Evaluación de la estabilidad y desempeño en controladores con rechazo activo de perturbaciones sobre un modelo de UAV
| dc.contributor.advisor | Cortés Romero, John Alexander | spa |
| dc.contributor.author | Torres Lamus, Diego Gerardo | spa |
| dc.date.accessioned | 2020-03-16T16:23:07Z | spa |
| dc.date.available | 2020-03-16T16:23:07Z | spa |
| dc.date.issued | 2019-11-20 | spa |
| dc.description.abstract | This thesis, make a frame of evaluation of ADRC strategies, through it's application in a UAV model, using Hardware In the Loop simulation and validation methodologies. This investigation, consists of the design and application of the controllers with the active disturbances rejection approeach or ADRC usin the GPI technique, over the main rotation angles in a fixed wing aircraft, improving it's behavior when the aircraft is on presence of atmospheric turbulences, and increasing it's operational reliability and robustness. Due to the structure of the GPI controllers, systems were implemented to proper handling for the saturation condition in actuators (ARWU), finally were establishing a comparison with PID controllers of recognized effectiveness on the model used. | spa |
| dc.description.abstract | Este trabajo, enmarca la evaluación de estrategias de control ADRC, mediante su aplicación en un modelo de UAV, empleando metodologías de simulación y validación de Hardware In the Loop. La investigación consiste en el diseño y aplicación de controladores con rechazo activo de perturbaciones o ADRC, desde el enfoque GPI, sobre los ángulos principales de rotación en una aeronave de ala fija, mejorando su comportamiento cuando se encuentra en presencia de turbulencias atmosféricas, incrementando su confiabilidad y robustez en operación. Debido a la estructura de los controladores GPI, se implementan sistemas para el manejo adecuado de la condición de saturación en actuadores o ARWU. Los resultados obtenidos por este trabajo, permiten demostrar cómo las estrategias de control GPI, ofrecen mejores prestaciones en cuanto a robustez y rechazo de perturbaciones, comparado con estrategias PID de reconocida efectividad en el modelo utilizado. | spa |
| dc.description.additional | Magíster en Ingeniería - Automatización industrial. Línea de Investigación: Control de sistemas con rechazo activo de perturbaciones | spa |
| dc.description.degreelevel | Maestría | spa |
| dc.format.extent | 118 | spa |
| dc.format.mimetype | application/pdf | spa |
| dc.identifier.uri | https://repositorio.unal.edu.co/handle/unal/76094 | |
| dc.language.iso | spa | spa |
| dc.publisher.branch | Universidad Nacional de Colombia - Sede Bogotá | spa |
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| dc.rights | Derechos reservados - Universidad Nacional de Colombia | spa |
| dc.rights.accessrights | info:eu-repo/semantics/openAccess | spa |
| dc.rights.license | Atribución-NoComercial 4.0 Internacional | spa |
| dc.rights.spa | Acceso abierto | spa |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc/4.0/ | spa |
| dc.subject.ddc | 600 - Tecnología (Ciencias aplicadas) | spa |
| dc.subject.ddc | 000 - Ciencias de la computación, información y obras generales | spa |
| dc.subject.proposal | ADRC | eng |
| dc.subject.proposal | ADRC | spa |
| dc.subject.proposal | GPI | spa |
| dc.subject.proposal | GPI | eng |
| dc.subject.proposal | UAV | spa |
| dc.subject.proposal | UAV | eng |
| dc.subject.proposal | Hardware In the Loop | spa |
| dc.subject.proposal | Hardware In the Loop | eng |
| dc.subject.proposal | Systems Control | eng |
| dc.subject.proposal | Control de sistemas | spa |
| dc.subject.proposal | Aeronave de ala ja | spa |
| dc.subject.proposal | Fixed Wing Aircraft | eng |
| dc.subject.proposal | Simulink Desktop Real-Time | spa |
| dc.subject.proposal | Simulink Desktop Real-Time | eng |
| dc.title | Evaluación de la estabilidad y desempeño en controladores con rechazo activo de perturbaciones sobre un modelo de UAV | spa |
| dc.type | Trabajo de grado - Maestría | spa |
| dc.type.coar | http://purl.org/coar/resource_type/c_bdcc | spa |
| dc.type.coarversion | http://purl.org/coar/version/c_ab4af688f83e57aa | spa |
| dc.type.content | Text | spa |
| dc.type.driver | info:eu-repo/semantics/masterThesis | spa |
| dc.type.version | info:eu-repo/semantics/acceptedVersion | spa |
| oaire.accessrights | http://purl.org/coar/access_right/c_abf2 | spa |