پیوندهای مفید
آمار
| تعداد نشریات | 9 |
| تعداد شمارهها | 452 |
| تعداد مقالات | 5,748 |
| تعداد مشاهده مقاله | 8,234,484 |
| تعداد دریافت فایل اصل مقاله | 6,752,160 |
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 | ||
|
[1] Y.B. Sebbane, Smart autonomous aircraft: Flight control and planning for UAV, CRC Press, 2015. [2] R. Amin, L. Aijun, S. Band, A Review of Quadrotor UAV: Control Methodologies and Performance Evaluation, International Journal of Automation and Control, 10(2) (2015) 87-103. [3] F. Nex, F. Remondino, UAV for 3D mapping applications: a review, Applied Geomatics, 6(1) (2014) 1-15. [4] H. Kiaee, H. Heidari, Cooperative path planning for leader – follower formation of Multi UAV based on the minimum energy consumption for load transportation, Amirkabir Journal of Mechanical Engineering, 52(12) (2019) 3327-3340. [5] G. Zhou, V. Ambrosia, A.J. Gasiewski, G. Bland, Foreword to the Special Issue on Unmanned Airborne Vehicle (UAV) Sensing Systems for Earth Observations, IEEE Transactions on Geoscience and Remote Sensing, 47(3) (2009) 687-689. [6] T. Mckinnon, Agricultural Drones : What Farmers Need to Know, Agribotix, 1 (2016) 1-9. [7] P. Garre, A. Harish, Autonomous Agricultural Pesticide Spraying UAV, IOP Conference Series: Materials Science and Engineering, 455 (2018) 12-30. [8] R.A. Ibrahim, Liquid sloshing dynamics, Cambridge University Press, 2005. [9] M. Grundelius, B. Bernhardsson, Control of liquid slosh in an industrial packaging machine, in: Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No. 99CH36328), IEEE, 1999, pp. 1654-1659. [10] C. Troll, S. Tietze, J.-P. Majschak, Controlling Liquid Slosh by Applying Optimal Operating-Speed-Dependent Motion Profiles, Robotics, 9 (2020) 1-18. [11] N. Qi, K. Dong, X. Wang, Y. Li, Spacecraft Propellant Sloshing Suppression Using Input Shaping Technique, in: 2009 International Conference on Computer Modeling and Simulation, 2009, pp. 162-166. [12] Y. Baozeng, Z. Lemei, Hybrid Control of Liquid-Filled Spacecraft Maneuvers by Dynamic Inversion and Input Shaping, AIAA Journal, 52(3) (2014) 618-626. [13] N. Coulter, Design of an Attitude Control System for a Spacecraft with Propellant Slosh Dynamics, Master of Sciences, Embry-Riddle Aeronautical University, Daytona Beach, Florida, 2018. [14] Y. Zang, Z. Zhou, X. Gu, R. Jiang, L. Kong, X. He, X. Luo, Y. Lan, Design and anti-sway performance testing of pesticide tanks in spraying UAVs, International Journal of Agricultural and Biological Engineering, 12 (2019) 10-16. [15] W. Wang, Y. Peng, Y. Zhou, Q. Zhang, Liquid sloshing in partly-filled laterally-excited cylindrical tanks equipped with multi baffles, Applied Ocean Research, 59 (2016) 543-563. [16] I.H. Cho, J.-S. Choi, M.H. Kim, Sloshing reduction in a swaying rectangular tank by an horizontal porous baffle, Ocean Engineering, 138(February) (2017) 23-34. [17] M.-A. Xue, J. Zheng, P. Lin, X. Yuan, Experimental study on vertical baffles of different configurations in suppressing sloshing pressure, Ocean Engineering, 136(March) (2017) 178-189. [18] H. Qin, L. Mu, W. Tang, Z. Hu, Numerical study on structural response of anti-sloshing baffles of different configurations in a sloshing tank considering hydroelasticity, Ocean Engineering, 188 (2019) 1-22. [19] B. Naseri Soufiani, M.A. Adli, An expanded impedance control scheme for slosh-free liquid transfer by a dual-arm cooperative robot, Journal of Vibration and Control, 27(23-24) (2020) 2793-2806. [20] M. Hamaguchi, T. Taniguchi, Sloshing Damping Control in a Cylindrical Container on a Wheeled Mobile Robot Using Dual-Swing Active-Vibration Reduction, Journal of Robotics and Mechatronics, 21(5) (2009) 642-646. [21] M. Reyhanoglu, J. Rubio Hervas, Nonlinear modeling and control of slosh in liquid container transfer via a PPR robot, Communications in Nonlinear Science and Numerical Simulation, 18(6) (2013) 1481-1490. [22] B. Pridgen, K. Bai, W. Singhose, Slosh suppression by robust input shaping, in: 49th IEEE Conference on Decision and Control (CDC), 2010, pp. 2316-2321. [23] Q. Zang, J. Huang, Z. Liang, Slosh Suppression for Infinite Modes in a Moving Liquid Container, IEEE/ASME Transactions on Mechatronics, 20(1) (2015) 217-225. [24] W. Aribowo, T. Yamashita, K. Terashima, Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm, Journal of Robotics, 2015 (2015) 1-15. [25] L. Moriello, L. Biagiotti, C. Melchiorri, A. Paoli, Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing, in: 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2017, pp. 4286-4291. [26] L. Biagiotti, D. Chiaravalli, L. Moriello, C. Melchiorri, A plug-in feed-forward control for sloshing suppression in robotic teleoperation tasks, in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, pp. 5855-5860. [27] X. Xie, J. Huang, Z. Liang, Using continuous function to generate shaped command for vibration reduction, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 227(6) (2013) 523-528. [28] Q. Zang, J. Huang, Dynamics and Control of Three-Dimensional Slosh in a Moving Rectangular Liquid Container Undergoing Planar Excitations, IEEE Transactions on Industrial Electronics, 62(4) (2015) 2309-2318. [29] H. Sayyaadi, A. Soltani, Modeling and control for cooperative transport of a slung fluid container using quadrotors, Chinese Journal of Aeronautics, 31(2) (2018) 262-272. [30] S. Bouabdallah, Design and Control of Quadrotors With Application To Autonomous Flying, 2007. [31] F.T. Dodge, The new" dynamic behavior of liquids in moving containers", Southwest Research Inst. San Antonio, TX, 2000. [32] X. Xie, J. Huang, Z. Liang, Vibration reduction for flexible systems by command smoothing, Mechanical Systems and Signal Processing, 39(1-2) (2013) 461-470. [33] S. Lee, D.K. Giri, H. Son, Modeling and control of quadrotor UAV subject to variations in center of gravity and mass, in: 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2017, pp. 85-90.
| ||
|
آمار تعداد مشاهده مقاله: 975 تعداد دریافت فایل اصل مقاله: 1,153 |
||