TY - GEN
T1 - Modeling, control and stabilization analysis on a two-link active tumbler system
AU - Niu, Sanku
AU - Deng, Hongbin
AU - Li, Jie
AU - Shen, Yantao
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Tumbler system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for designing coaxial helicopters without using stabilizer bar or flyer bar. The advantage of adopting a tumbler structure in coaxial helicopters is that it will replace traditional stabilizer bar or flyer bar to greatly stabilize flying attitude as well to reduce the structure complexity and volume size induced by stabilizer bars or flyer bars. In this paper, we start to study the nonlinear dynamic model of a two-link tumble system with a half circle shape at the bottom that will be extended to use in the design of a coaxial helicopter without using stabilizer bar. Based on the established model, magnitude-frequency characteristics and excited response are numerically simulated and evaluated. The PID controller is then designed for the tumbler system and dynamic responses of the controlled system are then extensively studied through simulations.
AB - Tumbler system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for designing coaxial helicopters without using stabilizer bar or flyer bar. The advantage of adopting a tumbler structure in coaxial helicopters is that it will replace traditional stabilizer bar or flyer bar to greatly stabilize flying attitude as well to reduce the structure complexity and volume size induced by stabilizer bars or flyer bars. In this paper, we start to study the nonlinear dynamic model of a two-link tumble system with a half circle shape at the bottom that will be extended to use in the design of a coaxial helicopter without using stabilizer bar. Based on the established model, magnitude-frequency characteristics and excited response are numerically simulated and evaluated. The PID controller is then designed for the tumbler system and dynamic responses of the controlled system are then extensively studied through simulations.
UR - https://www.scopus.com/pages/publications/84949927434
U2 - 10.1109/ROBIO.2014.7090332
DO - 10.1109/ROBIO.2014.7090332
M3 - Conference contribution
AN - SCOPUS:84949927434
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 211
EP - 216
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -