In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and im...In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.展开更多
Presents the fin-propeller test set-up to solve the problem of roll stabilization with ships in full speed range, withwhich, tests were run in water rank for acquisition of data, and concludes from data acquired that ...Presents the fin-propeller test set-up to solve the problem of roll stabilization with ships in full speed range, withwhich, tests were run in water rank for acquisition of data, and concludes from data acquired that the fin-propeller test set-up produces more lift than simple fin, and provides lateral thrust as well, and it is therefore an effective roll stabilization devicefor ships in full speed range.展开更多
The Stopped-Rotor(SR)UAV combines the advantages of vertical take-off and landing of helicopter and high-speed cruise of fixed-wing aircraft.At the same time,it also has a unique aerodynamic layout,which leads to grea...The Stopped-Rotor(SR)UAV combines the advantages of vertical take-off and landing of helicopter and high-speed cruise of fixed-wing aircraft.At the same time,it also has a unique aerodynamic layout,which leads to great differences in the control and aerodynamic characteristics of various flight modes,and brings great challenges to the flight dynamics modelling and control in full-mode flight.In this paper,the flight dynamics modelling and control method of SR UAV in full-mode flight is studied.First,based on the typical flight profile of SR UAV when performing missions,using the theory and method of fuzzy mathematics,the T-S flight dynamics model of SR UAV in full-mode flight is established by synthesizing the flight dynamics model of each flight mode.Then,an explicit model tracking and parameter adjusting control system based on fuzzy theory is designed to enhance the stability of the inner loop of SR UAV in full-mode flight,which effectively reduces the coupling between axes and improves the control quality of the system.Finally,the outer loop control system is designed by using classical control method,and the control law of SR UAV in full-mode automatic flight is obtained.The simulation results show that the proposed control system design method is feasible and effective,which lays a solid foundation for the subsequent engineering implementation of the SR UAV.展开更多
This paper describes a stabilization effect after installating an adjustable speed generator (ASG) in a multi machine power system. A personal computer based ASG module has been de veloped for the simulations in...This paper describes a stabilization effect after installating an adjustable speed generator (ASG) in a multi machine power system. A personal computer based ASG module has been de veloped for the simulations in parallel with the analog power system simulator i n the Research Laboratory of the Kyushu Electric Power Co. The three phase ins t antaneous value based ASG model has been developed in the Matlab/Simulink envir onment for its detailed and real time simulations, which have been performed on a digital signal processor (DSP) board with AD and DA conversion interfaces inst alled in a personal computer (PC). Simulational results indicate the hig hly improved overall stability of the multi machine power system after installa ting the ASG.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 50879012)State Key Laboratory of Robotics and System (HIT) (Grant No. SKLRS200706)
文摘In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.
文摘Presents the fin-propeller test set-up to solve the problem of roll stabilization with ships in full speed range, withwhich, tests were run in water rank for acquisition of data, and concludes from data acquired that the fin-propeller test set-up produces more lift than simple fin, and provides lateral thrust as well, and it is therefore an effective roll stabilization devicefor ships in full speed range.
基金the Natural Science Foundation of China (No. 12102345)the Natural Science Basic Research Program of Shaanxi Province (Nos. 2021JQ-086 and 2021JQ076)Taicang Scientific Research Institute Innovation Leading Special Plan (No. tc2019dyds11)
文摘The Stopped-Rotor(SR)UAV combines the advantages of vertical take-off and landing of helicopter and high-speed cruise of fixed-wing aircraft.At the same time,it also has a unique aerodynamic layout,which leads to great differences in the control and aerodynamic characteristics of various flight modes,and brings great challenges to the flight dynamics modelling and control in full-mode flight.In this paper,the flight dynamics modelling and control method of SR UAV in full-mode flight is studied.First,based on the typical flight profile of SR UAV when performing missions,using the theory and method of fuzzy mathematics,the T-S flight dynamics model of SR UAV in full-mode flight is established by synthesizing the flight dynamics model of each flight mode.Then,an explicit model tracking and parameter adjusting control system based on fuzzy theory is designed to enhance the stability of the inner loop of SR UAV in full-mode flight,which effectively reduces the coupling between axes and improves the control quality of the system.Finally,the outer loop control system is designed by using classical control method,and the control law of SR UAV in full-mode automatic flight is obtained.The simulation results show that the proposed control system design method is feasible and effective,which lays a solid foundation for the subsequent engineering implementation of the SR UAV.
文摘This paper describes a stabilization effect after installating an adjustable speed generator (ASG) in a multi machine power system. A personal computer based ASG module has been de veloped for the simulations in parallel with the analog power system simulator i n the Research Laboratory of the Kyushu Electric Power Co. The three phase ins t antaneous value based ASG model has been developed in the Matlab/Simulink envir onment for its detailed and real time simulations, which have been performed on a digital signal processor (DSP) board with AD and DA conversion interfaces inst alled in a personal computer (PC). Simulational results indicate the hig hly improved overall stability of the multi machine power system after installa ting the ASG.
