An Adaptive Compensation Scheme for Angular Velocity Control of Spacecraft Under Finite Sequential Actuator Faults

Author(s):  
Yajie Ma ◽  
Bin Jiang ◽  
Gang Tao ◽  
Hao Yang
2018 ◽  
Vol 34 (1) ◽  
pp. 248-255 ◽  
Author(s):  
Yajie Ma ◽  
Vincent Cocquempot ◽  
Maan El Badaoui El Najjar ◽  
Bin Jiang

2021 ◽  
pp. 26-33
Author(s):  
J. Díaz-Téllez ◽  
J. F. Guerrero-Castellanos ◽  
J. C. González-Guerrero ◽  
J. Estevez-Carreon ◽  
A. Silva-Juarez

Author(s):  
Michael Puopolo ◽  
J. D. Jacob

A mathematical model is developed for a rolling robot with a cylindrically-shaped, elliptical outer surface that has the ability to alter its shape as it rolls, resulting in a torque imbalance that accelerates or decelerates the robot. A control scheme is implemented, whereby angular position and angular velocity are used as feedback to trigger and define morphing actuation. The goal of the control is to direct the robot to follow a given angular velocity profile. Equations of motion for the rolling robot are formulated and solved numerically. Results show that by automatically morphing its shape in a periodic fashion, the rolling robot is able to start from rest, achieve constant average velocity and slow itself in order to follow a desired velocity profile with significant accuracy.


2013 ◽  
Vol 199 ◽  
pp. 61-66
Author(s):  
Grzegorz Redlarski ◽  
Janusz Piechocki ◽  
Mariusz Dąbkowski

One of the important factors that affect the reliable operation of the power system and the rapid restitution after disaster is a quick and effective combining synchronous electric power facilities to operate in parallel [. Hence, diagnostics of automatic synchronizers at every stage of their life, from building a prototype, through the whole life, until removing such devices from the operation, is an extremely important and responsible activity. In ordinary practice, this action is performed by dedicated test of mechatronics systems, called simulators [2, , in close to real - or even more restricted - conditions. One of the major limitations in the relevant field undoubtedly concerns the selection of an appropriate structure and implementation of models of the angular velocity control systems involved in the process of connection. These models must be simple enough to allow computation with a frequency of kHz, and, at the same time, developed enough to be able to form diverse and close to real working conditions. For these reasons, classical approach is not possible, allowing the use of well-known Parks model [ of the synchronous generator and the complex - and often nonlinear [. Hence, considered above-mentioned requirements and indicated constraints, to test the automatic synchronizer the designers of mechatronics systems use a number of simplifications during modeling of the angular speed control systems [. However, models are not detailed enough to study the impact of changes in the shape of relevant characteristics under the influence of changes the angle of phase discrepancy in the process of connecting. Hence, this paper presents the results of the research of the currently used method of modeling the most commonly used control systems of angular velocity, in the respective systems.


2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Masahiko Kurishige ◽  
Osamu Nishihara ◽  
Hiromitsu Kumamoto

This paper proposes a new electric power steering control strategy, which significantly reduces the effort needed to change the steering direction of stationary vehicles. Previous attempts to reduce undesirable steering vibration have failed to reduce the steering torque because high-assist gains tend to produce oscillation or increase noise sensitivity. Herein, to eliminate this vibration, a new control strategy was developed based on pinion angular velocity control using a newly developed observer based on a simplified steering model. Tests yielded excellent estimations of the pinion angular velocity, and this made it possible to eliminate vibration at all steering wheel rotation speeds. Experiments with a test vehicle confirmed significant steering torque reduction, over a wide range of steering wheel speeds, without vibration transmission to the driver. The proposed control strategy allowed use of an assist gain more than three times higher than is conventional. Additionally, the proposed control strategy does not require supplemental sensors.


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