tailieunhanh - Model identification of the actuator based on image

This paper proposes a combination algorithm to identify the actuators’ model which is accomplished on a hardware-inloop simulation platform. The experimental results show the effectiveness of the algorithm. It also provides a strong theoretical basis for the design of the control system. | Journal of Automation and Control Engineering Vol. 4, No. 6, December 2016 Model Identification of the Actuator Based on Image Wang Xingde, Guo Baiwei, and Chang Jiajia School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China Email: angingde@, guobw@, jjcbest113@ system. It is composed of actuator system controller and amplification circuit and electric motor and speed reducer and control surface and feedback potentiometer. The system diagram is shown in Fig. 1. Actuator includes electric actuator and pneumatic actuator and hydraulic actuator.[2] Compared with the other two, the electric one is simplest in structure and lowest in cost. So this paper studies on the electric actuator, which is typically a two order system. The transfer function of the actuator can be described as formula (1). Abstract—Actuators are the important parts of an UAV, which control the flight. Obtaining the model of the actuator is a necessary step to design the controller of UAV. These days, the visual measurement technology has been widely applied in the field of industry. In our study, the video capture is applied to acquire the actuators’ movement without changing the system’s origin characteristics. This paper proposes a combination algorithm to identify the actuators’ model which is accomplished on a hardware-inloop simulation platform. The experimental results show the effectiveness of the algorithm. It also provides a strong theoretical basis for the design of the control system. Index Terms—video tracking, algorithm, control system I. actuator, identification G s u y Actuator controller y k a1 y k 1 a2 y k 2 b0u k b1u k 1 b2u k 2 III. Speed reducer (2) TRACKING ALGORITHM Template matching algorithm can accurately track the moving object, it is also a common algorithm in tracking. So the algorithm is applied to this experiment to track the actuator’s movement. The process