme for UAVs with slave PD pitch angle controller and master PID velocity controller is adopted and supplemented by the inverse shaper tuned to the isolated flexible mode. The numerical and simulation based analysis reveals the key design aspects and dynamics features - due to including the inverse shaper with time delays, the closed loop system becomes infinite dimensional. As the main result, the positive effects of including the inverse shaper in the loop feedback are demonstrated. First of all, the oscillatory mode is well compensated when excited by both the set-point and disturbance changes. Besides, it is shown that the mode compensation is preserved even when reaching the saturation limits at the control actions.

Název v anglickém jazyce

Control design with inverse feedback shaper for quadcopter with suspended load

Popis výsledku anglicky

A control design and numerical study is presented for the problem of maneuvering a quadcopter with suspended load. An inverse shaper with a distributed time delay is applied to the feedback path in order to pre-compensate the oscillatory mode of the two-body system. As the first step, the mode to be targeted by the inverse shaper is determined, which is neither the oscillatory mode of the overall system dynamics, nor the oscillatory mode of the suspended load. Next, the established cascade control scheme for UAVs with slave PD pitch angle controller and master PID velocity controller is adopted and supplemented by the inverse shaper tuned to the isolated flexible mode. The numerical and simulation based analysis reveals the key design aspects and dynamics features - due to including the inverse shaper with time delays, the closed loop system becomes infinite dimensional. As the main result, the positive effects of including the inverse shaper in the loop feedback are demonstrated. First of all, the oscillatory mode is well compensated when excited by both the set-point and disturbance changes. Besides, it is shown that the mode compensation is preserved even when reaching the saturation limits at the control actions.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/LTAUSA17103" target="_blank" >LTAUSA17103: Algoritmy řízení se zpožděním pro budoucí transportní bezpilotní prostředky</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of ASME 2018 Dynamic Systems and Control Conference

ISBN

978-0-7918-5191-3

ISSN

—

e-ISSN

2151-1853

Počet stran výsledku

10

Strana od-do

—

Název nakladatele

ASME Dynamic Systems and Control Division

Místo vydání

Michigan

Místo konání akce

Atlanta, Georgia

Datum konání akce

30. 9. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000461127400071