Įprasti elektromechaninių vykdymo sistemų dinamikos optimizavimo metodai – kiekybinis ir simetrinis optimumai turi savų privalumų bei trūkumų ir yra pagrįsti pastovios struktūros greičio reguliatoriais: proporciniu (P) ir proporciniu integruojančiu (PI). Siekiant suderinti kiekybinio ir simetrinio optimumų tiekiamus privalumus bei pašalinti jų trūkumus, užtikrindamas elektromechaninės vykdymo sistemos greičio dinaminį nuokrypį neviršijantį 5 % ir nulinį greičio statinį nuokrypį ištirtas P-PI valdymo dėsnio kintamos struktūros reguliatorius. Remiantis ITAE integraliniu kokybės rodikliu nustatyta geriausią elektromechaninės vykdymo sistemos dinamikos kokybę užtikrinanti greičio reguliatoriaus valdymo dėsnio perjungimo parametro priklausomybė nuo statinės apkrovos. Atlikti elektros pavaros su kintamos struktūros greičio reguliatoriumi veikimo imitacijos tyrimai MATLAB/Simulink programa. Nustatyta, kad P-PI kintamos struktūros reguliatorius užtikrina nuo 60,7 % iki 83,15 % geresnę elektromechaninės vykdymo sistemos dinamikos kokybę nei pastovios struktūros simetrinio optimumo reguliatorius (PI). Tačiau naudojant P-PI kintamos struktūros reguliatorių gaunama nuo 2,76 % iki 13,67 % blogesnė sistemos dinamikos kokybė nei PI-P-PI kintamos struktūros reguliatoriaus atveju. / Classical dynamics optimization methods of the electromechanical servo drives are the quantitative and symmetrical optimums. These methods have advantages and disadvantages and are based on the fixed structure velocity controllers – proportional (P) and proportional-integrating (PI). In order to coordinate the advantages and eliminate disadvantages of the quantitative and symmetrical optimum methods have been investigated the P-PI variable structure velocity controller in the electromechanical servo drive. The P-PI variable structure velocity controller ensures that the dynamic error does not exceed 5 % and enables avoiding the static velocity error. According to the ITAE (Integral of Time multiplied by Absolute Error) quality indicator it was determined the control law switching parameter dependence on the static load ensuring the best dynamical quality of the electromechanical servo system. The investigations have been accomplished simulating the electromechanical servo system with P-PI variable structure velocity controller using MATLAB/Simulink program. It has been determined that P-PI variable structure velocity controller ensures from 60,7 % to 83,15 % better dynamical quality of the electromechanical servo system compared to the fixed structure controller (PI) of the symmetrical optimum. But using P-PI variable structure velocity controller the dynamical quality declines from 2,76 % to 13,67 % compared to the PI-P-PI variable structure velocity controller.

A Tilt-Wing Unmanned Aerial Vehicle (TW-UAV) and the preliminary evaluation of its hovering characteristics in extended simulation studies and experiments are presented in this Master Thesis. In the beginning, an overview of the TW-UAV's design properties are established, highlighting the novelties of the proposed structure and the overall merits. The TW-UAV's design and structural properties are mathematically modelled and utilized for the synthesis of a cascaded P-PI and PID based control structure for the regulation of its hovering performance. In addition, extensive simulation trials are performed in order to evaluate the structure's efficiency in controlling the TW-UAV's attitude and position under various noise and disturbance scenarios. The model and aircraft are then put through experimental evaluation with an on-board processor, namely the KFly, in a Motion-capture equipped laboratory to evaluate the control structure and physical behaviour of the TW-UAV. The results of these experiments are presented and discussed. The system and control scheme are shown to work well. However, an unfortunate crash forced the premature termination of experimentation and thus the conclusion of this thesis. Nevertheless, the reason for the crash is understood and discussed for future work.

Submitted by Maria Suzana Diniz (msuzanad@hotmail.com) on 2015-11-12T13:26:59Z No. of bitstreams: 1 arquivototal.pdf: 1771439 bytes, checksum: 5a0ce436783e1a04419dc8a73bf4c204 (MD5) / Made available in DSpace on 2015-11-12T13:26:59Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 1771439 bytes, checksum: 5a0ce436783e1a04419dc8a73bf4c204 (MD5) Previous issue date: 2015-03-31 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / This work presents the designs and results obtained through simulation and experimental testing of conventional controllers P, PI and PID implemented by personal computers applied to an electropneumatic servomechanism for control of force. The system consists of a double acting pneumatic cylinder, which is responsible for applying the force on a mechanical subsystem consisting of a spiral spring, representing the means of working. The proportional electropneumatic flow valve, being the element controlling the flow of compressed air to be released into the pneumatic air cylinder which results in controlled force application; a load cell converts the force applied by the cylinder onto the medium into an electrical signal. The control signal to be applied on the electropneumatic proportional flow valve comes from a signal input and output plate installed on the computer, which is controlled by an algorithm implemented in the computing environment LabVIEW®, wherein the mentioned controllers are inserted, the mathematical representative model of the servomechanism was obtained by applying the parametric identification technique Box-Jenkins (BJ) which results in a family of four models, one of which is chosen to represent the system. The adjustment of the controllers is done by using the critical gain method of Ziegler and Nichols so that the response from the system meets the performance specifications imposed on it. Simulated and experimental results of the system are presented under the inserted controllers, which are analyzed according to relevant theory to the study of conventional controllers; it appears then that the PID controller is best suited for use in its electropneumatic servomechanism. / Neste trabalho apresenta-se os projetos e resultados obtidos através de simulações e ensaios experimentais de controladores convencionais P, PI e PID implementado por computador pessoal aplicado em um servomecanismo eletropneumático para controle de força. O sistema é constituído por um cilindro pneumático de dupla ação, sendo este responsável pela aplicação da força sobre um subsistema mecânico constituído por uma mola helicoidal, representando o meio de trabalho. A válvula eletropneumática proporcional de vazão, sendo o elemento de controle da vazão de ar comprimido a ser liberada para o cilindro pneumático que resulta na aplicação da força controlada; uma célula de carga converte a força aplicada pelo cilindro sobre o meio em sinal elétrico. O sinal de controle a ser aplicado na válvula eletropneumática proporcional de vazão é proveniente de uma placa de entrada e saída de sinais instalada no computador, sendo esta comandada por um algoritmo implementado no ambiente computacional LabVIEW®, no qual os referidos controladores estão inseridos. O modelo matemático representativo do servomecanismo foi obtido aplicando-se a técnica de identificação paramétrica Box-Jenkins (BJ) da qual resulta uma família de quatro modelos, dos quais um é escolhido para representar o sistema. O ajuste dos controladores é feito utilizando-se a técnica do ganho crítico de Ziegler e Nichols, de modo que a resposta do sistema atenda as especificações de desempenho impostas ao mesmo. Resultados simulados e experimentais do sistema são apresentados sob ação dos controladores inseridos, que são analisados de acordo com a teoria pertinente ao estudo dos controladores convencionais; verifica-se então que o controlador PID é o mais adequado para utilização no respectivo servomecanismo.