Development of the algorithm for aircraft control at inaccurate measurement of the state vector and variable accuracy parameter

A parametric method of the synthesis of control in the closed circuit, taking into account explicitly generalized error of the inertial module, is presented. The law of control in the form of analytical formulas is typically assigned to the control program and does not change during flight of an unmanned aerial vehicle. This decreases the capabilities of the autonomous flight control system to overcome control errors, which occur for various reasons. To verify assumptions about a possibility of improving the accuracy of an aerial vehicle control by the data of the strapdown inertial navigation system on a certain time interval of autonomous operation, the calculation experiment was conducted with the use of the developed software complex, simulating operation of the automatic flight control system. Parametrization of the law of control is considered as the main contribution (the outcome). Introduction of the parameter made it possible to decrease a negative impact of measurement errors and other disturbing factors on accuracy of reaching by the point of flight destination. Through computer modeling, it was shown that it is possible to decrease the impact of a generalized measurement error on generation of values of control functions by changing the value of the parameter. Analytical expressions for the estimation of accuracy of automatic control at the known generalized error of the inertial module and limited disturbing influences were obtained. After analyzing the influence of these factors on accuracy of the object control, a set of recommendations on selection of a variable parameter of synthesis of control depending on precision level of the sensors, used in the inertial module of measuring sensors, was generated.Розглянуто розв’язання термінальної задачі управління та синтезований параметризований закон управління в аналітичному вигляді, який залежить від змінного параметра глибини прогнозу. Досліджено особливості впливу величини параметра управління на точність досягнення кінцевої точки, дані рекомендації з вибору параметра для нівелювання помилки інерційних вимірювань. Синтез управління здійснюється методом переслідування ведучої точки за інформацією, отриманою інтегруванням вимірювань фактичного прискорення і містить помилку, характерну для акселерометрів

Compliance error compensation technique for parallel robots composed of non-perfect serial chains

The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also demonstrated that the impact of the compliance errors and the errors caused by inaccuracy in serial chains cannot be taken into account using the superposition principle.Comment: arXiv admin note: text overlap with arXiv:1204.175

Measurements, Models, Systems and Design

531 s.

Precision pointing compensation for DSN antennas with optical distance measuring sensors

The pointing control loops of Deep Space Network (DSN) antennas do not account for unmodeled deflections of the primary and secondary reflectors. As a result, structural distortions due to unpredictable environmental loads can result in uncompensated boresight shifts which degrade pointing accuracy. The design proposed here can provide real-time bias commands to the pointing control system to compensate for environmental effects on pointing performance. The bias commands can be computed in real time from optically measured deflections at a number of points on the primary and secondary reflectors. Computer simulations with a reduced-order finite-element model of a DSN antenna validate the concept and lead to a proposed design by which a ten-to-one reduction in pointing uncertainty can be achieved under nominal uncertainty conditions

A dynamics-driven approach to precision machines design for micro-manufacturing and its implementation perspectives

Precision machines are essential elements in fabricating high quality micro products or micro features and directly affect the machining accuracy, repeatability and efficiency. There are a number of literatures on the design of industrial machine elements and a couple of precision machines commercially available. However, few researchers have systematically addressed the design of precision machines from the dynamics point of view. In this paper, the design issues of precision machines are presented with particular emphasis on the dynamics aspects as the major factors affecting the performance of the precision machines and machining processes. This paper begins with a brief review of the design principles of precision machines with emphasis on machining dynamics. Then design processes of precision machines are discussed, and followed by a practical modelling and simulation approaches. Two case studies are provided including the design and analysis of a fast tool servo system and a 5-axis bench-top micro-milling machine respectively. The design and analysis used in the two case studies are formulated based on the design methodology and guidelines

Dynamic analysis of runout correction in milling

Tool runout and its effects is an important area of research within modelling, simulation, and control of milling forces. Tool runout causes tool cutting edges to experience uneven forces during milling. This fact also affects tool life and deteriorates workpiece surface quality. In this article a procedure, in order to diminish the effects of tool runout, is presented. The procedure is based on chip thickness modification by means of the fast correction of the tool feed rate. Dynamic feed rate modification is provided by superposing our own design of a fast feed system driven by a piezoelectric actuator to the conventional feed drive of the CNC machine tool. Previously, a model of the dynamic behaviour of the system was developed to analyze the influence of fast feed rate modification on cutting forces. The model incorporates the piezoelectric actuator response as well as the structural dynamics of the tool and the designed Fast Feed Drive System (FFDS). Simulated and experimental results presented in this paper show the effectiveness and benefits of this new tool runout correction procedure

Flutter suppression for the active flexible wing: Control system design and experimental validation AIAA-92-2097

The synthesis and experimental validation of a control law for13; an actiqe flutter suppression system for the Active Flexible13; Wing wind-tunnel model is presenied. The design was13; accomplished with traditional root locus and Nyquist methods13; using interactive computer graphics tools and with extensive use13; of simulation-based analysis. The design approach relied on a13; fundamental understanding of the flutter mechanism to13; formulate a simple control law structure. Experimentally, the13; flutter suppression controller succeeded in simultaneous13; suppression of two flutter modes, significantly increasing the13; flutter dynamic pressure despite errors in the design model. The13; flutter suppression controller was also successfully operated in13; combination with a rolling maneuver controller to perform13; flutter suppression during rapid rolling maneuvers

Evaluation of servo, geometric and dynamic error sources on five axis high-speed machine tool

Many sources of errors exist in the manufacturing process of complex shapes. Some approximations occur at each step from the design geometry to the machined part. The aim of the paper is to present a method to evaluate the effect of high speed and high dynamic load on volumetric errors at the tool center point. The interpolator output signals and the machine encoder signals are recorded and compared to evaluate the contouring errors resulting from each axis follow-up error. The machine encoder signals are also compared to the actual tool center point position as recorded with a non-contact measuring instrument called CapBall to evaluate the total geometric errors. The novelty of the work lies in the method that is proposed to decompose the geometric errors in two categories: the quasi-static geometric errors independent from the speed of the trajectory and the dynamic geometric errors, dependent on the programmed feed rate and resulting from the machine structure deflection during the acceleration of its axes. The evolution of the respective contributions for contouring errors, quasi-static geometric errors and dynamic geomet- ric errors is experimentally evaluated and a relation between programmed feed rate and dynamic errors is highlighted.Comment: 13 pages; International Journal of Machine Tools and Manufacture (2011) pp XX-X

Damage identification in structural health monitoring: a brief review from its implementation to the Use of data-driven applications

The damage identification process provides relevant information about the current state of a structure under inspection, and it can be approached from two different points of view. The first approach uses data-driven algorithms, which are usually associated with the collection of data using sensors. Data are subsequently processed and analyzed. The second approach uses models to analyze information about the structure. In the latter case, the overall performance of the approach is associated with the accuracy of the model and the information that is used to define it. Although both approaches are widely used, data-driven algorithms are preferred in most cases because they afford the ability to analyze data acquired from sensors and to provide a real-time solution for decision making; however, these approaches involve high-performance processors due to the high computational cost. As a contribution to the researchers working with data-driven algorithms and applications, this work presents a brief review of data-driven algorithms for damage identification in structural health-monitoring applications. This review covers damage detection, localization, classification, extension, and prognosis, as well as the development of smart structures. The literature is systematically reviewed according to the natural steps of a structural health-monitoring system. This review also includes information on the types of sensors used as well as on the development of data-driven algorithms for damage identification.Peer ReviewedPostprint (published version