کنترل هیبریدی موقعیت و نیرو برای یک پاندول معکوس کروی متصل به کوادروتور در یک حرکت مقید

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران

2 دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز ، ایران

چکیده

امروزه استفاده از پهپادها برای انجام خودکار فعالیت‌هایی نظیر امور عمرانی، عملیات امداد و نجات و ماموریت‌های نظامی، با هدف افزایش سرعت و دقت، حفظ نیروی انسانی و کاهش هزینه‌ها در حال گسترش است. با توجه به این رویکرد، در این مقاله نیز با هدف استفاده از سیستم کوادروتور آونگ معکوس کروی برای انجام عملیاتی نظیر رنگ‌آمیزی و نظافت در سقف‌های مرتفع، مساله‌ی کنترل هیبریدی موقعیت و نیرو برای یک پاندول معکوس کروی متصل به کوادروتور که حرکت آن در راستای قائم مقید شده ‌است، مورد مطالعه قرار گرفته است. در این راستا، ابتدا با استفاده از قوانین نیوتن اویلر، معادلات حرکت حاکم بر سیستم کوادروتور آونگ معکوس در حالت مقید استخراج و سپس با ارائه‌ی مدلی برای نیروی مقید کننده، یک سیستم کنترلی سلسله مراتبی شامل حلقه‌ی کنترلی موقعیت نیرو، حلقه‌ی کنترلی جهت‌گیری پاندول معکوس و حلقه‌ی کنترلی جهت‌گیری کوادروتور، ارائه شده‌است. قوانین کنترلی حلقه‌ی کنترلی جهت‌گیری پاندول معکوس و حلقه‌ی کنترلی جهت‌گیری کوادروتور، با استفاده از مفاهیم مطرح در کنترل هندسی طراحی شده‌اند. در نهایت، عملکرد کنترل‌کننده طراحی شده توسط شبیه‌سازی‌ مورد بررسی قرار گرفته است.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Hybrid Position and Force Control for a Spherical Inverted Pendulum Connected to a Quadrotor in a Constrained Motion

نویسندگان [English]

  • Ali Soltani 1
  • Mohammad Hussain Kamari 2
1 صنعتی سهند-مهندسی مکانیک
2 Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran
چکیده [English]

Today, the use of drones to automate activities such as civil works, rescue operations, and military missions is expanding to increase speed and accuracy, retaining manpower and reducing costs. According to this approach, in this paper, hybrid control of position and force for a spherical inverted pendulum on top of a quadrotor whose motion is constrained in the vertical direction is studied to enable the quadrotor-spherical inverted pendulum system to perform operations such as painting and cleaning on high ceilings. In this regard, first using Newton-Euler laws, the equations of motion governing the quadrotor-inverted pendulum system in the constrained motion are extracted, and then by presenting a model for the constraint force, a hierarchical control system including position-force control loop, inverted pendulum orientation control loop and quadrotor orientation control loop is provided. Proposed Control laws for the inverted pendulum orientation control loop and the quadrotor orientation control loop are designed using some theorems of geometric control methods.  Finally, to study the performance of the proposed control method, some numerical simulations have been performed.

کلیدواژه‌ها [English]

  • Hybrid control
  • Quadrotor
  • Spherical inverted pendulum
  • Hierarchical control
  • Geometric control
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