Development of high performance control methods in robotics and aerospace systems

我的NSERC支持的研究项目包括控制系统、机器人和飞机系统领域的专业知识。该提案涉及围绕两个关键主题的项目。主题一是开发模块化和可重新配置的机器人，增强其承载重型有效载荷和执行精细操作的能力。为实现研究目标，将开发创新的控制系统和平衡技术。模块化和可重构机器人是由模块组成的，这些模块可以重新排列以产生各种配置，并具有期望的属性，如适应性、紧凑性和多功能性。它们具有很大的应用潜力，特别是在空间系统领域，但其相对较低的有效载荷与体重的比率限制了这些潜力的实现，拟议的研究旨在为这一问题提供解决方案。主题二是高性能飞机发动机排气控制系统的开发。在飞机气动系统中，高压和高温空气从发动机中排出，然后用于飞机上的各种任务，如机舱增压和乘客空调以及机载航空电子设备。为了降低与发动机检修和燃油消耗相关的运行成本，需要控制和均衡来自多个发动机的发动机排气，并以最少的柱塞空气使用量将热发动机排气冷却到调节的温度。该系统是安全关键的，要求高可靠性。该研究旨在开发发动机排气流量共享控制系统的容错控制方法，以及同时进行排气质量流量和温度控制的节油控制方法。拟议的研究计划有可能为机器人和飞机发动机排气系统提供独特的设计和控制方法，导致高质量的研究贡献，并为加拿大工业直接面临的问题提供解决方案。此外，它将大大有助于培训机器人、飞机系统和控制系统开发领域的高素质人员。

My NSERC-supported research program comprises expertise in the areas of control systems, robotics and aircraft systems. This proposal involves projects centred on two key themes. Theme one is development of modular and reconfigurable robots with enhanced capabilities for carrying heavy payload and performing delicate operations. Innovative control system and balancing techniques will be developed to achieve the research objectives. Modular and reconfigurable robots are made up of modules that can be rearranged to yield various configurations and possess desirable attributes such as adaptability, compactness, and versatility. They have substantial application potentials, especially in the space systems sector, but their relatively low payload to body weight ratio limits the realization of those potentials, and the proposed research aims to provide a solution to this problem. Theme two is the development of high performance aircraft engine bleed air control system. In aircraft pneumatic systems, high-pressure and high-temperature air is bled from engines and then used for various tasks on the aircraft, such as cabin pressurization and air conditioning for passengers and airborne avionics equipment. In order to reduce operation costs associated with engine overhaul and fuel consumption, it is desirable to control and equalize engine bleed from multiple engines, and to cool hot engine bleed air down to a regulated temperature with minimum usage of ram air. The system is safety critical and requires high reliability. The proposed research aims to develop fault tolerant control methods for engine bleed flow sharing control system and fuel-efficient control methods for simultaneous bleed mass flow rate and temperature control. The proposed research program has the potential to provide unique ways of design and control of robots and aircraft engine bleed air systems, leading to high quality research contributions and providing solutions to problems directly faced by Canadian industry. Furthermore, it would contribute significantly to the training of highly qualified personnel in the areas of robotics, aircraft systems, and control systems development.