Sökning: "3DoF"

Visar resultat 1 - 5 av 7 uppsatser innehållade ordet 3DoF.

  1. 1. Model Predictive Contorol of a Wave Energy Converter -3DOF

    Uppsats för yrkesexamina på avancerad nivå, Blekinge Tekniska Högskola/Institutionen för maskinteknik

    Författare :Anders Brandt; Piotr Zakrzewski; [2021]
    Nyckelord :Model predictive control; Wave energy converters; Real-time implementation; WecSim; Point absorber;

    Sammanfattning : There is a demand for renewable energy in today’s society. Wave energy is a nearly untapped source of renewable energy. Ocean Harvesting Technologies AB (OHT) is currently developing a device that can be used to convert wave energy into electricity. The device is a Wave Energy Converter of the type point absorber. LÄS MER

  3. 2. Navigation with variable point of reference for 3DOF differential drive mobile robot

    Master-uppsats, Mälardalens högskola/Akademin för innovation, design och teknik

    Författare :Adlerteg Casper; Sen Adem; [2021]
    Nyckelord :differential drive robot;

    Sammanfattning : In this thesis, a kinematic model for controlling an Omni-directional 3 DOF DDR with an external navigation point is presented. Two different dynamic models for investigating the resulting torque on the three active motors on the robot are also developed and validated. LÄS MER

  4. 3. Implementation and comparison of the Aircraft Intent Description Language and point-mass Non-Linear Dynamic Inversion approach to aircraft modelling in Modelica

    Master-uppsats, Linköpings universitet/Fluida och mekatroniska system

    Författare :Arcot Manjunath Shreepal; Shree Harsha Vijaya Kumar; [2021]
    Nyckelord :aircraft Modelling; Modelling and Simulation; Aircraft Intent; model-based systems engineering; Flight dynamics; Longitudinal stability; Aircraft Modelling; Non-linear Dynamic Inversion; Conceptual aircraft design; Dynamic Inversion; control methods; aircraft plant model; Object-oriented aircraft model; Air traffic management; Modelica; Modelon Impact; Modelica tool; 3DoF; AIDL; point-mass model;

    Sammanfattning : The study is conducted to determine practical modelling and simulation techniques to perform dynamic stability and performance analysis on a 3 Degrees of freedom aircraft model using a Modelica-based commercial tool called Modelon Impact. This study is based on a conceptual aircraft model where in-depth details about the aircraft configuration are unknown and the aim is to determine a suitable model that can capture the longitudinal dynamics and aerodynamic constraints of the aircraft during the conceptual design phase. LÄS MER

  5. 4. Generation of a full-envelope hydrodynamic database for hydrobatic AUVs : Combining numerical, semi-empirical methods to calculate AUV hydrodynamic coefficients

    Master-uppsats, KTH/Marina system

    Författare :Tianlei Miao; [2019]
    Nyckelord :AUV; hydrodynamic coefficients; database; Jorgensen method; DATCOM method; CFD; Simulink simulator; data confidence level;

    Sammanfattning : The next generation of Autonomous Underwater Vehicles (AUV) can impact our observation of the world. The flight simulation and full-envelope hydrodynamics modeling can improve the performance of AUVs in terms of control, navigation and positioning. LÄS MER

  7. 5. Modelling & Control of a 3DOF Helicopter

    Kandidat-uppsats, Linköpings universitet/Fluida och mekatroniska system; Linköpings universitet/Tekniska fakulteten

    Författare :Erik Bodin; Fanny Stenholm; [2015]
    Nyckelord :3DOF; helicopter; 3DOF-Helicopter; LQR; LiTH; LiU; automatic control; EKF;

    Sammanfattning : The scope of this report is the development of a mathematical model and a control system for a three degrees of freedom (3DOF) helicopter rig. This 3DOF-system offers a good simplification of a real world tandem helicopter for evaluating performanceof different automatic control principles. LÄS MER