scholarly journals Research on Control Method Based on Real-Time Operational Reliability Evaluation for Space Manipulator

2014 ◽  
Vol 6 ◽  
pp. 179293 ◽  
Author(s):  
Yifan Wang ◽  
Xin Gao ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Wencan Zhao ◽  
...  
Keyword(s):  
State Space ◽  
Real Time ◽  
Process Parameters ◽  
Bayesian Method ◽  
Control Method ◽  
Control Variable ◽  
Reliability Evaluation ◽  
Operational Reliability ◽  
Space Manipulator ◽  
Space Equation

A control method based on real-time operational reliability evaluation for space manipulator is presented for improving the success rate of a manipulator during the execution of a task. In this paper, a method for quantitative analysis of operational reliability is given when manipulator is executing a specified task; then a control model which could control the quantitative operational reliability is built. First, the control process is described by using a state space equation. Second, process parameters are estimated in real time using Bayesian method. Third, the expression of the system's real-time operational reliability is deduced based on the state space equation and process parameters which are estimated using Bayesian method. Finally, a control variable regulation strategy which considers the cost of control is given based on the Theory of Statistical Process Control. It is shown via simulations that this method effectively improves the operational reliability of space manipulator control system.

A Precision Compensation Method for Space Manipulator Trajectory Planning Based on Particle Filter

2015 ◽  
Vol 742 ◽  
pp. 485-490
Author(s):  
Yi Fan Wang ◽  
Han Xu Sun ◽  
Gang Chen ◽  
Qing Xuan Jia
Keyword(s):  
Particle Filter ◽  
State Space ◽  
Real Time ◽  
Process Parameters ◽  
Trajectory Planning ◽  
Control Variable ◽  
Compensation Method ◽  
Statistical Process ◽  
Space Manipulator ◽  
Space Equation

A precision compensation method for space manipulator trajectory planning is presented for improving the accuracy during the execution of a task. First, the control process is described by using a state space equation. Second, process parameters are estimated in real-time using particle filter. Then, the system’s real time operational reliability is calculated based on the state space equation and process parameters. Finally, a control variable compensation strategy is given based on the theory of Statistical Process Control. Simulations show that this method effectively improves the accuracy and stability of space manipulator control system.

scholarly journals A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Xin Gao ◽  
Yifan Wang ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Gang Chen ◽  
...  
Keyword(s):  
Control Method ◽  
Control Level ◽  
Control Variable ◽  
Control Process ◽  
Operational Reliability ◽  
System Control ◽  
Related Factors ◽  
Space Manipulator ◽  
Factors Affecting ◽  
Reliability Control

In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

scholarly journals Research on Construction Method of Operational Reliability Control Model for Space Manipulator Based on Particle Filter

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Xin Gao ◽  
Yifan Wang ◽  
Hanxu Sun ◽  
Qingxuan Jia ◽  
Xiaojian Yang ◽  
...  
Keyword(s):  
Particle Filter ◽  
Control Method ◽  
Operational Reliability ◽  
Control Model ◽  
Control Methods ◽  
Space Manipulator ◽  
Performance Function ◽  
Model Based ◽  
Simulation Results ◽  
A Performance

The operational reliability of the space manipulator is closely related to the control method. However the existing control methods seldom consider the operational reliability from the system level. A method to construct the operational reliability system control model based on particle filter for the space manipulator is presented in this paper. Firstly, the definition of operational reliability and the degree of operational reliability are given and the state space equations of the control system are established as well. Secondly, based on the particle filter algorithm, a method to estimate the distribution of the end position error and calculate the degree of operational reliability with any form of noise distribution in real time is established. Furthermore, a performance model based on quality loss theory is built and a performance function is obtained to evaluate the quality of the control process. The adjustment value of the end position of the space manipulator can be calculated by using the performance function. Finally, a large number of simulation results show that the control method proposed in this paper can improve the task success rate effectively compared to the simulation results using traditional control methods and control methods based on Bayesian estimation.

Shaking table control via real-time inversion of hydraulic servoactuator linear state-space model

2021 ◽  
pp. 095965182110072
Author(s):  
José Ramírez-Senent ◽  
Jaime H García-Palacios ◽  
Iván M Díaz
Keyword(s):  
State Space ◽  
Real Time ◽  
Feedback Linearization ◽  
Control Method ◽  
State Space Model ◽  
Shaking Table ◽  
Time Inversion ◽  
Space Model ◽  
Control Command ◽  
Linear State

In this work, a Model-Based Control method for a single horizontal degree of freedom shaking table is presented. The proposed approach relies on the real-time inversion of a previously identified linear state-space model of the hydraulic servoactuator which drives the table. The inputs to the model are the control command and the force exerted on servoactuator rod. The latter contains all the relevant information related to the external actions acting on the servoactuator, thus making control system performance independent from the specimen with which the table is loaded and enabling it to cope with specimen non-linear behavior and eventual external forces exerted on it. A parallel proportional integral derivative controller, which accounts for non-modeled dynamics and a feedback linearization scheme, aimed at minimizing servovalve flow non-linearity, complement the previous architecture. The effectiveness of the method has been assessed numerically. According to the simulation results, the performance of the proposed technique appears quite promising; however, several factors must be carefully considered to achieve successful actual implementation.

scholarly journals Active Disturbance Rejection Control for Double-Pump Direct-Driven Hydraulics

Proceedings ◽  
2020 ◽  
Vol 64 (1) ◽  
pp. 14
Author(s):  
Shuzhong Zhang ◽  
Angen Wu ◽  
Fuquan Dai
Keyword(s):  
Mathematical Model ◽  
State Space ◽  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Position Tracking ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Space Equation

As a result of the energy crisis and further development of the electro-hydraulic actuator, double-pump direct driven hydraulics (DDH) was brought forward, which mainly comprises a servo motor, double fixed displacement pumps, a differential cylinder, a low-pressurized tank and auxiliary valves. To address the problems caused by uncertain parameters and unknown external disturbances of DDH, this paper proposed a control method adopting active disturbance rejection control (ADRC). Firstly, a mathematical model, including a DDH unit and a micro-crane, was created and modelled in MATLAB/Simulink. Further, the model was verified by measurement. After that, the state-space equation model of the system was derived based on its mathematical model and a third-order ADRC was designed using the constructed system state-space equation. Additionally, tracking-differentiator (TD) was employed to process the input signal transiently to avoid unnecessary oscillations, and the extended state observer (ESO) was used to accurately estimate the influence of the uncertainty and compensate by nonlinear feedback control law (NFCL). Moreover, the proposed ADRC or Proportional–Integral–Differential (PID) control was combined with the mathematical model of a micro-crane. Finally, the simulations were performed under varying loads, and the system position tracking performance were analyzed and compared. The results show that the ADRC can sufficiently suppress the unknown external disturbance, has the advantages of robustness, and improves the position tracking precision.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

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