This paper describes a method to suppress the effect of nonlinear and time-varying mass unbalance torque disturbance on the dynamic performances of an aerial inertially stabilized platform (ISP). To improve the tracking accuracy and robustness of the ISP, a compound control scheme based on both of model reference adaptive control (MRAC) and PID control methods is proposed. The dynamic model is first developed which reveals the unbalance torque disturbance with the characteristic of being nonlinear and time-varying. Then, the MRAC/PID compound controller is designed, in which the PID parameters are adaptively adjusted based on the output errors between the reference model and the actual system. In this way, the position errors derived from the prominent unbalance torque disturbance are corrected in real time so that the tracking accuracy is improved. To verify the method, the simulations and experiments are, respectively, carried out. The results show that the compound scheme has good ability in mass unbalance disturbance rejection, by which the system obtains higher stability accuracy compared with the PID method.
from #AlexandrosSfakianakis via Alexandros G.Sfakianakis on Inoreader http://ift.tt/2dVLPdN
via IFTTT
Εγγραφή σε:
Σχόλια ανάρτησης (Atom)
Δημοφιλείς αναρτήσεις
-
Objectives To optimise medical students’ early clerkship is a complex task since it is conducted in a context primarily organised to take ca...
-
Abstract Purpose Overcoming the flaws of current data management conditions in head and neck oncology could enable integrated informatio...
-
1 abqls-210rm.html Read the latest Journal of Clinical Neurophysiology - Vol. 37, No. 1, January 2020.eml 2 agx3v-nxz96.html Read the late...
-
Cone-beam CT (CBCT) is a widely used intra-operative imaging modality in image-guided radiotherapy and surgery. A short scan followed by a f...
-
by Yanwei Li, Haifeng Liu, Wei Zeng, Jing Wei An increase in the osmolarity of tears induced by excessive evaporation of the aqueous tear p...
-
http://ift.tt/2p41efZ
-
Abstract Bromodomain proteins function as epigenetic readers that recognize acetylated histone tails to facilitate the transcription of t...
-
Abstract In present work, the electronic structure and optical properties of the FeX 2 (X = S, Se, Te) compounds have been evaluated by t...
Δεν υπάρχουν σχόλια:
Δημοσίευση σχολίου