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کنترل نقطه به نقطه کوادروتور حامل مایع | ||
| نشریه مهندسی مکانیک امیرکبیر | ||
| مقاله 1، دوره 54، شماره 4، تیر 1401، صفحه 727-746 اصل مقاله (1.92 M) | ||
| نوع مقاله: مقاله پژوهشی | ||
| شناسه دیجیتال (DOI): 10.22060/mej.2022.20628.7281 | ||
| نویسندگان | ||
| علی سلطانی* 1؛ امیرحسین وحیدی بجستانی2؛ محمد گوهرخواه2 | ||
| 1دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران. | ||
| 2دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران | ||
| چکیده | ||
| حمل مایع توسط پهپاد امری ضروری در انجام خودکار ماموریتهایی نظیر اطفا حریق و سم پاشی مزارع است. از طرفی، تلاطم گذرا و باقیماندهی مایع در حین جابهجایی و پس از آن، میتواند موجب ایجاد ناپایداری، افزایش خطای موقعیت، افزایش تلاش کنترلی و ایجاد خطر و آسیب در صورت اشتعالپذیری مایع، بشود. بنابراین، در این پژوهش کنترل کوادروتور حامل مایع مورد مطالعه قرار گرفته است و کنترلکنندهای ارائه شده است که بر خلاف مطالعات پیشین، بدون نیاز به اندازهگیری یا تخمین حالات مایع میتواند پایداری کوادروتور را در انتقال نقطه به نقطه فراهم نماید. بدین منظور، ابتدا یک کنترلکننده با خطیسازی معادلات حرکت کوادروتور حامل مایع و فرض صلب بودن مایع از طریق جایگذاری مناسب قطبها طراحی شده است. از طرفی، برای این که رفتار سیستم مشابه رفتار مدل طراحی باشد و پایداری سیستم حفظ شود، باید تلاطم مایع تا حد امکان کاهش یابد. برای این منظور، از یک هموارساز فرمان که بر اساس فرکانسهای طبیعی مودهای تلاطم مایع طراحی شده است، بهره برده شده است. توانایی سیستم کنترلی ارائه شده توسط شبیهسازی بررسی، تأیید و با مرجعی مشابه مقایسه گردیده است. همچنین، نتایج شبیهسازیها نشان میدهد استفاده از هموارساز فرمان طراحی شده میتواند دامنهی تلاطم مایع، انحراف حالات سیستم نسبت به حالت تعادل و تلاش کنترلی را به طور قابل توجهی کاهش دهد. | ||
| کلیدواژهها | ||
| کوادروتور؛ تلاطم مایع؛ انتقال نقطه به نقطه؛ جایگذاری قطب؛ هموارساز فرمان | ||
| عنوان مقاله [English] | ||
| Point to Point Control of a Liquid Carrying Quadrotor | ||
| نویسندگان [English] | ||
| Ali Soltani1؛ AmirHusain Vahidi Bajestani2؛ Mohammad Goharkhah2 | ||
| 1Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran | ||
| 2Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran | ||
| چکیده [English] | ||
| Liquid transport by unmanned aerial vehicles is a necessary task in autonomous firefighting and field spraying missions. On the other hand, transient and residual sloshing of the liquid during and after the movement can cause instability, increase position error and control effort, and create danger or damage if the liquid is flammable. Therefore, in this study, control of a liquid carrier quadrotor has been studied and a controller has been presented that, unlike previous studies, can provide stability in point-to-point transmission without the need to measure or estimate liquid states. For this purpose, a controller is first designed by linearizing the equations of motion of the system and assuming the liquid is rigid via pole placement. On the other hand, in order for the behavior of the system to be similar to the behavior of the design model and to maintain the stability of the system, the liquid sloshing must be reduced as much as possible. Therefore, a command smoother based on the natural frequencies of the liquid sloshing modes is used. The ability of the proposed control system has been investigated, validated, and compared with a similar study by simulation. Also, the simulation results show that the implementation of the designed command smoother can significantly reduce the amplitude of liquid sloshing, the deviation of the system states from the equilibrium state, and the control effort. | ||
| کلیدواژهها [English] | ||
| Quadrotor, Point to point transport, Pole placement, Command smoother | ||
| مراجع | ||
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