#9 Helicopter: 2 Designs of manned home built helicopter

1.  Nolan co-axial helicopter = https://www.youtube.com/watch?v=B21Xk6tNcBw&ab_channel=AdamAitken
   
2. BTD1982 = https://www.youtube.com/watch?v=Pz8ObaByc1M&ab_channel=btd1982
3. Cameron Carter
4. Airscooter 2 = https://www.youtube.com/watch?v=V8zqG4LRnrE&ab_channel=LightSportandUltralightFlyer
   
5. MikeUSA777 =  https://www.youtube.com/watch?v=EIBQIUANlyY&ab_channel=MikeUSA777

6. Franz Schurmann

Projects completed

1.  Digital controller based on TM4C123 for single axis AMB
2.  Digital controller based on TM4C123 for two axis AMB
3. Mechanical and electrical test rig design, assembly and testing for single axis AMB (3 versions)
   
4. Mechanical and electrical test rig design and assembly for two axis AMB 
5. Design and construction of half bridge based PWM power amplifier for AMB, 1 channel
   
6. Design and construction of full bridge based PWM power amplifier for AMB, 16 channel
7. Design and construction of DC power supply system for AMB
8. Design and construction of signal generator to mimic eddy current signal with sine and triangular wave forms
9. Radial AMB simulation model with flexible rotor
10. Radial AMB simulation model with rigid rotor
11. Automated FEM model of radial AMB using FEMM tool 
12. LQR and PID control design software for tuning radial and thrust AMB

DynCont#12: Eigen value and eigen vector 3Blue1Brown

• A vector will span a line passing through it. All points along the span, the line, can be reached by the vector using scalar multiplication.
  
•  A matrix multiplication rotates and scales a vector
• A matrix multiplication will only scale a Eigen vector , without changing its span direction.
• A rotation matrix has no eigen vector. All vectors are rotated.
• A shear matrix has one eigen vector.
• There are matrices with one eigen value and many eigen vectors, like scaling all vectors on a plane.
• See these 3 matrices and one normal eigen vector eigen value matrix in 2GBAB.
  

Optimal control to expand

1.  Graph search optimal control in grid world as a starting point of the HJB equation, Chapter 7, underactuated robotics.
2. Dynamic programming from Kirk in discretized space using the previously stored state transition cost
3. HJB equation in continuous time optimal control, also linked to Dynamic programming. 
4. Assuming a solution/ S[N] expression for the HJB equation and then substituting it into HJB equation to see if it satisfies HJB and then getting the optimal gain from it.
5. Variational calculus approach to get the optimal control in continuous time from Naidu/Lewis
6. Dynamic programming based approach to get the Kalman gain matrix from Lewis for discrete system.
7. 
   

Things he did

1.  Made a finger gun and started shooting Phew Phew Phew for thre first time.
2. When asked to pour water, told to me that my mother asked him not to pour water.
3. Started singing Waka Waka song and dancing.
4. Complained to my mother that am taking sugar from his plate.
   

Journals for active magnetic bearing related work (AMB)

1. International Journal of Control, Automation and Systems, monthly, 55 days review, Link
2. Journal of Dynamical and Control Systems, once in 3 months, 5 days decisionLink
3. International Journal of Control, Automation and Systems, monthly, 55 days review, Link
4. IFAC Journal of Systems and Control, 2 weeks review,Link
5. International Journal of Dynamics and Control, once in 2 months, Link
6. Mechanisms and machine theory, monthly journal,3 weeks, Link
7. Mechanical systems and signal processing, monthly journal, Link
8. Sadhana,Once in 3 months, 40 days decision, Link
9. Journal of Vibration Engineering and Technologies, irregular publishing, First decisiton 5 days, Link
10. Journal of dynamics systems measurement and control, monthly journal, Link
11. Mechatronics, 3 months review, Link
12. Journal of Verification Validation and Uncertainity quantification, Once in 3 monthsLink
13. Archive of Mechanical engineering, once in 3 months, Link
14. The Journal of Vibration and Acoustics , once in 2 months, Link
15. International Journal of Systems, Control and Communications, once in 3 months, Link
16. International journal of control, automation and systems, open access, monthly journal,Link
17. European Journal of Control , 2 weeks publication, Link
18. Control engineering practice,once a year, Link
19. IEEE Transactions on Control Systems Technology , once in 2 months, paid Link
20. Frontiers in control engineering, 77 days review, Paid,Link
21. Journal of control science and engineering, paid, 31 days decision, Link

Paper Ideas to follow up

Current paper 2 plan (29 Oct 2022)

1. Show why 2D gain scheduling is required  +  2D gain scheduling considering speed and levitated height + LQR filter  for designing the PID controller in the gain scheduling + as you go lower, as you go closer to the bottom actuator, make the objective function take sign of the error into consideration, rather than simple xQx, quadratic under the effect of 1X disturbing force.

Notch filter based(29 Oct 2022)

1.  Instead of notching filter (Herzog 1996) + Tracking control for machining spindles, shift the notch filter central frequency around to balance between current consumption and vibration control. Also, based on the response to the 1X excitation force with the shifted notch filter, change the reference input adaptively: Called input trajectory optimization in https://ieeexplore.ieee.org/document/6859290, Nanu Chen

System identification + health monitoring (2 Nov 2022)

1. Do unbalance identification for health monitoring when the plant is originally controlled by LPV/gain scheduled control where RPM itself is a scheduling variable.

Active disturbance rejection control(29 Oct 2022)

ADRC is uses extended state observer ESO

ESO can be made time dependent, TADRC

Can you make ESO as parameter dependent (RPM ) dependent.

If ESO is itself state dependent (position) of plate, then does ESO become non linear. Can ADRC control it? "On disturbance rejection in magnetic levitation", Wei Wei, Wenchao Xue.

Algebraic successive integration scheme(29 Oct 2022)

1. FEM model with flexible rotor with algebraic successive integration for unabalance estimation and shaft model identification
2. Rigid rotor on AMB with algebraic successive integration for unbalance identification + km identification
3. Rigid rotor + AMB + algebraic successive integration for unbalance identification + Changing RPM + Notch filter tracking based on Herzog (03 Nov 2022)
4. Rigid rotor + AMB + algebraic successive integration for unbalance identification + Changing RPM + Notch filter tracking based on Herzog + With run out error on sensor disk (03 Nov 2022)
5. Impart thrust disk face out and thrust disk tilt on the 4 actuator supported thrust AMB, with rotation, in the first paper frame work on algebraic successive integration
   

 Also see older ideas:

https://balajimitplane.blogspot.com/2022/10/dyncont7-paper-publication-ideas-to.html