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Quad-Rotor Airship Modeling and Simulation Based on Backstepping Control
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- 발행기관
- 보안공학연구지원센터(IJCA) 바로가기
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- 간행물
- International Journal of Control and Automation SCOPUS 바로가기
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- 통권
- Vol.6 No.5 (2013.10)바로가기
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- 페이지
- pp.369-384
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- 저자
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- 언어
- 영어(ENG)
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- URL
- https://www.earticle.net/Article/A205374
※ 원문제공기관과의 협약기간이 종료되어 열람이 제한될 수 있습니다.
원문정보
초록
- 영어
- Firstly, a novel structure of indoor quad-rotor airship is proposed to overcome the traditional indoor airship shortcomings such as poor balance and lack of buoyancy in this paper. The kinetic model is established according to the design structure and flight characteristics by the principle of Newtonian mechanics and the laws of physics. The force analysis on the quad-rotor airship, including gravity, buoyancy, aerodynamic, wind resistance, propeller force, etc. Secondly, binding Kinetics model, the outer loop position controller and the inner loop attitude controller are designed based on the PID control algorithm. The outer loop position controller includes instantaneous position and velocity, while the inner loop attitude controller includes body angular velocity, Euler angular velocity and Euler angles. The simulation platform is designed by using Matlab/Simulink. The simulation results demonstrate the correctness of the dynamic model and the effectiveness of the control method. Finally, according to the PID’s effect on time-varying system and nonlinear system is not very well perfect, we adopted Lyapunov stability theorem and backstepping algorithm to design the controller and divides the whole system into two return circuits and each circuit are divided into three second-order systems which reduce order number of controller effectively. And the control algorithm achieved good results.
목차
Abstract
1. Introduction
2. Quad-Rotor Airship Coordinate System Selection and Force Analysis
2.1. Selection of coordinate system
2.2 The force analysis of the airship
2.3 The Simulation Results
3. To Design the Control System based on Backstepping Method and the Simulation Results
3.1 The design of attitude control system
3.2 The control simulation and the results analysis
3.3 The Simulation Results
4. Conclusion
References
키워드
Quad-Rotor airship adaptive control PID저자
간행물 정보
발행기관
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- 발행기관명
- 보안공학연구지원센터(IJCA) [Science & Engineering Research Support Center, Republic of Korea(IJCA)]
- 설립연도
- 2006
- 분야
- 공학>컴퓨터학
- 소개
- 1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업
간행물
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- 간행물명
- International Journal of Control and Automation
- 간기
- 월간
- pISSN
- 2005-4297
- 수록기간
- 2008~2016
- 십진분류
- KDC 505 DDC 605
이 권호 내 다른 논문 / International Journal of Control and Automation Vol.6 No.5
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