کنترل بهینه مبتنی بر برنامه‌ریزی مسیر حداقل انرژی برای یک کوادروتور

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران،

2 دانشکده مهندسی مکانیک

3 هیئت علمی/ دانشگاه شهید بهشتی پردیس فنی عباسپور

4 هیات علمی

چکیده

کوادروتورها مصرف انرژی بالایی دارند و حداقل کردن انرژی مصرفی آنها به سبب افزایش زمان و برد پروازی، حائز اهمیت می‌باشد. در این مقاله، به منظور بیشینه کردن زمان عملیاتی کوادروتور، کنترل بهینه مبتنی بر الگوریتم برنامه‌ریزی مسیر حداقل انرژی برای حرکت بین دو موقعیت ارائه می‌شود. برای نیل به این هدف، ابتدا معادلات دینامیکی کوادروتور و موتور استخراج شده، سپس با معرفی انرژی کل مصرفی باتری بعنوان تابع هزینه و استفاده از تئوری کنترل ِ بهینه، مسیر حداقل انرژی تعیین می‌شود. قیود نیز از طریق ضرایب لاگرانژ به معادلات همیلتونین اضافه شد. در انتها نتایج شبیه‌سازی با نتایج پروفیل سرعت ذوزنقه‌ای مرسوم، مقایسه شده که ذخیره انرژی تا چهار درصد را نشان می‌دهد. نتایج نشان می‌دهند که مدت پرواز نسبت به طول مسیر تاثیر بیشتری در مصرف انرژی دارد. به منظور اعتبارسنجی، نتایج شبیه‌سازی با نتایج یک مدل آزمایشگاهی شامل موتور براشلس، سنسور و برد کنترلی مقایسه شده که نشان از نزدیکی نتایج شبیه‌سازی‌ها با مدل واقعی دارد. همچنین با استفاده از نتایج شبیه‌سازی در وضعیت‌های مختلف، یک رابطه کمی بین طول مسیر و مدت پرواز با میزان مصرف انرژی استخراج شده که می‌تواند در تخمین حداکثر برد یا مدت پرواز با توجه به میزان انرژی باتری بسیار سودمند باشد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Optimal Control Based on Minimum-Energy Trajectory Planning of a Quadrotor

نویسندگان [English]

  • mahmood mazare 1
  • ehsan davoodi 2
  • Mostafa Taghizadeh 3
  • mahdi pourgholi 4
1 School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran.
2 school of mechanical engineering
3 shahid beheshti university
4 school of electrical engineering
چکیده [English]

Quadrotors have high energy consumption, hence minimizing their energy consumption plays a crucial role in terms of enhancing their operational range and flight time. In this paper, optimal control based on a minimum-energy trajectory planning algorithm has introduced between two positions to maximize the operation time. To do this, first, dynamic equations of a quadrotor and brushless motor are derived. Energy consumption of quadrotor is introduced as a cost function and the minimum energy path is determined using the optimal control theory. All constraints are combined with the Hamiltonian equation using Lagrange multiplier. Finally, simulation results are compared with results of conventional trapezoidal velocity profile which shows energy saving up to 4%. Also, results reveal that the influence of operation time is far more than path length on energy consumption. In order to verify the validity of the simulation results, they are compared with the results of an experimental model which is consisting of brushless motor, sensor, and control board. As well as using simulation results in different situations, a mathematical equation was extracted among path length, operation time and energy consumption which can be useful to estimate the maximum flight range or operation time considering the amount of energy of the battery.

کلیدواژه‌ها [English]

  • Quadrotor
  • Minimum energy trajectory
  • Optimal control
  • Hamiltonian equations

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نشریه مهندسی مکانیک امیرکبیر
دوره 52، شماره 5
مرداد 1399
صفحه 1349-1364

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