Translational Heading Control of a Hovering Platform

Translational Heading Control of a H overing PlatformTranslational Heading Control of a Hovering Platform utilise Multiple Control LogicThe main(pre nary(pre noneinal)inal) objective of this project is to image an attitude withstand system of a nonlinear and unstable system, which is a Hovercraft, a machine that washbowl light upon on the land or water, and it is supported by cushion that has high compressed propagate inside. emplacement retain of the ground-effect machine is considered a major challenge because of the friction offered by skirt and the aircushion. The main idea of this project is the development of a radiocommunication makeled ground-effect machine testbed connected to a computer.The proposed assert scheme for the attitude stabilization volition be based upon Proportional-Integral-Derivative (pelvic inflammatory disease) and hairy Logic for the resemblance of short response, steady-state error and input output constraints satisfaction by the u ser. Thus ensuring if all disturbances atomic number 18 inflicted on the hovercraft, the ascendancys allow be able to maintain the in demand(p) position. The reference for the attitude instruction go away be provided from the computer. The magnetometer go away measure the attitude in documentary- fourth dimension and controllers forget be utilize on myRIO.TABLE OF ContentsDeclarationFinal Year makeAcknowledgementsAbstractCHAPTER 1INTRODUCTION1.1 chuck Framework1.2 Objectives1.3 Scope1.4 report card StructureCHAPTER 2LITERATURE REVIEW2.1 Recent orbitReferences1.1 Project FrameworkThe hovercraft is a fascinating ground vehicle that possesses the quaint ability to float above land or water. Riding on a cushion of air endows the hovercraft with numerous interesting and utilitarian properties. Unlike wheeled robots, which feature constrained kinematics, the hovercraft can move freely in any direction. For example, although the lateral direction of travel is non usually actuated, the hovercraft is completely free to move sideways. In addition, the nose candy damping acting on a hovercraft is minimal.The translational and attitude control perception of a hovercraft can be protracted to many control uses. A hovercraft that can rotate and attains a desired position while being planetary at the corresponding era is knowing and developed using motors, H-bridge motor driver, battery, magnetometer and NI myRIO. The controllers are intentional using the software NI LabVIEW, which are then compiled and burn down on a NI hardware myRIO.The purpose of the control is to calculate the attitude of the platform with the help of sensors. Thus resulting in the use of the achieve information from the sensors to make the propellers rotate in the required direction to verify or alter the position of the hovercraft. An angular position based on the response of the control will be provided to the magnetometer.The response of the control will be transmitted thr ough the Pulse Width Modulation (PWM) control, which will either make the dc motors work clockwise or contraclockwise for the translation, and attitude control of the hovercraft. These values are then added and returned to the actuator, which requires this for the production a counter torque use to set the required position of the ready hovercraft. groggy Logic and pelvic inflammatory disease controllers both will be enforced and utilise for this project where a detailed comparison will overly be performed between the deuce using NI LabVIEW software and NI myRIO hardware.1.2 ObjectivesThe aim is to develop the proposed controlled strategy for the attitude and translational control of a hovercraft, which will be based upon PID, and Fuzzy Logic set with myRIO that will measure and compute the comparison of transient response, steady-state error, and input output constraints by the user and other key parameters. All the controllers will be designed in NI LabVIEW and implemented on NI myRIO. increase of a testbed based upon multi-rotor hovercraft.Control of translational and rotational movements through wireless link.Development and examen of PID controller for the attitude control of Hovercraft.Development and testing of Fuzzy controller for the attitude control of Hovercraft.Performance comparison (Transient response, bill cartridge holder, settling time, steady-state error) of above mentioned controllers.1.3 ScopeThe opportunities for gaining knowledge through this project will be apply material available easily for the development of the mobile hovercraft.Translational and heading Control of the hovercraft using NI LabVIEWUsing a magnetometer for the measurement of the incline along Z-axis.Understanding the workings of translational and heading control and interfacing sensors at the same time.Using NI myRIO as the mainboard of the mobile hovercraft.Implementation of PID ascendency on NI myRIO.Use of PID for the attitude control of the hovercraft.Imple mentation of Fuzzy Controller on NI myRIO.Use of Fuzzy Controller for the attitude control of the hovercraft.Measuring the Key Parameters (transient response, steady-state error etc.) of both the controllers.Performing a comparison between both the balancing controllers.1.4 Report StructureAs a summary, the flow of this report is briefly described belowChapter 1 incoming that provides the background, objectives and scope of the Project.Chapter 2 Literature review of the recent studies based on this project. Also contains a brief description of the incompatible concepts employ.2.1 Recent StudyHovercraft is an air cushion vehicle, ACV, equipped for voyaging over land, water, mud or ice and different surfaces 1. Many control techniques surrender been used to via media for issues like computer torque methods 2, developed on the foundation of PID feedback 3 4. Optimal control 5, accommodative control 6, variable structure control (VSC) 7, uneasy networks (NNs), and fuzzy systems 8 are a few of the recommended control techniques. On the other hand, these strategies are only possible when the mechanical dynamic forces of the hovercraft are well cognize. A detailed study on the two above mentioned controller techniques i.e. PID and Fuzzy will be carried out for the control of the mobile platform.A hovercraft is not quite the same as other more ordinary, earthbound vehicle in that it requires no surface foregather for footing and it can move unreservedly over an assortment of surface while bolstered ceaselessly on a self-produced pad of air. Researches have been made to concentrate the outline qualities and working restrain of the air cushion vehicle, and utilize standard estimations to decide the lift powers required. The measurements of the air slew created are likewise computed particularly. The push powers required are tremendously lessened because of the decrease in frictional strengths 1.A famous spotter named Christopher Cockrell in 1955 devised the idea of hovercraft. It is a new means of transportation. The hovercraft is different from other transportation vehicles in a way that it has no contact with the ground and it rides on a cushion of air hence known as Air-Cushion-Vehicle (ACV). He carried out a set of experiments to observe and observe the force that an air jet could produce. Encouraged by the results he designed and made a simple hovercraft, which was a ordered series with a hole in the middle. A fan supplied the airflow through the hole lifting the plate off the ground. This design was far from optimal. The pressure of the fan was not used efficiently and obstacles in the surface were a problem. After this first design, the hovercraft has undergone a lot of development. British government provided funding for the development of hovercrafts because they see possibilities to use it for military purposes. In 1959, the first hovercraft prototype get across the English Channel. In 1962, a passenger service by hovercr aft began. The largest passenger hovercraft in the world is used for the Dover to Calais crossing. It can carry 380 passengers and 40 cars. It can attain a speed of 70 mph (miles per hour), which makes it one of the fastest ferries in the world 9.In a research write up the condition, Michael McPeake discussed about the history of the hovercraft in 2004. The cause discussed the very early hovercraft used named SR.N1. This hovercraft was considered the first real craft because most of the other hovercrafts at that time resembled the planes. The skirt size used on this sticker was 6 inches long and later to conjure up the speed they shortened the skirt size to 4.5 inches and converting to gas turbine engines hence this doubled the speed of the hovercraft. In the book written by R. M. W. Sanders, the author used Electro Cruiser, an amphibious hovercraft as his experimental model. In order to canvass the hovercraft model, the author derived a dynamical model of the hovercraft wit h the freshton-Euler method. The author only conducted the simulation study and not tested the controller strategy with the real hardware 9.The U.S Naval Army used the hovercraft in Vietnam. For two years, they used hovercraft against the Vietnamese guerrillas and for ground combat. The hovercraft model they used named SR-5. After the war, the last SK-5 became a showpiece at museum 9.At the University of Moratuwa, a project was carried out in which they made a testbed to psychoanalyze the potential capabilities of a hovercraft 10. The students at University of Illinois at Urbana-Champaign overly have made a hovercraft testbed for Cooperative control 11.From the study of paper Comparison between PID And Fuzzy Controllers Used In ready Robot Control, where a comparison has been performed between the concerned controllers, it is known that the main issue in the fuzzy controller is that it get words a longer time for computation as compared to the PID controller. The reason for this delay is due to the fuzzification of the inputs, unhurriedness of the experiment through inference and defuzzification of the outputs 12.In paper Amphibious hovercraft course control based on support transmitter machines adaptive PID, adaptive PID controller based on support vector machines (SVM) is applied in the course control of a hovercraft, scarcely no comparison was performed using other controllers. This control technique demonstrates that the controller designed accomplishes high dynamic and enduring exhibitions, which brings another viable technique to take care of the issue of air cushion vehicle course control 13.Other techniques like two-dimensionality based approach, dynamic feedback control and neural networks are applied as supplementary controllers to aid the PID controller by refining the forces against the turmoil 14.Fuzzy Logic has been applied in the paper Fuzzy reasoning as a control problem, but no hardware experimentation has been performed. Fuzzy logic is commonly used for characterizing human speech terms into mathematical expressions for the controlling of a system. The step taken to form the optimal rules for this logic are rather time consuming. Despite this drawback, this controller operates better than PID controllers due to their non-linear functions, which therefore blend in to infinite advantages 15.Although many comparisons have been performed over the years between PID and Fuzzy Controllers. The goal of this bachelor project is to set up a feedback controlled laboratory hovercraft using NI myRIO as a real time controller. Apart from control, designing the electrical and mechanical system for this hovercraft is also a part of the assignment.1V. Abhiram, A Study On Construction and works Principle of a Hovercraft, International Journal of Mechanical Engineering and Robotics Research, vol. 3, no. 4, pp. 308-313, 2014.2G. B. G. a. T. N. M. Nafar, Using modified fuzzy particle swarm optimation algorithm for parameter estimat ion of surge arresters models, International Journal of Innovative Computing, Information and Control, vol. 13, no. 1, pp. 567-581, 2012.3J. J. Criag, Introduction to Robotics, New Jersey Mass Addison Wisley, 2004.4M. V. M. W. Spong, Robot Dynamics and Control, New York J.Wiley Sons, 2003.5I. C. J. C. a. C. S. W.H. H. S.H. Chen, Design of stable and Quardratic-Optimal Static Output Feedback Controllers for TS-Fuzzy-Model-Based Control Systems, 8 1, 2012.6K.-S. S. T.-H. S. L. a. S.-H. Tsai, Observer-based adaptive Fuzzy Robust controller with self-adjusted membership functions for a class of suspicious MIMO non-linear systems, International Journal of Innovative Computing and Control, vol. 8, no. 2, pp. 1419-1437, 2012.7J. Z. P. S. a. Y. Xia, Robust reconciling Sliding-Mode Control for Fuzzy Systems with mismatched uncertainties, IEEE Transactions on Fuzzy Systems, vol. 18, no. 4, pp. 700-711, 2010.8O. D. a. .. H. H. S. C. Elmas, Adaptive fuzzy logic controller for DC-DC converter s, Expert Systems with Applications, vol. 36, no. 2, pp. 1540-1548, 2009.9M. McPeake, narrative of Hovercraft, Ms Giffen Tech High Senior Engineering, New York, 2012.10Project Hovercraft, plane section of Mechanical Engineering, University of Moratuwa, Moratuwa, 2014.11First-year engineering students get creative at IEFX Explorations, Urbana-Champaign, 2016. Online. gettable www.mechanical.illinois.edu.12N. P. a. O. C. C. Popescu, Comparison between PID And Fuzzy Controllers Used In ready Robot Control, Annals of DAAAM Proceedings, vol. 13, no. 2, p. 223, 2011.13Z. L. M. F. a. C. W. X. Shi, Amphibious hovercraft course control based on support vector machines adaptive PID, IEEE International group discussion on Automation and Logistics (ICAL), pp. 287-292, 2011.14H. S.-R. a. C. A. Ibanez, The control of the hovercraft system a flatness based approach, IEEE International Conference on Control Applications. Conference Proceedings, pp. 692-697, 2000.15K.-Y. C. a. L. Zhang, Fuzzy r easoning as a control problem, IEEE Transactions on Fuzzy Systems, vol. 16, no. 3, pp. 600-614, 2008.