Browsing by Keyword "Optimal control"
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Item Control optimo de par para maquinas SynRM aplicadas a vehiculo electrico(2017) Trancho, Elena; Ibarra, E.; Arias, A.; Kortabarria, I.Las maquinas de reluctancia sincrona asistidas por imanes estan atrayendo un considerable interes como alternativa a las maquinas sıncronas de imanes permanentes para su uso en sistemas de propulsion de vehıculos electricos. El control optimo de estas maquinas (incluyendo operacion en debilitamiento de campo) puede resultar complejo, ya que estas son, por lo general, muy sensibles al fenomeno de la saturacion magnetica. En este articulo se trata su control, desde los reguladores hasta el precalculo de referencias de corriente optimas para todo el rango de operacion de la maquina. Finalmente, se muestran resultados experimentales obtenidos en una maquina de 51 kW.Item Enhancing VTOL Multirotor Performance With a Passive Rotor Tilting Mechanism(2021-04) Iriarte, Imanol; Iglesias, Inaki; Lasa, Joseba; Calvo-Soraluze, Hodei; Sierra, Basilio; INNOV_AIR_MOBILThis article discusses the benefits of introducing a simple passive mechanism to enable rotor tilting in Vertical Take-Off and Landing (VTOL) multirotor vehicles. Such a system is evaluated in relevant Urban Air Mobility (UAM) passenger transport scenarios such as hovering in wind conditions and overcoming rotor failures. While conventional parallel axis multirotors are underactuated systems, the proposed mechanism makes the vehicle fully actuated in SE(3), which implies independent cabin position and orientation control. An accurate vehicle simulator with realistic parameters is presented to compare in simulation the proposed architecture with a conventional underactuated VTOL vehicle that shares the same physical properties. In order to make fair comparisons, controllers are obtained solving an optimization problem in which the cost function of both systems is chosen to be equivalent. In particular, the control laws are Linear-Quadratic Regulators (LQR), which are derived by linearizing the systems around hover. It is shown through extensive simulation that the introduction of a passive rotor tilting mechanism based on universal joints improves performance metrics such as vehicle stability, power consumption, passenger comfort and position tracking precision in nominal flight conditions and it does not compromise vehicle safety in rotor failure situations.