جستجوی مقالات مرتبط با کلیدواژه « real time » در نشریات گروه « مکانیک »

This paper presents the design and construction of a laboratory model for tracking a moving target object using image processing. The aerial robot is used as a follower and the ground robot is used as a target object. A one-degree-of-freedom robot is used instead of an aerial robot, and a moving mobile robot is used as a ground robot to move at different speeds. The distance error between the ground robot and the aerial robot is calculated using image processing and fed back to the aerial robot controller. The dynamic model is used to design the position controller. PID, PID-fuzzy controllers, and optimal linear integral control are designed using a dynamic model, and simulation is performed in MATLAB software. Using simulation to evaluate the performance of three controllers has been designed. The controller is selected using 4 criteria. The performance of the proposed controller is evaluated by implementing the controller on a laboratory model. The aerial robot controller for real-time tracking of the target object and the object of sight is not out air Robot. The novelty of this paper is the design of an inexpensive laboratory model for the real-time implementation of moving a target object with a moving tracker.

Undoubtedly, the flight control system is one of the most important parts of an aeronautical vehicles that has duty of stability and achieve good performance in execution of commands. In flight control according to nonlinear dynamics, time varying and structural and parametric uncertainties of aeronautical vehicles, various control approaches use to achieve stability, good performance and reduce the effect of the uncertainties and modeling error. In this paper, autopilot software design were developed using nonlinear dynamics inversion controller to landing a UAV in two stages. Also, with using DSP hardware and CPU TMS320F28335, nonlinear dynamics inversion autopilot software were implemented and tested to real time PIL stage. Finally, nonlinear six-degree-of-freedom simulation results at real-time, confirm proper performance of implementation.