Controls and Control Theory Commons^™

Modeling Of A Gyro-Stabilized Helicopter Camera System Using Neural Networks, Nicholas Joseph Layshot

Master's Theses

On-board gimbal systems for camera stabilization in helicopters are typically based on linear models. Such models, however, are inaccurate due to system nonlinearities and complexities. As an alternative approach, artificial neural networks can provide a more accurate model of the gimbal system based on their non-linear mapping and generalization capabilities.

This thesis investigates the applications of artificial neural networks to model the inertial characteristics (on the azimuth axis) of the inner gimbal in a gyro-stabilized multi-gimbal system. The neural network is trained with time-domain data obtained from gyro rate sensors of an actual camera system. The network performance is evaluated …

Control Of Longitudinal Pitch Rate As Aircraft Center Of Gravity Changes, John Andres Cadwell Jr.

Master's Theses

In order for an aircraft to remain in stable flight, the center of gravity (CG) of an aircraft must be located in front of the center of lift (CL). As the center of gravity moves rearward, pitch stability decreases and the sensitivity to control input increases. This increase in sensitivity is known as pitch gain variance. Minimizing the pitch gain variance results in an aircraft with consistent handling characteristics across a broad range of center of gravity locations.

This thesis focuses on the development and testing of an open loop computer simulation model and a closed loop control system to …

Enhanced Cal Poly Super System Simulink Model, Matthew Ogden Mcfarland

Master's Theses

The Cal Poly Sustainable Power for Electrical Resources (SuPER) project is a solar power DC distribution system designed to autonomously manage and supply the energy needs of a single family off-the-grid home. The following thesis describes the improvement and re-design of a MATLAB Simulink model for the Cal Poly SuPER system. This model includes a photovoltaic (PV) array, a lead-acid gel battery with temperature effects, a wind turbine model, a re-designed DC-DC converter, a DC microgrid, and multiple loads. This thesis will also include several control algorithms such as a temperature controlled thermoelectric (T.E.) cooler, intelligent load switching, and an …

Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman

Master's Theses

This thesis discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it is desirable to minimize the difference between each robot’s progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used to illustrate …

Pulse Density Modulated Soft Switching Cycloconverter, Jesse Timothy Adamson

Master's Theses

Single stage cycloconverters generally incorporate hard switching at turn on and soft switching at turn off. This hard switching at turn on combined with the slow switching speeds of thyristors (the switch of choice for standard cycloconverters) limits their use to lower frequency applications.

This thesis explores the analysis and design of a pulse density modulated (PDM), soft switching cycloconverter. Unlike standard cycloconverters, the controller in this converter does not adjust thyristor firing angles. It lets only complete half cycles of the input waveform through to the output. This allows and requires a much greater frequency step down from the …