ジェット推進ロボティクス向け模型ジェットエンジンのモデリング・同定・制御
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
模型ジェットエンジンの非線形2次モデルをスパース同定とグレーボックス同定で構築し、フィードバック線形化とスライディングモード制御で推力制御を実現した。
著者: Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati, Silvio Traversaro, Daniele Pucci
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then the parameters of the model are found via gray-box identification procedures. Once the model has been identified, we approached the control of the model jet engine by designing two control laws. The first one is based on the classical Feedback Linearization technique while the second one on the Sliding Mode control. The overall methodology has been verified by modeling, identifying and controlling two model jet engines, i.e. P100-RX and P220-RXi developed by JetCat, which provide a maximum thrust of 100 N and 220 N, respectively.
