Research on INS-Aided GNSS Carrier Tracking Loop in High Dynamic Circumstance

2013 ◽  
Vol 464 ◽  
pp. 215-221
Author(s):  
Xin Long Wang ◽  
Chuan Jun Li ◽  
Xing Cheng Li
Keyword(s):  
Dynamic Environment ◽  
Coupled System ◽  
Tracking Performance ◽  
Tracking Loop ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Tightly Coupled ◽  
High Dynamic ◽  
The Stability

GNSS receiver will produce a large Doppler shift in high dynamic environment, thus causing lock-lose of the tracking loop. INS-aided GNSS tightly coupled system can improve tracking performance in high dynamic environment by introducing the Doppler information estimated by INS. Through analyzing by the theory of closed loop control system theory and numerical simulation of the INS-aided carrier tracking loop, the results show that INS-aided carrier tracking loop can obviously improve the stability of carrier tracking performance and anti-jamming ability of the satellite navigation receiver in high dynamic circumstance.

New approach to control of robotic manipulators interacting with dynamic environment

Robotica ◽  
1996 ◽  
Vol 14 (1) ◽  
pp. 31-39 ◽  
Author(s):  
Miomir K. Vukobratović ◽  
Yuri Ekalo
Keyword(s):  
Dynamic Environment ◽  
Interaction Force ◽  
Robot Motion ◽  
Control Procedure ◽  
Control Laws ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Control Concept ◽  
Loop Control System ◽  
The Stability

SummaryThe fundamentals of an approach to solving the control task of robots interaction with a dynamic environment based on the stability of a closed-loop control system are given in this paper. The task is set and solved in its general form. The traditional control concept of compliant robot motion—the hybrid position/force control is discussed. In the paper the proposed control laws ensure simultaneous stabilization of both the desired robot motion and the desired interaction force, as well as their required quality of transient responses. In order to emphasize the fundamental point of this approach in controlling the contact tasks in robotics, the authors have assumed ideal parameters of interacting dynamic systems. The proposed control procedure is demonstrated by one simple example.

scholarly journals Research on Discretization PI Control Technology of Single-Phase Grid-Connected Inverter with LCL Filter

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Jianke Li ◽  
Jinquan Wang ◽  
Ye Xu ◽  
Jianting Li ◽  
Jingjing Chen ◽  
...  
Keyword(s):  
Dynamic Performance ◽  
Numerical Algorithms ◽  
Switching Frequency ◽  
Lcl Filter ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Grid Connected Inverter ◽  
The Stability ◽  
The Cost

Compared with L-type filter, LCL-type filter is more suitable for high-power low-switching frequency applications with reducing the inductance, improving dynamic performance. However, the parameter design for the LCL filter is more complex due to the influence of the controller response performance of the converter. If the harmonic current around switching frequency can be fully suppressed, it is possible for inverter to decrease the total inductance as well as the size and the cost. In this paper, the model of the LCL filter is analyzed and numerical algorithms are adopted to analyze the stability of the closed-loop control system and stable regions are deduced with different parameters of LCL filter. Then, the minimum sampling frequencies are deduced with different conditions. Simulation and experimental results are provided to validate the research on the generating mechanism for the unstable region of sampling frequency.

The role of walking surface in enhancing the stability of the simplest passive dynamic biped

Robotica ◽  
2014 ◽  
Vol 33 (1) ◽  
pp. 195-207 ◽  
Author(s):  
Ali Tehrani Safa ◽  
Mahyar Naraghi
Keyword(s):  
Gait Stability ◽  
Loop Control ◽  
Contact Points ◽  
Closed Loop Control System ◽  
Bipedal Gait ◽  
Loop Control System ◽  
The Stability ◽  
Straight Lines ◽  
Inclined Surface

SUMMARYEmploying passive dynamics of the simplest point-foot walker, we have shown that the walking surface could have a great role in promoting the gait stability. In this regard, the stabilization of the simplest walking model,3 between the range of slopes greater than 0.0151 rad. and less than 0.26 rad., has been achieved. The walker like other passive dynamic walking models has no open or closed-loop control system; so, is only actuated by the gravity field. Moreover, no damper or spring is used. Obviously, according to the model's unstable behavior, it is unable to walk on an even flat ramp between the mentioned intervals.3 Here, instead of restraining the model, we let it explore other smooth surfaces, walking on which, will end in an equally inclined surface. To reach the objective, we employ a parallel series of fixed straight lines (local slopes) passing through contact points of an unstable cycling gait, which is generated by an ordinary ramp. To categorize, we have nicknamed those local slopes that guide the biped to a stable cyclic walking, “Ground Attractors,” and the other, leading it to a fall, “Repulsive Directions.” Our results reveal that for the slope <0.26 rad., a closed interval of ground attractors could be found. Stabilization of those unstable limit cycles by this technique makes obvious the key role of walking surface on bipedal gait. Furthermore, following our previous work,13 the results confirm that the two thoroughly similar walking trajectories can have different stability. All of these results strongly demonstrate that without considering the effects of a walking surface, we cannot establish any explicit relationship between the walker's speed and its stability.

Application of Back-to-Back Circuit in the Intelligent Wheelchair Charging Technology

2014 ◽  
Vol 631-632 ◽  
pp. 654-659
Author(s):  
Li Wang ◽  
Rong Yang ◽  
Xiu Feng Zhang ◽  
Yan Ma
Keyword(s):  
Design Method ◽  
Voltage Source ◽  
Super Capacitor ◽  
Loop Control ◽  
Intelligent Wheelchair ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Pwm Rectifiers ◽  
Bus Voltage ◽  
The Stability

Intelligent wheelchair charging technology put forward a very high request to the stability of the DC bus voltage. This paper describes the three phase principles and topology with Back-to-Back, SVPWM is used to the voltage-source PWM rectifiers, the principle of voltage and current double closed loop control system design the system. According to the principle of super-capacitor store energy for the load and construct their simulation model with SIMULINK. Simulation results demonstrate the feasibility of the above design method.

scholarly journals Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Shubo Wang ◽  
Haisheng Yu ◽  
Xuehui Gao ◽  
Na Wang
Keyword(s):  
Control Method ◽  
Design Procedure ◽  
Lyapunov Stability Theory ◽  
Friction Compensation ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Full State ◽  
Loop Control System ◽  
The Stability ◽  
The Given

This paper proposes an adaptive barrier controller for servomechanisms with friction compensation. A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented neural network (NN) to account for the unknown nonlinearities. Moreover, a barrier Lyapunov function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full-state constraints are within the given boundary. The stability of the closed-loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.

scholarly journals Aplikasi Filter KALMAN Pada Gerak Matra Longitudinal Pesawat Udara Boeing-747

2019 ◽  
Vol 23 (4) ◽  
pp. 362
Author(s):  
Sayuti Syamsuar
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Closed Loop ◽  
Flight Test ◽  
Loop Control ◽  
Output Response ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
The Stability ◽  
And Control

Many of aircraft perfonnance became from the stability and control of flight test data analysis. This paper introduces the Kalman Filter analysis on the Boeing 747 data aircraft to knawn the output response if disturbance (as turbulence or noise) absence on the closed loop control system. We found the output response of the plant on algorithm Kalman Filter tend to the unstable conditions, but we don't knaw the response of the whole of closed loop diagram block control system of Boeing 747 aircraft.Keywords : aircraft control system, turbulence, Kalman Filter

Attitude Control of a Quadrocopter Using Adaptive Control Technique

2014 ◽  
Vol 598 ◽  
pp. 551-556
Author(s):  
R. Ibarra ◽  
S. Florida ◽  
W. Rodríguez ◽  
G. Romero ◽  
D. Lara ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Attitude Control ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Aerial Vehicle ◽  
The Stability ◽  
Model Reference Adaptive

This paper presents an application of the MRAC (Model Reference Adaptive Control) techniques to achieve the attitude stabilization in an unmanned aerial vehicle (UAV) type quadrotor when there exists disturbances and/or uncertainties in the parameters due to changes in the payload, variations in battery voltage during flight, etc. This is achieved by performing an online adaptation of the controller parameters, which are obtained by showing the stability property of the closed loop control system using Lyapunov theory. Simulation results using Matlab-Simulink platform are presented to demonstrate the convergence of the controller parameters.

A New Reliability Analysis Method Based on Stability Reliability for Closed-Loop Control System

2012 ◽  
Vol 544 ◽  
pp. 115-120
Author(s):  
Xiao He Guo ◽  
Zong Xia Jiao ◽  
Shao Ping Wang
Keyword(s):  
Control System ◽  
Reliability Analysis ◽  
Closed Loop ◽  
Necessary Condition ◽  
Closed Loop Control ◽  
Analysis Method ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
The Stability

Considering stability is the necessary condition for closed-loop control system to work properly, a new function reliability analysis method by inducting and defining the concept of stability reliability was proposed to describe the function reliability of closed-loop control system completely. As an example, the stability reliability calculation method and process to analyze the function reliability of a flight autopilot were demonstrated.

Design and Driving Methodology of Out-of-Plane Electrostatic Microactuator With Extended Stable Motion Range

2005 ◽  
Author(s):  
Takashi Fukushige ◽  
Seiichi Hata ◽  
Takehiko Hayashi ◽  
Akira Shimokohbe
Keyword(s):  
Electrostatic Energy ◽  
Loop Control ◽  
Stable Motion ◽  
Closed Loop Control System ◽  
Out Of Plane ◽  
Loop Control System ◽  
Motion Range ◽  
Present Design ◽  
Plane Direction ◽  
The Stability

We present design and driving methodology of out-of-plane electro-static microactuator to extend stable motion range without any closed loop control system. The microactuator employed in this study is a curved cantilever microactuator, which consists of a curved cantilever moving electrode and a taper-shaped substrate electrode. A curved cantilever brings large deflection in the out-of-plane direction. Electrostatic and mechanical model of the device is derived. The equilibrium position and the stability of the cantilever are considered by calculating the stored electrostatic energy, the stored elastic energy and the lost energy from a power source due to the transfer of charges. The design methodology of the electrode shapes using the model is described and a prototype device is designed. The substrate electrode has tapered shape according to a function of distance from the anchor. The prototype is fabricated and its driving characteristics are examined. Stable motion range is extended to 65% of its full stroke by applying DC voltage and to 77% by square-wave AC voltage having a 2-kHz frequency. The calculated driving characteristics by a modified model that includes the existence of particles on insulator surface coincide with the measured one.

Design of Control System of DC Motor Based on Fusion FPGA

2011 ◽  
Vol 328-330 ◽  
pp. 2185-2189
Author(s):  
Dan Dan Zhu ◽  
Hong Wen Li
Keyword(s):  
Control System ◽  
Dc Motor ◽  
System Structure ◽  
Engineering Practice ◽  
Verilog Hdl ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
System On A Chip ◽  
The Stability

Along with the development of microelectronic process, it is possible to integrate a big system in one chip. A new way to implement system on a chip is provided by the advent of FPGA. Based on Verilog HDL and the Actel Fusion AFS600 FPGA chip, the speed closed-loop control system of DC motor was designed by using options of combining the top-down thinking and the bottom-up method. PID control algorithm, encoder signal processing and PWM waveform generation etc were realized by the system. The results show that the system structure is simplified and the stability and reliability are improved. A solution of system on a chip is realized to some extent. It has extensive application value in engineering practice.

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