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۱Designing Sliding Mode Observer for Estimation ofHelicopter Oscillatory States during Hover Flight
نویسنده(ها): ، ، ،
اطلاعات انتشار: سومین کنفرانس بین المللی آکوستیک و ارتعاشات، سال
تعداد صفحات: ۸
The concentration of this study is to introduce a state estimation technique designed for estimatingthe oscillatory states of a small scale helicopter such as Euler and flapping angles. Towardthis objective, first the mathematical model of a single main rotor helicopter (SMRH) is derived.Depending to the fact that the mathematical model of a SMRH is a set of nonlinear and unstabledifferential equations, a trim algorithm should be applied to the model prior to application of anyfurther estimation. In order to design a linear quadratic regulator (LQR) controller as the trimmingkernel, the linearized mathematical model of the SMRH is calculated numerically. Afterwards, toestimate the non–measurable states of a SMRH such as Euler and flapping angles, the design proceduresof the sliding mode observer (SMO) and Luenberger observer are described. For evaluatingperformance of the state estimation algorithms, error RMS of SMO and Luenberger observer is derived.System fails when the noise power is equal to 2 sec0.2 m ; with this noise power, the estimationerror RMS of SMO and Luenberger observer are equal to 4 0.99952 10^–4 and 0.0055 respectively.This results show better noise robustness of SMO estimation<\div>
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