Dynamics Coordinated Control Method of Multi-Arm Free-Flying Space Robot with External Force Acting

2006 ◽  
Author(s):  
Jingyang Yuan ◽  
Chang-an Liu ◽  
Guixian Li
Keyword(s):  
External Force ◽  
Control Method ◽  
Coordinated Control ◽  
Space Robot

Coordinated Control for Novel Full Hybrid Vehicles

2013 ◽  
Vol 860-863 ◽  
pp. 1073-1077 ◽  
Author(s):  
Zhi Guo Kong ◽  
Hong Wei Zhang ◽  
Zi Ning Tang
Keyword(s):  
Control Method ◽  
Dynamic Performance ◽  
Coordinated Control ◽  
Rate Of Change ◽  
Adjustment Process ◽  
Accelerator Pedal ◽  
Dynamic Constraints ◽  
Electric Bus ◽  
The Stability ◽  
Working Point

In order to improve the performance of a new type of full hybrid electric bus, this paper puts forward a set of coordinated control method to adjust the operation of the engine and two motors. In the engine start-stop logic control, comprehensive consideration of SOC, the speed of the bus and the accelerator pedal stroke are performed, while hysteresis control is introduced to improve the stability of the control; In the engine working point adjusting control, not only the engine speed command rate of change was optimized, but also the output torque rate was optimized to match the air injection and exhaust, etc. Further, the method based on dynamic constraints was used to optimize the working point adjustment process. At present, there are hundreds of busses operates in route. Results verify the feasibility and effectiveness of the control method. The vehicle has good fuel economy, and the dynamic performance and driving comfort are also greatly improved.

Research on mechanism configuration and coordinated control for power distribution network live working robot

2020 ◽  
Vol 47 (3) ◽  
pp. 453-462 ◽  
Author(s):  
Yu Yan ◽  
Wei Jiang ◽  
Dehua Zou ◽  
Wusheng Quan ◽  
Hong Jun Li ◽  
...  
Keyword(s):  
Power Distribution ◽  
Control Method ◽  
Distribution Network ◽  
Coordinated Control ◽  
Internal Force ◽  
Normal Operation ◽  
Power Distribution Network ◽  
Content Type ◽  
Field Operation ◽  
Closed Chain

Purpose In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh natural environment on the power system, which will lead to the occurrence of different faults in the distribution network and directly affect the normal operation of the power grid. Design/methodology/approach The purpose of this study is to solve the problems of labor intensity, high risk and low efficiency of distribution network manual maintenance operation, this paper proposed a new configuration of the live working robot for distribution network maintenance, the robot is equipped with dual working arms through the mobile platform, which can realize the coordination movement, the autonomous reorganization and replacement of the end tools, respectively, so as the robot power distribution maintenance function such as stripping, trimming, wiring and the operation control problem of the distribution network-robot with small arms and in small operation space can be realized. Findings To effective elimination or reduce the adverse effects of the internal forces in the closed chain between the working object and manipulator under the typical task of the 10 kV distribution network, this paper has established the robot coordinated control dynamics model in the closed-chain between the dual-working object and proposed the dynamic distribution method of closed-chain internal force and the effectiveness has been proved by simulation experiments and 10 kV field operation. Originality/value The force-position hybrid control can realize the mutual compensation of force and position so as to effectively reduce the internal force in the closed chain. Finally, the engineering practicality of the method is verified by field operation experiment, the effective implementation of this control method greatly improves the robot working efficiency and the operation reliability, the promotion and application of the control method have great theoretical and practical value and maintenance management system, so as to achieve automation of electric.

scholarly journals Slave Coordinated Speed Analysis and Coordinated Control Method

2020 ◽  
Vol 1678 ◽  
pp. 012001
Author(s):  
Hang Yan ◽  
Xuan Sun ◽  
Changsheng Ai ◽  
Gangchang Ren ◽  
Baixing Zhang
Keyword(s):  
Control Method ◽  
Coordinated Control

scholarly journals Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

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