Spacecraft Attitude and Orbit Coupled Nonlinear Adaptive Synchronization Control

2011 ◽  
Vol 327 ◽  
pp. 6-11
Author(s):  
Yu Jia Tie ◽  
Wei Yang ◽  
Hao Yu Tan
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Direct Method ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Nonlinear Dynamic Model ◽  
Asymptotic Stable ◽  
Nonlinear Relative Motion ◽  
Attitude Dynamic ◽  
Coupling Dynamic

Precise dynamic model of spacecraft is essential for the space missions, to be completed successfully. Nevertheless, the independent orbit or attitude dynamic models can not meet high precision tasks. This paper developed a 6-DOF relative coupling dynamic model based upon the nonlinear relative motion dynamics equations and attitude kinematics equations described by MRP. Nonlinear synchronization control law was designed for the coupled nonlinear dynamic model, whose close-loop system was proved to be global asymptotic stable by Lyapunov direct method. Finallly, the simulation results illustrate that the nonlinear adaptive synchronization control algorithm can robustly drive the orbit and attitude errors to converge to zero.

scholarly journals Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

2011 ◽  
Vol 2011 ◽  
pp. 1-10 ◽  
Author(s):  
Yassine Bouteraa ◽  
Jawhar Ghommam ◽  
Gérard Poisson ◽  
Nabil Derbel
Keyword(s):  
Decentralized Control ◽  
Information Exchange ◽  
Robot Manipulators ◽  
Direct Method ◽  
Functional Method ◽  
Consensus Algorithm ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Control Law ◽  
Parameter Uncertainties

This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

Nonlinear Dynamic Model of a Two-Stage Pressure Relief Valve for Designers

2001 ◽  
Vol 124 (1) ◽  
pp. 62-66 ◽  
Author(s):  
Pei-Sun Zung ◽  
Ming-Hwei Perng
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Dynamic Models ◽  
Operating Conditions ◽  
Model Parameters ◽  
Nonlinear Dynamic Model ◽  
Relief Valve ◽  
Two Stage ◽  
Pressure Relief ◽  
Wide Range

This paper presents a handy nonlinear dynamic model for the design of a two stage pilot pressure relief servo-valve. Previous surveys indicate that the performance of existing control valves has been limited by the lack of an accurate dynamic model. However, most of the existing dynamic models of pressure relief valves are developed for the selection of a suitable valve for a hydraulic system, and assume model parameters which are not directly controllable during the manufacturing process. As a result, such models are less useful for a manufacturer eager to improve the performance of a pressure valve. In contrast, model parameters in the present approach have been limited to dimensions measurable from the blue prints of the valve such that a specific design can be evaluated by simulation before actually manufacturing the valve. Moreover, the resultant model shows excellent agreement with experiments in a wide range of operating conditions.

scholarly journals The Study on Nonlinear Model of Pantograph-catenary Coupling system for Straddle-type Monorail

Mechanika ◽  
2020 ◽  
Vol 26 (3) ◽  
pp. 212-220
Author(s):  
Zixue DU ◽  
Zhen YANG ◽  
Zhouzhou XU ◽  
Junchao ZHOU* ◽  
Zhongwei HOU
Keyword(s):  
Dynamic Model ◽  
Nonlinear Model ◽  
Dynamic Models ◽  
Lagrange Equation ◽  
Contact Forces ◽  
Lateral Coupling ◽  
Coupling Dynamic ◽  
Nonlinear Dynamic Models ◽  
Lateral Excitation ◽  
Coupling Dynamic Model

Based on the Lagrange equation, the linear and nonlinear dynamic models of straddle monorail pantograph considering the lateral vibration of bogie are derived. On this basis, the lateral coupling dynamic model of pantograph-catenary is established. Newmark method is used to solve the pantograph-catenary coupling dynamic model. In order to evaluate the applicability of the two models，this paper analyzed the contact force response of two model with different speeds. The reasearch show that when the speed is below 40 km/h, the contact forces of nonlinear model and linear model can reflects the lateral excitation of the finger plate. When the speed exceeds 40 km/h, only the nonlinear model can reflect the lateral excitation of finger palte, the nonlinear pantograph-catenary coupling dynamics model is more suitable to the straddle-type monorail pantograph-catenary coupling research.

Sliding behavior of high speed ball bearings based on improved nonlinear dynamic model

2021 ◽  
pp. 146441932110430
Author(s):  
Dongsheng Qian ◽  
Xiaotian Xu ◽  
Song Deng ◽  
Shaofeng Jiang ◽  
Lin Hua
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
High Speed ◽  
Dynamic Models ◽  
Time Varying ◽  
Ball Bearings ◽  
Nonlinear Dynamic Model ◽  
Dynamic Behaviors ◽  
Low Speeds ◽  
Heavy Loads

To accurately predict the dynamic behaviors of high speed ball bearings, an investigation on the sliding behavior of balls at high and low speeds, and light and heavy loads is necessary. However, existing nonlinear dynamic models fail to consider comprehensively key factors such as asperity and hydrodynamic tractions, time-varying friction coefficient and time-varying lubricant mode. In this work, these influencing factors are integrated into the nonlinear dynamic model to make it suitable for the working conditions of high and low speeds and light and heavy loads. The dynamic analysis provides the relation of angular speeds of balls with spin and sliding at light and heavy loads, also it reveals the number of pure rolling point under the combined effect of differential sliding and spin sliding. Research results provide a reliable mathematical model and theoretical bases for further studying the dynamic behaviors of high speed ball bearings.

Coupling dynamic modelling of a flexible manipulator driven by servo joint using experimental identification method

2018 ◽  
Vol 233 (9) ◽  
pp. 3076-3084 ◽  
Author(s):  
Bin Wang
Keyword(s):  
Dynamic Model ◽  
Dynamic Models ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Control Voltage ◽  
Experimental Identification ◽  
Identification Method ◽  
Input And Output ◽  
Coupling Dynamic ◽  
Servo Controller

In this paper, the coupling dynamic model of a flexible manipulator driven by servo joint is established using experimental identification method. The dynamic model of the servo joint is proposed, which consists of a direct current servo motor, a harmonic gear reducer and a servo controller. By fitting the experimental data for the forward and inverse rotation of the motor, the coulomb friction constant and viscosity friction coefficient are obtained. Then, two transform function models that represent the system coupling dynamics are proposed. The input and output variables for one model are the control voltage of the servo controller and the angular displacement of motor. And for the other model, the input and output are the control voltage of the servo controller and the strain output measured by the strain gauges. Using the Pseudo-random binary sequence (PRBS) as the input signal, both the driven model of the servo joint and the vibration model of the flexible manipulator are identified by experimental identification. Experimental results show that the two identified models are in good agreement with the dynamic response of the experimental setup, both for the PRBS and sinusoidal excitation signals. Accordingly, the coupling dynamic models of the proposed system are obtained.

Analysis of Tourism Ecology Capacity Based on the Nonlinear Dynamic Model

2009 ◽  
Vol 11 (2) ◽  
pp. 163-168
Author(s):  
Long LV ◽  
Zhenfang HUANG ◽  
Jiang WU
Keyword(s):  
Dynamic Model ◽  
Nonlinear Dynamic ◽  
Nonlinear Dynamic Model

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Geometry optimization of a planar double wishbone suspension based on whole-range nonlinear dynamic model

2021 ◽  
pp. 095440702110262
Author(s):  
Zhihua Niu ◽  
Sun Jin ◽  
Rongrong Wang ◽  
Yansong Zhang
Keyword(s):  
Dynamic Model ◽  
Geometry Optimization ◽  
Analytical Models ◽  
Small Displacement ◽  
Nonlinear Dynamic Model ◽  
Computational Accuracy ◽  
Suspension Systems ◽  
Geometry Design ◽  
Dynamic Performances ◽  
Suspension Geometry

Dynamic analysis is an essential task in the geometry design of suspension systems. Whereas the dynamic simulation based on numerical software like Adams is quite slowly and the existing analytical models of the nonlinear suspension geometry are mostly based on small displacement hypothesis, this paper aims to propose a whole-range dynamic model with high computational efficiency for planar double wishbone suspensions and further achieve the fast optimal design of suspension geometry. Selection of the new generalized coordinate and explicit solutions of the basic four-bar mechanism dramatically reduce the complexity of suspension geometry representation and provide analytical solutions for all of the time varying dimensions. By this means, the running speed and computational accuracy of the new model are guaranteed simultaneously. Furthermore, an original Matlab/Simulink implementation is given to maintain the geometric nonlinearity in the solving process of dynamic differential equations. After verifying its accuracy with an ADAMS prototype, the presented whole-range model is used in the vast-parameter optimization of suspension geometry. Since both kinematic and dynamic performances are evaluated in the objective function, the optimization is qualified to give a comprehensive suggestion to the design of suspension geometry.

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