A mechatronic positioning system actuated using a micro DC-motor-driven propeller-thruster

作者：Yang Shung Fei; Chou Jyh Horng^*

来源：Mechatronics, 2009, 19(6): 912-926.

DOI：10.1016/j.mechatronics.2009.05.005

• Positioning
• DC motor
• Propeller
• Manipulator

One of the greatest challenges facing designers in the mechatronics field is the development of autonomous systems capable of guiding an airborne object along a given trajectory or maintaining its position in a specified location. Nonetheless, developing such ability is essential to support emerging UAV (Unmanned Aerial Vehicle) requirements in the civil and military domains. Accordingly, this study commences by constructing a mechatronic system featuring a manipulator arm actuated by a DC-motor-driven constant-pitch propeller and then develops suitable control schemes to regulate the power supplied to the DC motor such that the manipulator arm is driven through a specified rotational displacement. Three different control schemes are implemented to regulate the displacement of the manipulator arm, namely a fixed gain PID controller, a function-based variable gain PID controller and a fuzzy gain-mixing PID controller. The feasibility of the three control systems is evaluated both numerically and experimentally. It is shown that the fixed gain PID controller results in a significant overshoot of the manipulator arm and leads to a loss of control. However, the function-based variable gain PID controller and the fuzzy gain-mixing PID controller both ensure an accurate tracking performance, even when the manipulator arm is manually perturbed during rotation.

• 出版日期2009-9