Info

Stable,-60 < Sb <80

Unstable

Table 1. The Required Range of Rudder Deflection For Stability in the Presence of Disturbance, for Different Design Parameters.

Table 1. The Required Range of Rudder Deflection For Stability in the Presence of Disturbance, for Different Design Parameters.

0246a 10 '0246a 10

Fig. 2. System's behavior for the computed torque method: (a) 0b in the presence of disturbance (b) y in the presence of disturbance(c) Sb in the presence of parameter variations (d) y in the presence of parameter variations .

0246a 10 '0246a 10

Fig. 2. System's behavior for the computed torque method: (a) 0b in the presence of disturbance (b) y in the presence of disturbance(c) Sb in the presence of parameter variations (d) y in the presence of parameter variations .

It can be seen from Table 1, that a 20% disturbance will always lead to instability. Therefore, we only present the simulation results for a 10% disturbance. We also choose X = 5 , since it requires the least range of rudder deflection, according to Table 1. Fig. 2 shows the rudder deflection Sb and the tracking error y in the presence of disturbance and parameter variations. Although the tracking error does not converge to zero in the presence of parameter variations, it is still small when ap =10%. Tracking error increases with increasing the ratio ap , and as you can see, a 50% ratio does not yield satisfactory results. Comparing the simulation results of this controller, with the controllers given in the proceeding sections, one can conclude that the controller in this method is sensitive to parameter variations.

Fig. 3. System's behavior for the adaptive computed torque method: (a) j in the presence of disturbance (b) y in the presence of disturbance(c) Sb in the presence of parameter variations (d) y in the presence of parameter variations .
Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook


Post a comment