Loop-shaping h∞ control of an aeropendulum model

• Autorzy: Breganon Ricardo , Alves Uiliam Nelson L. T. , De Almeida João Paulo L.S. , Ribeiro Fernando S. F. , Mendonça Marcio , Palácios Rodrigo H. C. , Montezuma Marcio A. F.

Identyfikatory

DOI

10.2478/ijame-2021-0046

• Języki publikacji: EN

Abstrakty

EN

This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping h∞control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the h∞ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the h∞ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.

Słowa kluczowe

EN

dynamic system modeling; aeropendulum; H∞ control

PL

modelowanie dynamiczne; wahadło aerodynamiczne; sterowanie

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2021
• Tom: Vol. 26, no. 4
• Strony: 1--16
• Opis fizyczny: Bibliogr. 21 poz., fot., rys., wykr.

Twórcy

autor

Breganon Ricardo

• Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR Universidade Tecnológica Federal do Paraná, Programa de Pós-Graduação em Engenharia Mecânica Av. Alberto Carazzai, 1640, Cornélio Procópio – PR, BRAZIL

autor

Alves Uiliam Nelson L. T.

• Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR Universidade Tecnológica Federal do Paraná, Programa de Pós-Graduação em Engenharia Mecânica Av. Alberto Carazzai, 1640, Cornélio Procópio – PR, BRAZIL

autor

De Almeida João Paulo L.S.

• Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR, BRAZIL

autor

Ribeiro Fernando S. F.

• Instituto Federal do Paraná, Av. Dr Tito, 801, Jacarezinho – PR, BRAZIL

autor

Mendonça Marcio

• Universidade Tecnológica Federal do Paraná, Av. Alberto Carazzai, 1640 Cornélio Procópio – PR, BRAZIL

autor

Palácios Rodrigo H. C.

• Universidade Tecnológica Federal do Paraná, Av. Alberto Carazzai, 1640 Cornélio Procópio – PR, BRAZIL

autor

Montezuma Marcio A. F.

• Universidade Tecnológica Federal do Paraná, Av. Alberto Carazzai, 1640 Cornélio Procópio – PR, BRAZIL

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)