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Mission-based guidance system design for autonomous UAVsMoon, Jongki 01 October 2009 (has links)
The advantages of UAVs in the aviation arena have led to extensive research activities on autonomous technology of UAVs to achieve specific mission objectives. This thesis mainly focuses on the development of a mission-based guidance system. Among various missions expected of UAVs for future needs, autonomous formation flight (AFF) and obstacle avoidance within safe operation limits are investigated.
In the design of an adaptive guidance system for AFF, the leader information except position is assumed to be unknown to a follower. Thus, the only measured information related to the leader is the line-of-sight range and angle. Adding an adaptive element with neural networks into the guidance system provides a capability to effectively handle leader's velocity changes. Therefore, this method can be applied to the AFF control systems that use passive sensing methods. The simulation and flight test results clearly show that the adaptive guidance control system is a promising solution for autonomous formation flight of UAVs. The successful flight evaluations using the GTMax rotary wing UAV also demonstrate unique maneuvering aspects associated with rotary wing UAVs in formation flight.
In the design of an autonomous obstacle avoidance system, an integrated approach is proposed to resolve the conflict between aggressive maneuvering needed for obstacle avoidance and the constrained maneuvering needed for envelope protection. A time-optimal problem with obstacle and envelope constraints is used for an integrated approach for obstacle avoidance and envelope protection. The Nonlinear trajectory generator (NTG) is used as a real-time optimization solver. The computational complexity arising from the obstacle constraints is reduced by converting the obstacle constraints into a safe waypoint constraint along with an implicit requirement that the horizontal velocity during the avoidance maneuver must be non-negative. The issue of when to initiate a time-optimal avoidance maneuver is addressed by including a requirement that the vehicle must maintain its original flight path to the maximum extent possible. The simulation results using a rotary wing UAV demonstrate the feasibility of the proposed approach for obstacle avoidance with envelope protection.
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Estrat?gia de controle robusto para filtro ativo paralelo sem detec??o de harm?nicos de correntesSousa, Raphaell Maciel de 11 February 2011 (has links)
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Previous issue date: 2011-02-11 / Conselho Nacional de Desenvolvimento Cient?fico e Tecnol?gico / Conventional control strategies used in shunt active power filters (SAPF)
employs real-time instantaneous harmonic detection schemes which is usually implements
with digital filters. This increase the number of current sensors on the filter structure
which results in high costs. Furthermore, these detection schemes introduce time delays
which can deteriorate the harmonic compensation performance. Differently from the conventional
control schemes, this paper proposes a non-standard control strategy which indirectly
regulates the phase currents of the power mains. The reference currents of system
are generated by the dc-link voltage controller and is based on the active power balance of
SAPF system. The reference currents are aligned to the phase angle of the power mains
voltage vector which is obtained by using a dq phase locked loop (PLL) system. The
current control strategy is implemented by an adaptive pole placement control strategy
integrated to a variable structure control scheme (VS?APPC). In the VS?APPC, the
internal model principle (IMP) of reference currents is used for achieving the zero steady
state tracking error of the power system currents. This forces the phase current of
the system mains to be sinusoidal with low harmonics content. Moreover, the current
controllers are implemented on the stationary reference frame to avoid transformations
to the mains voltage vector reference coordinates. This proposed current control strategy
enhance the performance of SAPF with fast transient response and robustness to parametric
uncertainties. Experimental results are showing for determining the effectiveness of
SAPF proposed control system / Resumo: As estrat?gias de controle convencionais de filtros ativos de pot?ncia paralelos
(FAPP) empregam esquemas de detec??o de harm?nicos em tempo real, usualmente
implementados com filtros digitais. Isso aumenta o n?mero de sensores na estrutura do
filtro, o que resulta em altos custos. Al?m disso, esses esquemas de detec??o introduzem
atrasos que podem deteriorar o desempenho da compensa??o de harm?nicos. Diferentemente
dos esquemas de controle convencionais, este artigo prop?e uma nova estrat?gia
de controle que regula indiretamente as correntes de fase da rede el?trica. As correntes
de refer?ncia do sistema s?o geradas pelo controle de tens?o do barramento CC e s?o
baseadas no balan?o de pot?ncia ativa do sistema FAPP. As correntes de refer?ncia s?o
alinhadas com o ?ngulo de fase do vetor tens?o da rede, que ? obtido usando um PLL
(Phase Locked Loop). O controle de corrente ? implementado por uma estrat?gia de
controle adaptativo por aloca??o de p?los, integrada com um esquema de controle com
estrutura vari?vel (VS?APPC). No VS?APPC, o princ?pio do modelo interno (IMP)
de refer?ncia ? usado para eliminar o erro em regime permanente das correntes do sistema.
Isso for?a as correntes de fase do sistema a serem senoidais e com baixo teor de
harm?nicos. Al?m disso, os controladores de corrente s?o implementados no referencial
estacion?rio para evitar transforma??es nas coordenadas de refer?ncia do vetor tens?o da
rede. Esta estrat?gia de controle de corrente melhora a performance do FAPP com uma
resposta transit?ria r?pida e robustez a incertezas param?tricas. Resultados experimentais
s?o mostrados para demonstrar a efic?cia do sistema de controle proposto para o FAPP
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