Research Papers

Novel Moving Mass Flight Vehicle and Its Equivalent Experiment

[+] Author and Article Information
Jianqing Li

Aerospace Engineering Department,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: ljq18@hit.edu.cn

Changsheng Gao

Aerospace Engineering Department,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: corturb@126.com

Tianming Feng

Aerospace Engineering Department,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: fengtianming@hit.edu.cn

Wuxing Jing

Aerospace Engineering Department,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: jingwuxing@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 30, 2017; final manuscript received May 17, 2018; published online June 18, 2018. Assoc. Editor: Yongchun Fang.

J. Dyn. Sys., Meas., Control 140(11), 111010 (Jun 18, 2018) (8 pages) Paper No: DS-17-1434; doi: 10.1115/1.4040326 History: Received August 30, 2017; Revised May 17, 2018

This paper presents a novel configuration of flight vehicle with moving mass control. We focus on the development of the proposed control mechanism and investigate the feasibility of an equivalent experimental setup. First, the effect of the moving mass parameters on the control authority is investigated. Then, a control law based on immersion and invariance (I&I) theory is presented for the moving mass control system. In the design process, we select a first-order target system to reduce the difficulty of controller design. To deal with the coupling caused by the additional inertia moment, which is generated by the motion of the moving mass, the extended state observer (ESO) is designed. The proposed adaptive controller is simulated and tested on the experimental setup. Finally, the simulation results validate the quality of the proposed adaptive controller, which ensures a good performance in the novel configuration with internal moving mass.

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Fig. 1

The sketch moving mass flight vehicle: (a) point moving mass configuration and (b) proposed moving mass configuration

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Fig. 2

The AOA response of different configurations

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Fig. 3

Trim AOA versus mass ratio for different ΔBP

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Fig. 4

Block scheme of the adaptive controller

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Fig. 5

Schematic of the experiment setup of the moving mass system

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Fig. 6

Trim angle versus mass ratio for different Lop

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Fig. 7

Experimental setup of the moving mass system

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Fig. 8

Block diagram of the experimental setup

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Fig. 9

Simulation results with aerodynamic perturbation: (a) reference command tracking (b) deflection angle of moving mass, and (c) estimation error

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Fig. 10

Experimental results with different control gains: (a) tracking trajectory (b) commanded deflection angle of moving mass (c) rotational angle of motor, and (d) estimation of ESO



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