Backstepping is a control technique based on Lyapunov’s theory that has been successfully implemented in the control of motors and robots by several nonlinear methods. However, there are no standardized methods for tuning control gains (unlike the PIDs). This paper shows the tuning gains of the backstepping controller, using Genetic Algorithms (GA), for an Unmanned Aerial Vehicle (UAV), quadrotor type, designed for autonomous trajectory tracking. First, a dynamic model of the vehicle is obtained through the Newton‒Euler methodology. Then, the control law is obtained, and self-tuning is performed, through which we can obtain suitable values of the gains in order to achieve the design requirements. In this work, the establishment time and maximum impulse are considered as such. The tuning and simulations of the system response were performed using the MATLAB-Simulink environment, obtaining as a result the compliance of the design parameters and the correct tracking of different trajectories. The results show that self-tuning by means of genetic algorithms satisfactorily adjusts for the gains of a backstepping controller applied to a quadrotor and allows for the implementation of a control system that responds appropriately to errors of different magnitude.
Flow maldistribution represents a problem of particular interest in the engineering field for several thermal systems. In flat plate solar collectors, the thermal efficiency strongly depends on the flow distribution through the riser tubes, where a uniform distribution causes a uniform temperature distribution and therefore a higher efficiency. In this work, a Computational Fluid Dynamics (CFD) numerical analysis has been carried out using the commercial software FLUENT ® , in order to determine the flow distribution, pressure drop and hence the thermal efficiency of a solar collector with distribution flow plates inside the manifolds. The obtained numerical solution for this type of thermal systems has been validated with experimental results available in literature for laminar and turbulent flow. Four distribution plate configurations were analyzed. Results show that using two distribution plates in each of both manifolds improves the flow uniformity up to 40% under the same operating conditions when distribution plates are not used. Besides, it is shown that there exists an increase in the overall pressure drop which is practically negligible for the tilt angles commonly employed in the installation of flat plate solar collectors in Mexico. The use of closed end distribution plates on the dividing and combining manifolds allows the thermal efficiency to become close to the ideal thermal efficiency which is obtained with a uniform flow distribution.
The very intensive calculations necessary to define a performance map requiring evaluation of over a hundred individual operating points can be efficiently conducted with accelerated multizone for engine cycle simulation, leading to a definition of regions of acceptable and optimum homogeneous charge compression ignition operation. Accelerated multizone for engine cycle simulation has the virtue of enabling accurate evaluation of many operating conditions based on thermal stratification data from a single fluid mechanics run at motored conditions. This is possible because thermal stratification is more sensitive to engine geometry than to operating conditions. In this article, accuracy of accelerated multizone for engine cycle simulation is demonstrated by comparison with experimental data for iso-octane homogeneous charge compression ignition operation over a broad range of lean equivalence ratios (0.14–0.28). The validated accelerated multizone for engine cycle simulation model is then applied to generating a performance map for an engine controlled by appropriately adjusting equivalence ratio and internal exhaust gas recirculation. Regions of acceptable and optimum combustion are identified. It is finally demonstrated that while indicated mean effective pressure remains low for optimum homogeneous charge compression ignition operation (1–4 bar), this is sufficient for a large fraction of typical driving in light-duty vehicles. Much driving including idle can therefore be done in homogeneous charge compression ignition mode at high efficiency and low (essentially zero) NO x and particulate matter emissions.
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