دورية أكاديمية
Parameter Estimation and Verification of Unmanned Air Cushion Vehicle (UACV) System
| العنوان: | Parameter Estimation and Verification of Unmanned Air Cushion Vehicle (UACV) System |
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| المؤلفون: | Ab Rashid Mohd Zamzuri, Mohd Shah Hairol Nizam, Othman Md Nazri, Ali Alandoli Esmail ali, Mohd Aras Mohd Shahrieel, Sulaiman Marizan, Abdul Latif Mohd Faruq |
| المصدر: | MATEC Web of Conferences, Vol 97, p 01069 (2017) |
| بيانات النشر: | EDP Sciences, 2017. |
| سنة النشر: | 2017 |
| المجموعة: | LCC:Engineering (General). Civil engineering (General) |
| مصطلحات موضوعية: | Engineering (General). Civil engineering (General), TA1-2040 |
| الوصف: | This project is mainly about the dynamic modelling and parameter estimation of Unmanned Air Cushion Vehicle (UACV). The purpose of developing mathematical model of the Unmanned Air Cushion Vehicle (UACV) is due to its under actuated nonlinearities where it has less input compared to the output required. This system able to maneuver over land, water and other surfaces either at certain speed or maintain at a stationary position. In order to model the UACV, the system is set to have two propellers which are responsible to lift the vehicle by forcing high pressure air under the system. The air inflates the “skirt” under the vehicle, causing it to rise above the surface while another two propellers are used to steer the UACV forward. UACV system can be considered as under actuated since it possess fewer controller inputs that its degree of freedom. The system’s motions are defined by the six degrees of freedom which are; heaved, sway and surge. Another three components are rotational motions which can be elaborated as roll, pitch and yaw. The problem related to UACV is normally related to obtaining accurate parameters of the system to be included into the mathematical model of the system. This is due to the body inertia of the system during the static and moving condition. Besides, the air that flows into the UACV skirt to create the cushion causes imbalance and will affect the system stability and controllability. In this research, UACV need to be mathematically modelled using Euler-Lagrange method. Then, parameters of the system can be obtained through direct calculation and Solidworks software. The parameters acquired are compared and verified using simulation and experimental studies. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English French |
| تدمد: | 2261-236X |
| Relation: | https://doaj.org/toc/2261-236X |
| DOI: | 10.1051/matecconf/20179701069 |
| URL الوصول: | https://doaj.org/article/3a40e58791f3474b9d7d3f7043f34891 |
| رقم الأكسشن: | edsdoj.3a40e58791f3474b9d7d3f7043f34891 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 2261236X |
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| DOI: | 10.1051/matecconf/20179701069 |