پیوندهای مفید
آمار
| تعداد نشریات | 32 |
| تعداد شمارهها | 859 |
| تعداد مقالات | 8,344 |
| تعداد مشاهده مقاله | 52,898,265 |
| تعداد دریافت فایل اصل مقاله | 9,299,202 |
Dynamic modeling, system identification and robust control of unmanned helicopter using multilevel simulation environment | ||
| Journal of Mathematical Modeling | ||
| مقالات آماده انتشار، اصلاح شده برای چاپ، انتشار آنلاین از تاریخ 15 خرداد 1405 اصل مقاله (961.01 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22124/jmm.2026.31924.2880 | ||
| نویسنده | ||
| Mohammad Hossein Khalesi* | ||
| Mechanical Engineering Department, Semnan University, Semnan, Iran | ||
| چکیده | ||
| According to numerous capabilities and increasing applications (in both commercial and military fields) of radio-controlled helicopters, many investigations are being conducted on these unmanned aircraft vehicles. Due to complex dynamic behavior and manual control limitations, the automatic control ability of these UAVs has gained high importance. The multilevel dynamic modeling, system identification, and control of an unmanned helicopter have been investigated in this paper. The analysis has been performed in a multilevel simulation environment designed for these purposes. A detailed complex analytical dynamic model of unmanned helicopter is used as the target case and an approximate model is used for designing control system. The system identification method has been used to tune the approximate model parameters to make sure that this model resembles the detailed complex analytical model behaviors. After designing a hierarchical robust control system for the identified approximate model, its implementation on the detailed model is performed by designing an appropriate Kalman filter to estimate un-measured state variables. The results show that the control system designed based on the identified approximate model can properly control the detailed complex analytical model and can be investigated more in next steps by in-flight experiment. | ||
| کلیدواژهها | ||
| Unmanned rotorcraft؛ flapping dynamics؛ dynamic modeling؛ system identification؛ Kalman filter؛ robust control | ||
|
آمار تعداد مشاهده مقاله: 10 تعداد دریافت فایل اصل مقاله: 6 |
||