scholarly journals Modeling and Simulation of Satellite Attitude Dynamics and Control System using Modelica

2019 ◽  
Vol 1215 ◽  
pp. 012014 ◽  
Author(s):  
Y H Liu ◽  
D S Shangguan ◽  
J Yao ◽  
L P Chen ◽  
J W Ding
2017 ◽  
Author(s):  
◽  
Jiamin Wang

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.


Author(s):  
A. S. White

This chapter examines the established Systems Dynamics (SD) methods applied to software projects in order to simplify them. These methods are highly non-linear and contain large numbers of variables and built-in decisions. A SIMULINK version of an SD model is used here and conclusions are made with respect to the initial main controlling factors, compared to a NASA project. Control System methods are used to evaluate the critical features of the SD models. The eigenvalues of the linearised system indicate that the important factors are the hiring delay time, the assimilation time, and the employment time. This illustrates how the initial state of the system is at best neutrally stable with control only being achieved with complex non-linear decisions. The purpose is to compare the simplest SD and control models available required for “good” simulation of project behaviour with the Abdel-Hamid software project model. These models give clues to the decision structures that are necessary for good agreement with reality. The final simplified model, with five states, is a good match for the prime states of the Abdel-Hamid model, the NASA data, and compares favourably to the Ruiz model. The linear control system model has a much simpler structure, with the same limitations. Both the simple SD and control models are more suited to preliminary estimates of project performance.


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