Identification of Unknown Inertia Parameters of Spacecraft and Spacecraft Hovering

2021 ◽  
Author(s):  
Guangquan Duan ◽  
Guo-Ping Liu ◽  
Zhong-Hua Pang
Keyword(s):  
Inertia Parameters

LIDAR-based multi-step approach for relative state and inertia parameters determination of an uncooperative target

2021 ◽  
Author(s):  
Alessia Nocerino ◽  
Roberto Opromolla ◽  
Giancarmine Fasano ◽  
Michele Grassi
Keyword(s):  
Relative State ◽  
Inertia Parameters

Energy Harvesting Using the Rattleback: Theoretical Analysis and Simulations of Spin Resonance

2015 ◽  
Author(s):  
Aditya Nanda ◽  
M. Amin Karami ◽  
Puneet Singla
Keyword(s):  
Energy Harvesting ◽  
Closed Form Expression ◽  
Longitudinal Vibrations ◽  
Form Expression ◽  
Preferred Direction ◽  
Spin Resonance ◽  
Vibration Sensing ◽  
Inertia Parameters ◽  
Set Up ◽  
Linearized Model

This paper investigates the spin resonance of a rattleback subjected to base oscillations. The phenomenon of Spin resonance can transduce vibrations to rotations. The rattleback is an ellipsoidal top with a preferred direction of spin. If rotated anti to it, longitudinal vibrations are set up and spin direction is reversed. Simulations and results are presented which show that the rattleback has a mono-peak spin resonance with respect to base vibrations. Two frequencies that appear in the response are identified — the Coupled and Uncoupled frequencies. Spin resonance, it is deduced, occurs when the base frequency is twice the coupled frequency of the rattleback. A linearized model is developed and a closed form expression for the Resonant frequency in terms of the inertia parameters of the rattleback is derived. Novel ideas for applications in Energy harvesting and Vibration sensing that utilize the phenomenon of spin resonance are also included.

Extra Drag Force on a Circular Cylinder Due to the Presence of Solid Particles in Subsonic Compressible Flow

1991 ◽  
Author(s):  
Stanley B. Mellsen
Keyword(s):  
Compressible Flow ◽  
Incompressible Flow ◽  
Aerodynamic Drag ◽  
Collection Efficiency ◽  
Reynolds Numbers ◽  
Solid Particles ◽  
Circular Cylinders ◽  
Critical Mach Number ◽  
Wide Range ◽  
Inertia Parameters

Abstract The effect of particles, such as dust in air on aerodynamic drag of circular cylinders was calculated for compressible flow at critical Mach number and for incompressible flow. The effect of compressibility was found negligible for particles larger than about 10 μm, for which the air can be considered a continuum. Drag coefficient and collection efficiency are provided for a wide range of inertia parameters and Reynolds numbers for both compressible and incompressible flow.

Inertia parameter identification of anunknown captured space target

2019 ◽  
Vol 91 (8) ◽  
pp. 1147-1155 ◽  
Author(s):  
Xiaofeng Liu ◽  
Bangzhao Zhou ◽  
Boyang Xiao ◽  
Guoping Cai
Keyword(s):  
Angular Momentum ◽  
Parameter Identification ◽  
Linear Momentum ◽  
Content Type ◽  
Identification Method ◽  
Robot Arms ◽  
Precise Estimation ◽  
Inertia Parameter ◽  
Inertia Parameters ◽  
Space Target

Purpose The purpose of this paper is to present a method to obtain the inertia parameter of a captured unknown space target. Design/methodology/approach An inertia parameter identification method is proposed in the post-capture scenario in this paper. This method is to resolve parameter identification with two steps: coarse estimation and precise estimation. In the coarse estimation step, all the robot arms are fixed and inertia tensor of the combined system is first calculated by the angular momentum conservation equation of the system. Then, inertia parameters of the unknown target are estimated using the least square method. Second, in the precise estimation step, the robot arms are controlled to move and then inertia parameters are once again estimated by optimization method. In the process of optimization, the coarse estimation results are used as an initial value. Findings Numerical simulation results prove that the method presented in this paper is effective for identifying the inertia parameter of a captured unknown target. Practical implications The presented method can also be applied to identify the inertia parameter of space robot. Originality/value In the classic momentum-based identification method, the linear momentum and angular momentum of system, both considered to be conserved, are used to identify the parameter of system. If the elliptical orbit in space is considered, the conservation of linear momentum is wrong. In this paper, an identification based on the conservation of angular momentum and dynamics is presented. Compared with the classic momentum-based method, this method can get a more accurate identification result.

Eigensensitivity of Planetary Gear Free Vibration Properties

1999 ◽  
Author(s):  
Jian Lin ◽  
Robert G. Parker
Keyword(s):  
Kinetic Energy ◽  
Free Vibration ◽  
Natural Frequency ◽  
Vibration Mode ◽  
Planetary Gear ◽  
Planetary Gears ◽  
System Parameters ◽  
Frequency Sensitivity ◽  
Vibration Properties ◽  
Inertia Parameters

Abstract The natural frequency and vibration mode sensitivities to system parameters are rigorously investigated for both tuned and mistimed planetary gears. Parameters under consideration include support and mesh stiffnesses, component masses, and moments of inertia. Using the well-defined vibration mode properties of tuned (cyclically symmetric) planetary gears [1], the eigensensitivities are calculated and expressed in simple, exact formulae. These formulae connect natural frequency sensitivity with the modal strain or kinetic energy and provide efficient means to determine the sensitivity to all stiffness and inertia parameters by inspection of the modal energy distribution. While the terminology of planetary gears is used throughout, the results apply for general epicyclic gears.

scholarly journals Satellite Inertia Parameters Estimation Based on Extended Kalman Filter

2019 ◽  
Author(s):  
Abdellatif Bellar ◽  
Mohammed Arezki Si Mohammed
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Critical Role ◽  
Low Earth Orbit ◽  
Parameters Estimation ◽  
Moment Of Inertia ◽  
Satellite Mission ◽  
Inertia Matrix ◽  
Inertia Parameters ◽  
The Moment

The moment of inertia parameters play a critical role in assuring the spacecraft mission throughout its lifetime. However, determination of the moment of inertia is a key challenge in operating satellites. During satellite mission, those parameters can change in orbit for many reasons such as sloshing, fuel consumption, etc. Therefore, the inertia matrix should be estimated in orbit to enhance the attitude estimation and control accuracy. This paper investigates the use of gyroscope to estimate the attitude rate and inertia matrix for low earth orbit satellite via extended Kalman filter. Simulation results show the effectiveness and advantages of the proposed algorithm in estimating these parameters without knowing the nominal inertia. The robustness of the proposed algorithm has been validated using the Monte-Carlo method. The obtained results demonstrate that the accuracy of the estimated inertia and angular velocity parameters is satisfactory for satellite with coarse accuracy mission requirements. The proposed method can be used for different types of satellites.

scholarly journals Inertia Parameter Identification for an Unknown Satellite in Precapture Scenario

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Xiao-Feng Liu ◽  
Xiao-Yu Zhang ◽  
Pei-Ran Chen ◽  
Guo-Ping Cai
Keyword(s):  
Parameter Identification ◽  
Momentum Conservation ◽  
Space Robot ◽  
Control Force ◽  
Soft Contact ◽  
Identification Scheme ◽  
Inertia Parameter ◽  
Inertia Parameters ◽  
Dynamics And Control ◽  
And Control

The problem of dynamics and control using a space robot to capture a noncooperative satellite is an important issue for on-orbit services. Inertia parameters of the satellite should be identified before capturing such that the robot can design an active controller to finish the capturing task. In this paper, a new identification scheme is proposed for parameter identification of a noncooperative satellite. In this scheme, the space robot is controlled to contact softly and then maintain contact with the noncooperative target firstly, then the variation of momentum of the target during the contact-maintaining phase is calculated using the control force and torque acting on the base of the space robot and the kinematic information of the space robot, and finally, the momentum-conservation-based identification method is used to estimate inertia parameters of the target. To realize soft contact and then maintain contact, a damping contact controller is designed in this paper, in which a mass-damping system is designed to control the contact between the robot and the target. Soft contact and then contact maintenance can be realized by utilizing the buffering characteristics of the mass-damping system. The effectiveness of the proposed identification scheme is verified through numerical simulations at the end of this paper. Simulation results indicate that the proposed scheme can achieve high-precision identification results.

Design of an adaptive control law using trigonometric functions for robot manipulators

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 93-99 ◽  
Author(s):  
Recep Burkan
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Uncertain System ◽  
Control Law ◽  
Trigonometric Functions ◽  
Feed Forward ◽  
Inertia Parameters ◽  
The Stability ◽  
Adaptive Control Law

In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.

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