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stabilization control of a hovering model insect:lateral motion

Acta Mechanica Sinica 2011年第5期27卷 823-832页

作者： Yan-Lai Zhang Mao Sun Ministry-of-Education Key Laboratory of Fluid Mechanics Beihang University 100191 Beijing China

Our previous study shows that the lateral disturbance motion of a model drone fly does not have inherent stability （passive stability）,because of the existence of an unstable divergence *** drone flies are observed to fly *** active control must be applied to stabilize the *** this study,we investigate the lateral stabilization control of the model drone *** method of computational fluid dynamics is used to compute the lateral control derivatives and the techniques of eigenvalue and eigenvector analysis and modal decomposition are used for solving the equations of *** analysis shows that although inherently unstable,the lateral disturbance motion is *** feeding back the state variables （*** translation velocity,yaw rate,roll rate and roll angle,which can be measured by the sensory system of the insect） to produce anti-symmetrical changes in stroke amplitude and/or in angle of attack between the left and right wings,the motion can be stabilized,explaining why the drone flies can fly stably even if the flight is passively unstable.

关键词： Hovering drone fly Lateral motion Flight stability stabilization control Modal analysis

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Analysis and stabilization control of a voltage source controlled wind farm under weak grid conditions

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Frontiers in Energy 2022年第6期16卷 943-955页

作者： Shun SANG Chen ZHANG Jianwen ZHANG Gang SHI Fujin DENG School of Electrical Engineering Nantong UniversityNantong 226019China Key Laboratory of control of Power Transmission and Conversion of the Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China School of Electrical Engineering Southeast UniversityNanjing 210096China

This paper investigates and discusses the interaction stability issues of a wind farm with weak grid connections,where the wind turbines(WTs)are controlled by a new type of converter control strategy referred to as the voltage source(VS)*** primary intention of the VS control method is to achieve the high-quality inertial response capability of a single ***,when it is applied to multiple WTs within a wind farm,its weakgrid performance regarding the stability remains concealed and needs to be *** this end,a frequency domain model of the wind farm under the VS control is first *** on this model and the application of a stability margin quantification index,not only the interactions between the wind farm and the weak grid but also those among WTs will be systematically assessed in this paper.A crucial finding is that the inertial response of VS control has negative impacts on the stability margin of the system,and the dominant instability mode is more related to the interactions among the WTs rather than the typical grid-wind farm *** on this knowledge,a stabilization control strategy is then proposed,aiming for stability improvements of VS control while fulfilling the demand of inertial ***,all the results are verified by time-domain simulations in power systems computer aided design/electromagnetic transients including DC(PSCAD/EMTDC).

关键词： weak grids voltage source(VS)control wind turbine(WT) stabilization control wind farm inertial response

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stabilization of Underactuated Surface Vessel Based on Backstepping control Method

Stabilization of Underactuated Surface Vessel Based on Backs...

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2015年中国智能自动化学术会议

作者： Chuang Zhang Chen Guo Navigation College Dalian Maritime University

To address the problem of stabilization of underactuated surface vessels with parameter uncertainties and external disturbances,a stabilization control based on backstepping control method is designed,First,the conditions can make the system globally stable and prove the correctness of existing conditions using diffeomorphism *** the original stabilization problem can be changed into an equal new one,and backstepping method is used to construct the controller of the stabilization *** controller has global asymptotic ***,simulations of the stabilization control for the underactuated surface vessel with disturbances or without disturbances are *** validate the effectiveness of the proposed method.

关键词： Underactuated surface vessels stabilization control Backstepping Global asymptotic stabilization

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Wing Modulation and Aerodynamics of Hoverflies in Gust Perturbations

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Journal of Bionic Engineering 2023年第2期20卷 711-721页

作者： Yanlai Zhang Mancang Gu Jianghao Wu School of Transportation Science and Engineering Beihang UniversityBeijing100191China

Flapping-Wing Micro-Air Vehicles are likely to suffer from airflow *** can mimic the wing modulation of insects in airflow ***,our knowledge of wing modulation of insects to airflow perturbations remains ***,we subjected hoverflies to headwind and lateral gust perturbations and filmed their wing ***,computational fluid dynamics was employed to estimate the effects of hoverflies’wing kinematic *** also clipped off the antennae of hoverflies to test whether the wing kinematic modulations were *** show that hoverflies increase the mean positional angle and modulate the deviation angle to make the wing tip paths of upstroke and downstroke close to compensate for the pitch moment perturbations in the headwind *** employ asymmetric responses in positional angle in the lateral *** stroke amplitude of the left(right)wing increases(decreases)and the mean positional angle of the left(right)wing decreases(increases)during the right lateral *** have little effect on the wing kinematic modulations in the lateral *** asymmetric responses produce a roll moment,tilting the body to resist the side force generated by the *** is a typical helicopter model employed by hoverflies to alleviate the *** results provide insight into the remarkable capacity of hoverflies to contend with gusts and can also inspire the design of flapping-wing micro-air vehicles.

关键词： Insect flight stabilization control Wing modulation Gust perturbations Flapping-wing micro-air vehicles Bionic robot

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Three-Dimensional Trajectory Tracking control of Underactuated Autonomous Underwater Vehicles with Input Saturation

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Journal of Shanghai Jiaotong university(Science) 2020年第4期25卷 470-477页

作者： HUANG Hantao ZHOU Jingye DI Qing ZHOU Jiawei LI Jiawang Faculty of Maritime and Transportation Ningbo UniversityNingbo 315211ZhejiangChina

This paper addresses a three-dimensional(3D)trajectory tracking problem of underactuated autonomous underwater vehicles(AUVs)subjected to input saturation and external *** proposed controller can achieve practical convergence of tracking errors for general reference trajectories,including persistently exciting(PE)time varying trajectories and fixed *** first,a modified error state formulation is introduced to tackle the situation that desired velocities do not satisfy PE ***,on the basis of the backstepping technique and a Nussbaum-type even function,a saturated controller is designed so that the tracking errors can converge to a bounded neighborhood of the *** stability analysis based on Lyapunov theory shows that the tracking errors are globally ultimately uniformly ***,some simulation results illustrate the effectiveness and robustness of the proposed control strategy.

关键词： underactuated autonomous underwater vehicles(AUVs) trajectory tracking control stabilization control input saturation Nussbaum-type function

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Development of a Stabilized Pan/Tilt Platform and the State of the Art

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Journal of Mechanics Engineering and Automation 2013年第10期3卷 618-626页

作者： Mehmet Burcak Ozkok Ali Osman Boyacl Meteksan Defense Ind. Inc. Cyberpark Bilkent Ankara 06800 Turkey

In the context of this paper, a small scale, medium precision, stabilized pan/tilt platform is developed as a prototype, which is used to compare various stabilization algorithms experimentally. The overall performance of the system depends on rigid body dynamics, structural dynamics, servo control loops, stabilization control algorithm, sensor fusion algorithm and sensory feedback such as from the IMU （inertial measurement unit）. In the case that the response bandwidth of the overall system is high enough, the same hardware can also achieve active vibration isolation. All of these design aspects are investigated in the paper via numerical models and with their experimental verification.

关键词： Stabilized pan/tilt platform active vibration isolation stabilization control sensor fusion inertial measurement unit

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