Modeling and position control of a new quad-rotor unmanned aerial vehicle with tilt-wing mechanism

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations

Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism

In this work a dynamic model of a new quadrotor aerial vehicle that is equipped with a tilt-wing mechanism is presented. The vehicle has the capabilities of vertical take-off/landing (VTOL) like a helicopter and flying horizontal like an airplane. Dynamic model of the vehicle is derived both for vertical and horizontal flight modes using Newton-Euler formulation. An LQR controller for the vertical flight mode has also been developed and its performance has been tested with several simulations

Mathematical modeling and vertical flight control of a tilt-wing UAV

This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments

Application of Neural Networks to Estimate Common Mode (CM) Model Impedance Parameters in AC Drives

Predicting and solving EMI emissions related to Common Mode (CM) ones in inverter (including pulse with modulation (PWM) inverter)-induction motor drive systems requires various frequency-dependent effects to be considered. Thus, the application of filter circuitry to improve the performance per size and prevent dependency on some parameters of the motor for Electro-Magnetic Interference (EMl) filter is considered. The major problems are power line frequency rejection and the compensation of the feedback loop, which is influenced by the wide-ranging utility impedance. Thus, the proposed method allows another way to determine Common Mode (CM) impedance components as a beginning way and sample on the application stage of EMI filter to prevent the EMI noise applying to the conducted electromagnetic emissions generally caused by power supply firstly, then secondly to Common Mode (CM) path of the motor drive system