Dynamic modeling and computed torque control of flexure jointed TVC systems

Aydogan, Ahmet, Rogers, Eric and Hasturk, Ozgur (2018) Dynamic modeling and computed torque control of flexure jointed TVC systems. In Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and C. vol. 3, The American Society of Mechanical Engineers. 8 pp . (doi:10.1115/DSCC2018-8987).

Record type: Conference or Workshop Item (Paper)

Abstract

Thrust Vector Control (TVC) is one means of controlling air vehicles to follow a desired flight path where, in particular, those that are flexure jointed are currently the most commonly used. Often, dynamic modeling of such systems is for the case where a universal gimbal joint is present, which neglects uncertainties in the dynamics, such as vertical motion of the pivot point of nozzle and misalignment. This paper gives early results on a new approach to dynamic modeling of TVC systems that includes one more degree of freedom compared to previously reported models and also enables the flexure jointed structure to move along vertical direction on the flight axis. A Computed Torque Control Law (CTCL) is then designed for the new resulting model with the potential for higher tracking accuracy and lower feedback gains. A simulation based case study is given to demonstrate the new design.

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