مروری بر مدلسازی، پایداری و کنترل ربات‌های بال‌زن

نوع مقاله : علمی- ترویجی

نویسندگان

1 دانشگاه علم و صنعت

2 گروه کنترل دانشکده هندسی برق دانشگاه علم وصنعت ایران

چکیده

هواپیماهای بدون سرنشین بال‌زن با توجه به توانایی پرواز بدون صدا در سرعت‌های کم و قابلیت مانور زیاد در معرض توجه قرار گرفته‌اند. در این مقاله، با بررسی تاریخچة این موضوع و اهمیـت آن در زمینة علوم مهندسی، چگونگی بدست‌ آمدن نیروهای مورد نیاز برآی پرواز در بال زدن شرح داده می‌شود. پس از آن، با بررسی جوانب مختلف و ارائة معادلات، مدل مناسبی به منظور دست­یابی به اهداف کنترلی بدست می‌آید. با توجه به پیچیدگی سینماتیکی و دینامیکی بال‌زن­ها، مدل به دست آمده غیرخطی و متناوب می باشد. پایداری بال‌زن­ها که اغلب با استفاده از روش­های متوسط­گیری و نظریة فلوکه بررسی می­شود، شرح داده شده ­است. چالش‌های کنترلی مطرح شده و مناسب‌ترین رویکردهای کنترلی برای کنترل پرواز بال‌زن انتخاب می‌شود. با توجه به محدودیت در وزن ربات بال‌زن، انتخاب قطعات الکترونیکی نیز به عنوان یک چالش بررسی خواهد شد.

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