Attitude control of inverted pendulums using reaction wheels: Comparison between using one and two actuators

2019 ◽  
Vol 234 (3) ◽  
pp. 420-429
Author(s):  
João Francisco Silva Trentin ◽  
Tiago Peghin Cenale ◽  
Samuel da Silva ◽  
Jean Marcos de Souza Ribeiro
Keyword(s):  
Attitude Control ◽  
Low Cost ◽  
Main Idea ◽  
Rigid Bodies ◽  
Rate Of Change ◽  
Reaction Wheel ◽  
External Disturbances ◽  
Inverted Position ◽  
And Control

The attitude control using reaction wheels as actuators has been one of the most popular ways to stabilize and repel external disturbances in aerospace devices. From the controlled change of the angular momentum rate of change using reaction wheels, it is possible to control the oscillation and direction rates of change of rigid bodies in space. Thus, the main idea of this article is to present a case study with different configurations of the well-known reaction wheel pendulum. The first is based on the classical configuration, and the second, a new one, a pendulum with two reaction wheels. For both configurations, proportional–integral–derivative controllers were designed and experimental devices were built to perform real-time controllers using low-cost hardware. The simulated and experimental results have shown that the pendulums were controlled using a simple controller in the inverted position and the results were satisfactory. Four performance indices were calculated to evaluate the results for each configuration. They showed that the pendulum with two reaction wheels worked better than the pendulum with one reaction wheel. Two actuators made it easier to move and control the pendulum in the inverted position.

scholarly journals Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 29
Author(s):  
Vítor H. Pinto ◽  
José Gonçalves ◽  
Paulo Costa
Keyword(s):  
Design Process ◽  
Low Cost ◽  
Biologically Inspired ◽  
External Disturbances ◽  
State Space Approach ◽  
Modeling And Control ◽  
Locomotion System ◽  
Rigid Joints ◽  
And Control ◽  
Space Approach

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

Motion of a Tethered System Under Attitude Control With Large Deformation, Rotation and Translation

2003 ◽  
Author(s):  
Shoichiro Takehara ◽  
Yoshiaki Terumichi ◽  
Masahiro Nohmi ◽  
Kiyoshi Sogabe
Keyword(s):  
Large Deformation ◽  
Attitude Control ◽  
Rigid Bodies ◽  
Torque Control ◽  
Body Motion ◽  
Joint Torque ◽  
Control Technique ◽  
Flexible Body ◽  
First Eigenvalue ◽  
Reaction Wheel

In this paper, we discuss about the motion of a system consisting of a very flexible body and rigid bodies at its end under attitude control to the end body. A tethered subsatellite in space is known as an example of this system. We consider two mathematical models for flexible body. First, the flexible body motion in a plane is described by using Finite Element Method formulation. Second, the flexible body in planer motion is described by using Absolute Nodal Coordinate formulation. In this method, it is easy to describe the motion of the flexible body with large deformation, rotation and translation displacement. We can consider interaction between the deflection of the flexible body and the motion of the rigid bodies in these methods. Furthermore we attempt to control the attitude of the end body using a reaction wheel. The flexible body motion is influenced on the motion of the rigid bodies under attitude control of end body. The control technique consists of an attitude control by the reaction wheel and a control by the reaction wheel with the joint torque control to cancel accumulation of angular momentum. First, eigenvalue analysis is carried out where control gain changes. Second, the motion under controlled system is discussed under free vibration. We compared these results. Furthermore we treat large deformation problem. The end of flexible body moves horizontally. As a result, we confirm the interaction between flexible body and rigid body under the attitude control.

scholarly journals An Intelligent Smart Plug with Shared Knowledge Capabilities

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3961 ◽  
Author(s):  
Luis Gomes ◽  
Filipe Sousa ◽  
Zita Vale
Keyword(s):  
Remote Monitoring ◽  
Low Cost ◽  
Resource Optimization ◽  
Management Systems ◽  
Smart Devices ◽  
Shared Knowledge ◽  
Monitoring And Control ◽  
Energy Management Systems ◽  
And Control

The massive dissemination of smart devices in current markets provides innovative technologies that can be used in energy management systems. Particularly, smart plugs enable efficient remote monitoring and control capabilities of electrical resources at a low cost. However, smart plugs, besides their enabling capabilities, are not able to acquire and communicate information regarding the resource’s context. This paper proposes the EnAPlug, a new environmental awareness smart plug with knowledge capabilities concerning the context of where and how users utilize a controllable resource. This paper will focus on the abilities to learn and to share knowledge between different EnAPlugs. The EnAPlug is tested in two different case studies where user habits and consumption profiles are learned. A case study for distributed resource optimization is also shown, where a central heater is optimized according to the shared knowledge of five EnAPlugs.

Design and Simulation of Attitude Determination and Control Subsystem of CubeSat Using Extended Kalman Filtering and Linear Quadratic Gain Controller

2013 ◽  
Vol 694-697 ◽  
pp. 1582-1586
Author(s):  
Xiao Han ◽  
Xiao Jun Yang ◽  
Naqvi Najam Abbas
Keyword(s):  
Attitude Control ◽  
Attitude Determination ◽  
Low Cost ◽  
Linear Quadratic ◽  
Extended Kalman Filtering ◽  
Position Information ◽  
Control Subsystem ◽  
Linear Quadratic Regulation ◽  
Integral Scheme ◽  
And Control

This paper describes an integral scheme of the design and simulation of the Attitude Determination and Control Subsystem (ADCS) of CubeSat. CubeSat is an educational low-cost, cube-shaped Pico spacecraft. Attitude Determination (AD) is the problem of expressing the orientation of a spacecraft with respect to a given coordinate system. Three axis magneto-resistive digital magnetometer is selected as an attitude sensor. The International Geomagnetic Reference Field (IGRF) is used as reference for magnetometer to obtain attitude information. An enhanced orbit estimate/propagator is implemented to provide position information to IGRF model. Satellite environmental torque is modeled along with satellite kinematics and dynamics. Attitude estimation is done using Extended Kalman Filter (EKF) while the magnetic coils are used as actuators. Attitude Control is applied using Linear Quadratic Regulation (LQR) Controller. The designed ADCS is implemented in Matlab/Simulink.

scholarly journals Modeling, design, and control of low-cost Remotely Operated Vehicle for shallow water survey

2020 ◽  
Vol 3 (SI1) ◽  
pp. First
Author(s):  
Tran Ngoc Huy ◽  
Huynh Tan Dat
Keyword(s):  
Shallow Water ◽  
Low Cost ◽  
New Technology ◽  
Pid Controllers ◽  
Remotely Operated Vehicle ◽  
External Disturbances ◽  
Cable Systems ◽  
And Control ◽  
Nonlinear Plant

Shallow water zones, including lakes, ponds, creeks, and rivers, play a prominent role in the spiritual culture and economy of Vietnamese people throughout history. Therefore, numerous researches have been conducted in regard to this topic for many purposes, most of which focus on elevating the quality of life and safety. With the aid of new technology, modern platforms gradually replace conventional methods and reach a higher level of efficiency and convenience. This paper presents the research on design and control of Remotely Operated Vehicle (ROV) belonging to National key Laboratory of Digital Control and System Engineering. Basically, it is controlled by human pilots to move underwater and perform specifically pre-assigned tasks. The power supply and communication channel for the vehicle are connected from an onshore station via cable systems. There are several stages of the pipeline in implementing a full-scale ROV platform that must be studied carefully. Prior to the experiments in practical conditions, the proposed 3D model designed by SOLIDWORKS® and MATLAB Simulink® mathematical model analysis firstly provide a nonlinear plant in order to apply classical PID controllers and evaluate their feasibility through simulation process. The outer frame protects other components from being damaged or unattached, while the thruster allocation strategy from the simulated model enables flexibility in motion. A system of sensors and cameras collects data from an underwater environment for on-the-spot monitoring, or they can be captured for further post-analysis processes. After assembling all parts into a whole model, we launched the vehicle at the maximum depth of a pool as the condition of a shallow water survey. Optimistic experimental results have proved the ability of controllers even in case of the presence of external disturbances.

A Microprocessor-Based Monitoring and Control System via Internet in Case Study of Pet Care

2011 ◽  
Vol 268-270 ◽  
pp. 772-780 ◽  
Author(s):  
Hsiung Cheng Lin ◽  
Liang Yih Liu ◽  
Kuo Hung Pai
Keyword(s):  
Real Time ◽  
Interface Design ◽  
Low Cost ◽  
Graphical Interface ◽  
Well Performance ◽  
Monitoring And Control ◽  
Long Distance ◽  
Industry Applications ◽  
And Control

Since the past years, the microprocessor (8051) has been still playing an indispensable role as a controller in industry applications because of fast executing process, low-cost, small size and low power consumption, etc. It, however, usually lacks of long distance transmission, graphical interface and vision. On the other hand, VB is now a very popular software package for graphical interface design due to easy exploring and low price. Combining both superiorities as above, this paper develops a remote visional microprocessor-based monitoring and control platform using VB graphical interface. The nearby PC (server) can collect real-time sensing signals from the 8051 through RS232 and transmit it to remote PCs (client) for on line monitoring mechanism via Internet. Also, the client can send the control signals to the server and thus control the 8051. The real-time case study for feeding care in the Pet House is provided to verify its well performance and remote Web-based capability in term of fast, simple and robust performance.

scholarly journals Practical Limits on Nanosatellite Telescope Pointing: The Impact of Disturbances and Photon Noise

2021 ◽  
Vol 8 ◽  
Author(s):  
Ewan S. Douglas ◽  
Kevin Tracy ◽  
Zachary Manchester
Keyword(s):  
Control Systems ◽  
Attitude Control ◽  
Test Case ◽  
External Disturbances ◽  
Control Scheme ◽  
Pointing Accuracy ◽  
General Limit ◽  
Environmental Limits ◽  
And Control ◽  
The Impact

Accurate and stable spacecraft pointing is a requirement of many astronomical observations. Pointing particularly challenges nanosatellites because of an unfavorable surface area–to-mass ratio and a proportionally large volume required for even the smallest attitude control systems. This work explores the limitations on astrophysical attitude knowledge and control in a regime unrestricted by actuator precision or actuator-induced disturbances such as jitter. The external disturbances on an archetypal 6U CubeSat are modeled, and the limiting sensing knowledge is calculated from the available stellar flux and grasp of a telescope within the available volume. These inputs are integrated using a model-predictive control scheme. For a simple test case at 1 Hz, with an 85-mm telescope and a single 11th magnitude star, the achievable body pointing is predicted to be 0.39 arcseconds. For a more general limit, integrating available star light, the achievable attitude sensing is approximately 1 milliarcsecond, which leads to a predicted body pointing accuracy of 20 milliarcseconds after application of the control model. These results show significant room for attitude sensing and control systems to improve before astrophysical and environmental limits are reached.

Piezoelectric Transformers for Space Applications

2003 ◽  
Vol 785 ◽  
Author(s):  
Alfredo Vázquez Carazo
Keyword(s):  
Data Storage ◽  
Attitude Control ◽  
Low Cost ◽  
Mass Range ◽  
Space Applications ◽  
New Type ◽  
And Control ◽  
And Storage ◽  
Piezoelectric Transformers ◽  
Propulsion Power

ABSTRACTThere is a considerable excitement in the space community about the possibility of performing useful missions in space using vehicles that are much smaller in size than current spacecrafts. Lower cost and new type of missions made of this small satellite very attractive for future missions. Spacecraft in the mass range of 1 to 10 kilograms are often referred to as “nanosatellites”. However, the suite of useful missions for nanosatellite is limited by the dearth of space components of suitable scale. Present day nanosatellites are often drifting, uncontrolled packages of instrumentation of very limited capability. The vital subsystem functions of propulsion, power conversion and storage, attitude control, attitude sensing, data storage, command and data handling, and telemetry, tracking and control, are not well supported by these components availability of a number of small, low-cost nanosatellite components in these subsystem areas. This paper introduces the advances on applications based on piezoelectric transformers for nanosatellites.

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