This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellit...This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellite has a main coil;the chaser satellite possesses a main coil of the same size accompanied by six and four evenly arranged secondary coils inside and outside the main coil,respectively.The coil on the target satellite is DC energized,while the currents in the coils of the chaser satellite are regulated.To remove the coupling between the pitch/yaw torque and translational force,the internal and external secondary coils of the chaser satellite interact with the main coil of the target satellite to perform the control of relative pitch/yaw and relative translation,respectively,so relative pose control can be achieved.The torque and force vectors exerted by the secondary coils of the chaser satellite are synthesized onto the pitch and yaw axes of the body frame.According to their spatial composition relationship,the formulas are proposed,which obtain the magnetic moment vectors of the coils from the set torques and forces.The controllers regulating pitch/yaw,translation,and distance utilize a three-loop cascaded structure that consists of an outer position loop,a middle velocity loop and an inner current loop.The control strategy is verified by dynamics simulation.展开更多
The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology. This paper proposes a remote-controlled fle...The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology. This paper proposes a remote-controlled flexible pose measurement system in wind tunnel conditions for the separation of a target from an aircraft. The position and attitude parameters of a moving object are obtained by utilizing a single camera with a focal length and camera orientation that can be changed based on different measurement conditions. Using this proposed system and method, both the flexibility and efficiency of the pose measurement system can be enhanced in wind tunnel conditions to meet the measurement requirements of different objects and experiments, which is also useful for the development of an intelligent position and attitude measurement system. The position and the focal length of the camera also can be controlled remotely during measurements to enlarge both the vertical and horizontal measurement range of this system. Experiments are conducted in the laboratory to measure the position and attitude of moving objects with high flexibility and efficiency, and the measurement precision of the measurement system is also verified through experiments.展开更多
In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the ...In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.展开更多
This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints ...This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.展开更多
A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated b...A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.展开更多
基金the Beijing Institute of Spacecraft System Engineering for providing topics,putting forward requirements and granting project funding。
文摘This paper proposes an electromagnetic coil topology and its control strategy,which can be incorporated into the electromagnetic docking device to achieve relative pose control in satellite docking.The target satellite has a main coil;the chaser satellite possesses a main coil of the same size accompanied by six and four evenly arranged secondary coils inside and outside the main coil,respectively.The coil on the target satellite is DC energized,while the currents in the coils of the chaser satellite are regulated.To remove the coupling between the pitch/yaw torque and translational force,the internal and external secondary coils of the chaser satellite interact with the main coil of the target satellite to perform the control of relative pitch/yaw and relative translation,respectively,so relative pose control can be achieved.The torque and force vectors exerted by the secondary coils of the chaser satellite are synthesized onto the pitch and yaw axes of the body frame.According to their spatial composition relationship,the formulas are proposed,which obtain the magnetic moment vectors of the coils from the set torques and forces.The controllers regulating pitch/yaw,translation,and distance utilize a three-loop cascaded structure that consists of an outer position loop,a middle velocity loop and an inner current loop.The control strategy is verified by dynamics simulation.
基金co-supported by the National Natural Science Foundation-Outstanding Youth Foundation of China (No. 51622501)the National Natural Science Foundation of China (Nos. 51375075 and 51227004)+1 种基金the Fundamental Research Funds for the Central Universities of Chinathe Science Fund for Creative Research Groups of China (No. 51321004)
文摘The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology. This paper proposes a remote-controlled flexible pose measurement system in wind tunnel conditions for the separation of a target from an aircraft. The position and attitude parameters of a moving object are obtained by utilizing a single camera with a focal length and camera orientation that can be changed based on different measurement conditions. Using this proposed system and method, both the flexibility and efficiency of the pose measurement system can be enhanced in wind tunnel conditions to meet the measurement requirements of different objects and experiments, which is also useful for the development of an intelligent position and attitude measurement system. The position and the focal length of the camera also can be controlled remotely during measurements to enlarge both the vertical and horizontal measurement range of this system. Experiments are conducted in the laboratory to measure the position and attitude of moving objects with high flexibility and efficiency, and the measurement precision of the measurement system is also verified through experiments.
文摘In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.
基金supported in part by the National Natural Science Foundation of China(61903025)the Fundamenta Research Funds for the Central Universities(FRF-GF-18-028B)the China Scholarship Council(201906465028)
文摘This paper investigates the robust relative pose control for spacecraft rendezvous and docking with constrained relative pose and saturated control inputs.A barrier Lyapunov function is used to ensure the constraints of states,so that the computational singularity of the inverse matrix in control command can be avoided,while a linear auxiliary system is introduced to handle with the adverse effect of actuator saturation.The tuning rules for designing parameters in control command and auxiliary system are derived based on the stability analysis of the closed-loop system.It is proved that all closed-loop signals always keep bounded,the prescribed constraints of relative pose tracking errors are never violated,and the pose tracking errors ultimately converge to small neighborhoods of zero.Simulation experiments validate the performance of the proposed robust saturated control strategy.
基金Project(20050214001) supported by Doctor Foundation of Education Ministry of ChinaProject(GC05A512) and supported by the Program of Heilongjiang Province Science and Technology, ChinaProject(zjg0702-01) supported by the Natural Science Foundation of Heilongjiang Province, China
文摘A controllable hydrostatic thrust bearing was presented to improve rigidity. The bearing worktable poses were controlled by coupling oilfilm thickness of four controllable chambers. The chamber flow can be regulated by electro hydraulic servo valve-control variable pump according to the surface roughness, load, cutting force, and thermal effects of worktable. The mathematical models of the controllable chamber flow, servo variable mechanism and controller were built. The pose control model was established, which contained the kinematics positive and negative solution and control strategy of feedforward and hydraulic cylinder position feedback. Hardware-in-loop simulation experiment was carried out on the electro hydraulic servo test bench by means of the non-linear relation of film thickness and hydraulic cylinder displacement. Hardware-in-loop simulation experiment results show that the controllable bearings exhibit high oilfilm rigidity, the rising time is 0.24 s and the maximum overshoot is 2.23%, and can be applied in high precision heavy machine tool.
