Certifiable L1 adaptive control for helicopters:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Göttingen
Cuvillier Verlag
2016
|
| Ausgabe: | 1. Auflage |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | xiii, 225 Seiten Diagramme |
| ISBN: | 9783736992818 |
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| 264 | 1 | |a Göttingen |b Cuvillier Verlag |c 2016 | |
| 300 | |a xiii, 225 Seiten |b Diagramme | ||
| 336 | |b txt |2 rdacontent | ||
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| 338 | |b nc |2 rdacarrier | ||
| 502 | |b Dissertation |c Technische Universität München |d 2016 | ||
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Datensatz im Suchindex
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|---|---|
| adam_text | C ONTENTS
LIST O F F IGURES VIII
A CRONYM S XI
N O TA TIO N AND SYM BOLS XII
1 IN TROD U CTION 1
1.1 M
OTIVATION............................................................................................................
1
1.2 CONTROLLER REQUIREMENTS AND OBJECTIVES
........................................................ 3
1.3 CHAPTER
OVERVIEW................................................................................................
5
1.4 CONTRIBUTIONS OF THIS T H E S IS
.............................................................................
6
2 B ACKGROUND 8
2.1 HELICOPTER D Y N AM ICS
.........................................................................................
8
2.2 SYSTEM D
ESCRIPTION.............................................................................................
12
2.3 OFFLINE SYSTEM
IDENTIFICATION.............................................................................
14
2.4 THE BASELINE CONTROLLER
...................................................................................
16
2.5 INTRODUCTION TO
-LI-CONTROL................................................................................
26
2.5.1 THE ID E A
...................................................................................................
26
2.5.2 EXPLANATION TO THE PIECE-WISE CONSTANT ADAPTIVE L A W
................... 32
2.5.3 INTRODUCTION TO OUTPUT FEEDBACK FOR NON-SPR DESIRED DYNAMICS . 34
2.5.4 PERFORMANCE EFFECTS OF THE PREDICTION ERROR: ISSUES AND SOLUTIONS
. 35
2.5.5 PERFORMANCE AND
ROBUSTNESS.................................................................
37
2.6 AUGMENTING AND STANDALONE /^-CONTROLLERS
....................................................
38
2.7 INTERNAL MODEL BASED C O N TRO
L..........................................................................
42
3 D ESIGN O F TH E INPUT C HANNEL TO TH E P RED ICTOR 45
3.1 INPUT SIGNAL M ERGING
.........................................................................................
45
3.2 T R I M
.....................................................................................................................
47
3.3 DECOUPLING OF
CROSS-COUPLINGS..........................................................................
47
3.4 STRUCTURE
............................................................................................................
48
3.5 MODELING OF RESPONSE L
AGS................................................................................
51
4 I-C O N TRO L FOR P ITCH , R OLL, YAW 53
4.1 IN G
ENERAL............................................................................................................
53
4.2 STATE F E E D B A C K
...................................................................................................
54
4.3 OUTPUT F
EEDBACK...............................................................................................
56
4.4 OUTER LOOPS FOR THE STANDALONE /^ -C O N TRO LLE R
..............................................
58
5 I-C O N TRO L FOR V ERTICAL SPEED IN HOVER 61
5.1 B
ACKGROUND........................................................................................................
61
5.2 CONTROLLER C O R E
..................................................................................................
62
5.3 COMMAND SIGNAL
PROCESSING.............................................................................
64
5.4 EXTENSIONS AND
ENHANCEMENTS..........................................................................
66
5.5 ALTERNATIVE S TRU C TU
RE.........................................................................................
67
6 C ERTIFICATION STRA TEG Y 68
6.1
INTRODUCTION........................................................................................................
68
6.2 CORE R
EASONING..................................................................................................
69
6.3 ADDITIONAL SUPPORTIVE CRITERIONS
.................................................................... 71
7 SIM ULATION R ESU LTS 74
7.1 FREQUENCY DOMAIN: BASELINE CONTROLLER
..........................................................
76
7.2 FREQUENCY DOMAIN: AUGMENTATION WITH STATE
FEEDBACK............................... 78
7.3 FREQUENCY DOMAIN: STANDALONE /^-CONTROL IN STATE FEEDBACK
....................
80
7.3.1 RAW ADAPTIVE L A W
..............................
80
7.3.2 RECURSIVE ADAPTIVE L A W
.......................................................................
82
7.4 FREQUENCY DOMAIN: STANDALONE /^-CONTROL IN OUTPUT F EED B A CK
.................
84
7.5 TIME DOMAIN: STANDALONE /^-CONTROL IN STATE FEEDBACK - RAW ADAPTIVE
LAW 86
7.6 VERTICAL SPEED
CONTROLLER...................................................................................
87
8 C ONCLUSION AND FUTURE W ORK 88
8.1
CONCLUSION...........................................................................................................
88
8.2 FUTURE W
ORK........................................................................................................
91
A D EFINITIONS 92
A.L GENERAL D
EFINITIONS............................................................................................
92
A.2 COORDINATE F RA M E S
............................................................................................
96
B A LTERN ATIVES FOR D ECOU P LIN G O F C ROSS-C OUPLINGS IN A U GM EN
TATION 98
C /ZOO-STABILITY 100
C.L INTRODUCTION AND C
ONDITIONS............................................................................
100
C.2 PROOF OF THEOREM
C.1.1......................................................................................
100
D E QUIVALENT S TATE FEEDBACK S YSTEM S 102
E PERFORM ANCE B OU N D S IN S TA TE FEEDBACK 104
E.L DEFINITIONS, ASSUMPTIONS, D
ESCRIPTIONS..........................................................
105
E.2 REFERENCE S Y STE M
...............................................................................................
I L L
E.3 CORE P
ROOF...........................................................................................................
112
E.4 PROOF OF L E M M A
S...............................................................................................
117
E.4.1 PROOF OF LEMMA E.2.1
............................................................................
117
E.4.2 PROOF OF LEMMA E.3.1
............................................................................
118
E.4.3 PROOF OF LEMMA E . 3 . 2
............................................................................
120
E. 4.4 PROOF OF LEMMA E . 3 . 3
......................................................................
121
E. 5 ALTERNATIVE, RECURSIVE ADAPTIVE L A W
............................................................. 122
F PERFORM ANCE B OU N D S IN O U TP U T FEEDBACK FOR N O N -S P R D
ESIRED D YN AM
ICS W ITH A R ECURSIVE A D A P TIV E LAW 126
F. L DEFINITIONS, ASSUMPTIONS, D
ESCRIPTIONS..........................................................
127
F.2 REFERENCE S Y STE M
...............................................................................................
136
F.3 CORE PROOF IN INITIAL BROKEN-LOOP M O D E
....................................................... 136
F.4 CORE PROOF IN STANDARD CLOSED-LOOP M O D
E.................................................... 148
F.5 PROOF OF L E M M A
S...............................................................................................
160
F. 5.1 PROOF OF LEMMA F.1.1
......................................................................
160
F.5.2 PROOF OF LEMMA F.L.2
............................................................................
165
F.5.3 PROOF OF LEMMA F.L.3
............................................................................
165
F.5.4 PROOF OF LEMMA F.2.1
............................................................................
165
F.5.5 PROOF OF LEMMA F.3.1
............................................................................
167
F.5.6 PROOF OF LEMMA F.3.2
............................................................................
168
F.5.7 PROOF OF LEMMA F.4.1
............................................................................
168
F.5.8 PROOF OF LEMMA F.4.2 AND LEMMA F.3.3
.............................................
170
F.5.9 PROOF OF LEMMA F.4.3
..........................................................................
172
F.5.10 PROOF OF LEMMA F.5.1
..........................................................................
173
F.5.11 PROOF OF LEMMA F.5.2
..........................................................................
175
G SIGNAL H EDGING W ITH S ATU RATION 176
0.1 INTRODUCTION AND C
ONDITIONS............................................................................
176
0.2 PROOF OF THEOREM 0.1.1 177
H T HE E FFECT O F A$P ON |5|, XREF * X , XREF * X 179
H.L D ESC RIP TIO N
........................................................................................................
179
H.2 E XAM
PLE..............................................................................................................
180
H. 3 E
XPLANATION.................................................................................................
182
I C ONTROLLER R OB U STN ESS AGAINST T IM E S TEP V ARIATIONS 187
I. 1 D ESC RIP TIO N
........................................................................................................
187
1.2 E XAM
PLE...............................................................................................................
188
1.3 E
XPLANATION............................................................................................
189
J C ONTROLLER R OB U STN ESS AGAINST M EASUREM ENT N O ISE 191
J.L D ESC RIP TIO N
........................................................................................................
191
J.2 E XAM
PLE..............................................................................................................
193
J.3 PROOF OF THEOREM J.L. 1
.....................................................................................
196
J.4 PROOF OF THEOREM J .L.2
.....................................................................................
197
J.5 PROOF OF THEOREM J .L.3
.....................................................................................
197
K M ODELING O F INERTIA E FFECTS W ITH A G YROSCOPIC TERM 199
L A LTERN ATIVE P RED ICTOR IN AN ERROR SPACE 201
M A LTERN ATIVE S TA TE P RED ICTOR E NCLOSING B ASELIN E C ONTROLLER S
TA TES 203
M.L
DEFINITIONS...........................................................................................................
203
M.2 CORE STATEMENTS
............................................................................................
204
M.3 NECESSITY OF THE ALTERNATIVE P
REDICTOR.............................................................
207
M.4 PROOF OF THEOREM M.3.1
...................................................................................
207
M.5 E XAM
PLE..............................................................................................................
209
N E XAM PLES O F P RACTICAL V ERIFICATION AND FALSIFICATION 212
O SIM ULATION S ETU P 215
0.1 C O N C E P
T..............................................................................................................
215
0.2 STRUCTURE
...........................................................................................................
216
0.3 PARAMETER SCHEDULING IN STATE F EED B A CK
......................................................
218
0.4 A C TU A TO RS
...................................................................
-
.....................................
218
0.5 NOISE M
ODELING.................................................................................................
220
0.6 M
ISCELLANEOUS.....................................................................................................
220
B IBLIOGRAPHY
222
|
| any_adam_object | 1 |
| author | Bichlmeier, Magnus |
| author_facet | Bichlmeier, Magnus |
| author_role | aut |
| author_sort | Bichlmeier, Magnus |
| author_variant | m b mb |
| building | Verbundindex |
| bvnumber | BV043696935 |
| classification_tum | VER 500d |
| ctrlnum | (OCoLC)956315694 (DE-599)BVBBV043696935 |
| discipline | Verkehrstechnik |
| edition | 1. Auflage |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV043696935 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T07:32:47Z |
| institution | BVB |
| isbn | 9783736992818 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029109473 |
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| physical | xiii, 225 Seiten Diagramme |
| publishDate | 2016 |
| publishDateSearch | 2016 |
| publishDateSort | 2016 |
| publisher | Cuvillier Verlag |
| record_format | marc |
| spelling | Bichlmeier, Magnus Verfasser aut Certifiable L1 adaptive control for helicopters Magnus Bichlmeier 1. Auflage Göttingen Cuvillier Verlag 2016 xiii, 225 Seiten Diagramme txt rdacontent n rdamedia nc rdacarrier Dissertation Technische Universität München 2016 L1-Norm (DE-588)4381576-5 gnd rswk-swf Zustandsrückführung (DE-588)4191173-8 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Hubschrauber (DE-588)4025993-6 gnd rswk-swf Ausgangsrückführung (DE-588)4250182-9 gnd rswk-swf Adaptivregelung (DE-588)4000457-0 gnd rswk-swf Flugmechanik (DE-588)4154760-3 gnd rswk-swf Flugsimulator (DE-588)4113587-8 gnd rswk-swf Flugregelung (DE-588)4328094-8 gnd rswk-swf Robuste Regelung (DE-588)4206985-3 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Hubschrauber (DE-588)4025993-6 s Flugmechanik (DE-588)4154760-3 s Flugregelung (DE-588)4328094-8 s Adaptivregelung (DE-588)4000457-0 s L1-Norm (DE-588)4381576-5 s Robuste Regelung (DE-588)4206985-3 s Reglerentwurf (DE-588)4177447-4 s Ausgangsrückführung (DE-588)4250182-9 s Zustandsrückführung (DE-588)4191173-8 s Flugsimulator (DE-588)4113587-8 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029109473&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Bichlmeier, Magnus Certifiable L1 adaptive control for helicopters L1-Norm (DE-588)4381576-5 gnd Zustandsrückführung (DE-588)4191173-8 gnd Reglerentwurf (DE-588)4177447-4 gnd Hubschrauber (DE-588)4025993-6 gnd Ausgangsrückführung (DE-588)4250182-9 gnd Adaptivregelung (DE-588)4000457-0 gnd Flugmechanik (DE-588)4154760-3 gnd Flugsimulator (DE-588)4113587-8 gnd Flugregelung (DE-588)4328094-8 gnd Robuste Regelung (DE-588)4206985-3 gnd |
| subject_GND | (DE-588)4381576-5 (DE-588)4191173-8 (DE-588)4177447-4 (DE-588)4025993-6 (DE-588)4250182-9 (DE-588)4000457-0 (DE-588)4154760-3 (DE-588)4113587-8 (DE-588)4328094-8 (DE-588)4206985-3 (DE-588)4113937-9 |
| title | Certifiable L1 adaptive control for helicopters |
| title_auth | Certifiable L1 adaptive control for helicopters |
| title_exact_search | Certifiable L1 adaptive control for helicopters |
| title_full | Certifiable L1 adaptive control for helicopters Magnus Bichlmeier |
| title_fullStr | Certifiable L1 adaptive control for helicopters Magnus Bichlmeier |
| title_full_unstemmed | Certifiable L1 adaptive control for helicopters Magnus Bichlmeier |
| title_short | Certifiable L1 adaptive control for helicopters |
| title_sort | certifiable l1 adaptive control for helicopters |
| topic | L1-Norm (DE-588)4381576-5 gnd Zustandsrückführung (DE-588)4191173-8 gnd Reglerentwurf (DE-588)4177447-4 gnd Hubschrauber (DE-588)4025993-6 gnd Ausgangsrückführung (DE-588)4250182-9 gnd Adaptivregelung (DE-588)4000457-0 gnd Flugmechanik (DE-588)4154760-3 gnd Flugsimulator (DE-588)4113587-8 gnd Flugregelung (DE-588)4328094-8 gnd Robuste Regelung (DE-588)4206985-3 gnd |
| topic_facet | L1-Norm Zustandsrückführung Reglerentwurf Hubschrauber Ausgangsrückführung Adaptivregelung Flugmechanik Flugsimulator Flugregelung Robuste Regelung Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029109473&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT bichlmeiermagnus certifiablel1adaptivecontrolforhelicopters |