Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Axial buckling load of partially encased columns under fire

Partially encased columns have significant fire resistant. However, it is not possible to assess the fire resistance of such members simply by considering the temperature of the steel. The presence of concrete increases the mass and thermal inertia of the member and the variation of temperature within the cross section, in both the steel and concrete components. The annex G of EN1994-1-2 allows to calculate the load carrying capacity of partially encased columns, for a specific fire rating time, considering the balanced summation method. New formulas will be used to calculate the plastic resistance to axial compression and the effective flexural stiffness. These two parameters are used to calculate the buckling resistance. The finite element method is used to compare the results of the elastic critical load for different fire ratings of 30 and 60 minutes. The buckling resistance is also calculated by the finite element method, using an incremental and iterative procedure. This buckling resistance is also compared with the simple calculation method, evaluating the design buckling curve that best fits the results.