Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed
| Main Author: | |
|---|---|
| Language: | English |
| Published: |
Ohio University / OhioLINK
2007
|
| Subjects: | |
| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195164411 |
| id |
ndltd-OhioLink-oai-etd.ohiolink.edu-ohiou1195164411 |
|---|---|
| record_format |
oai_dc |
| spelling |
ndltd-OhioLink-oai-etd.ohiolink.edu-ohiou11951644112021-08-03T05:45:25Z Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed Garimella, Suresh Nonlinear Control Allocation Actuator Dynamics DC Motor-propeller dynamics Differential thrust control testbed Trajectory Linearization Control MATLAB/Simulink Open-loop control Closed-loop control This thesis presents an improvement in the performance of a three degrees of freedom differential thrust control testbed by considering the actuator dynamics. The testbed consists of three propellers that are used to produce thrust as well as attitude control for vertical takeoff and landing flight. Actuator dynamics consist of the motor-propeller dynamics and the nonlinear mapping relating the aerodynamic torques to the propeller speed. A previous controller was designed by neglecting the motor-propeller dynamics and the control allocation was done assuming a linear static relationship between aerodynamic torques and motor voltages. This work will determine the nonlinear control allocation mapping and model the motor-propeller dynamics as a first-order linear system. Simulation and real-time results showing an improvement in the performance of the testbed are presented by replacing the linear control allocation with nonlinear control allocation and by compensating for the motor-propeller dynamics. Further, the existing controller is redesigned considering the gyroscopic effects produced due to the spinning propellers. 2007 English text Ohio University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195164411 http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195164411 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Nonlinear Control Allocation Actuator Dynamics DC Motor-propeller dynamics Differential thrust control testbed Trajectory Linearization Control MATLAB/Simulink Open-loop control Closed-loop control |
| spellingShingle |
Nonlinear Control Allocation Actuator Dynamics DC Motor-propeller dynamics Differential thrust control testbed Trajectory Linearization Control MATLAB/Simulink Open-loop control Closed-loop control Garimella, Suresh Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| author |
Garimella, Suresh |
| author_facet |
Garimella, Suresh |
| author_sort |
Garimella, Suresh |
| title |
Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| title_short |
Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| title_full |
Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| title_fullStr |
Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| title_full_unstemmed |
Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed |
| title_sort |
actuator modeling and control for a three degrees of freedom differential thrust control testbed |
| publisher |
Ohio University / OhioLINK |
| publishDate |
2007 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195164411 |
| work_keys_str_mv |
AT garimellasuresh actuatormodelingandcontrolforathreedegreesoffreedomdifferentialthrustcontroltestbed |
| _version_ |
1719424742538084352 |