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REDUNDANT SINGLE GIMBAL control MOMENT GYROSCOPE SINGULARITY ANALYSIS

JOURNAL OF GUIDANCE control AND DYNAMICS 1990年第6期13卷 1096-1101页

作者： BEDROSSIAN, NS PARADISO, J BERGMANN, EV ROWELL, D MIT DEPT MECH ENGNCAMBRIDGEMA 02139

The robotic manipulator is proposed as the mechanical analog to single gimbal control moment gyroscope systems, and it is shown that both systems share similar difficulties with singular configurations. This analogy is used to group gimbal angles corresponding to any momentum state into different families. The singularity problem associated with these systems is examined in detail. In particular, a method is presented to test for the possibility of nontorque-producing gimbal motion at a singular configuration, as well as to determine the admissible motions in the case when this is possible. Sufficient conditions are derived for instances where the singular system can be reconfigured into a nonsingular state by these nontorque-producing motions.

关键词： Single Gimbal control Moment Gyroscopes Robotic Manipulators Steering Law Kinematic Chain Spacecraft Attitude control Taylor Series Open Loop control algorithm Actuator Torque Electric Power

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Research on photovoltaic energy storage micro-grid systems based on improved sliding mode control

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IET RENEWABLE POWER GENERATION 2023年第3期17卷 750-761页

作者： Fu, Changxin Zhang, Lixin Li, Huaisheng Shihezi Univ Coll Mech & Elect Engn Shihezi 832000 Xinjiang Peoples R China Inst Agr Sci 9th Div Xinjiang Prov Tacheng 834700 Peoples R China

In islanded microgrid systems, PV power generation efficiency and energy loss of storage battery are the current research trends. Due to the intermittent and fluctuating characteristics of PV power generation, various loads connected to the DC microgrid system would also bring DC bus voltage low-frequency fluctuations and other problems. In order to solve the above problems, an maximum power point tracking (MPPT) tracking strategy (sliding mode control based on squirrel search algorithm) is proposed in this study;meanwhile, a sliding mode control strategy based on an improved reaching law is designed. The components of the PV energy storage system and the control method are mainly focused on, and the PV energy storage system is optimized by improving the sliding mode control. The proposed control algorithm is verified and analyzed by MATLAB/Simulink simulation platform. Compared with the double integral sliding mode control algorithm MPPT tracking case, sliding mode control based on squirrel search algorithm shows excellent performance (short response time, good tracking maximum power point effect etc.). In addition, the sliding mode control based on the proposed reaching law reduces the system jitter, and effectively reduces jitter and vibration of the PV energy storage battery.

关键词： Matlab sliding mode control strategy DC microgrid system Solar power stations and photovoltaic power systems DC-DC power convertors PV energy storage system maximum power point trackers PV energy storage battery variable structure systems maximum power point tracking tracking strategy energy storage control method DC bus voltage low-frequency fluctuations improved sliding mode control double integral sliding mode control distributed power generation Power system control power generation control control algorithm control of electric power systems photovoltaic energy storage microgrid systems power grids PV power generation energy loss Multivariable control systems squirrel search algorithm Power electronics, supply and supervisory circuits Power engineering computing power engineering computing photovoltaic power systems islanded microgrid systems Distributed power generation good tracking maximum power point effect etc jitter

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Design and implementation of a novel high-performance sensorless control system for interior permanent magnet synchronous motors

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IET ELECTRIC POWER APPLICATIONS 2010年第4期4卷 226-240页

作者： Chen, J. -L. Liu, T. -H. Chen, C. -L. Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan

This study proposes a novel high-performance rotor position estimator for an interior permanent magnet synchronous motor (PMSM). By suitably processing the mathematical model of the motor, a systematic method of the rotor position estimating method has been developed. The proposed control system can be used in the space vector pulse-width modulation switching method, which is widely used in industry. By measuring the DC-bus voltage and the phase currents, a systematic rotor position estimator has been developed. Finally, the rotor position and rotor speed are obtained, and a closed-loop control system can be achieved. A digital signal processor, TMS 320F2812, is used to execute the estimating algorithm and control algorithm. As a result, the hardware is very simple. Several experimental results show that both the position control system and the adjustable speed control system are achieved. The system can be adjusted from 1 to 2000 r/min. In addition, by using the proposed position-loop H-infinity controller, the position control system can be achieved with satisfactory performance. This study proposes a new method for a sensorless interior PMSM control system.

关键词： H∞ control Spatial variables control synchronous motors control of electric power systems rotor position estimator method closed-loop control system interior permanent magnet synchronous motors mathematical model phase currents space vector pulse-width modulation switching method digital signal processor adjustable speed control system angular velocity control closed loop systems Digital signal processing chips Microprocessors and microcomputers sensorless machine control Velocity, acceleration and rotation control position-loop H∞ controller DC-bus voltage permanent magnet motors Synchronous machines digital signal processing chips Optimal control TMS 320F2812 control algorithm position control sensorless interior PMSM control system position control system

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Design and calibration of a semi-active control logic to mitigate structural vibrations in wind turbines

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SMART STRUCTURES AND SYSTEMS 2016年第1期18卷 75-92页

作者： Caterino, Nicola Georgakis, Christos T. Spizzuoco, Mariacristina Occhiuzzi, Antonio Univ Naples Parthenope Ctr Direz Napoli Dept Civil Engn Isola C4 I-80143 Naples Italy Tech Univ Denmark DTU Dept Civil Engn Bldg 118 DK-2800 Lyngby Denmark Univ Naples Federico II Dept Struct Engn & Architecture Via Claudio 21 I-80125 Naples Italy Natl Res Council CNR Construct Technol Inst Viale Lombardia 49 I-20098 San Giuliano Milanese MI Italy

The design of a semi-active (SA) control system addressed to mitigate wind induced structural demand to high wind turbine towers is discussed herein. Actually, the remarkable growth in height of wind turbines in the last decades, for a higher production of electricity, makes this issue pressing than ever. The main objective is limiting bending moment demand by relaxing the base restraint, without increasing the top displacement, so reducing the incidence of harmful "p-delta" effects. A variable restraint at the base, able to modify in real time its mechanical properties according to the instantaneous response of the tower, is proposed. It is made of a smooth hinge with additional elastic stiffness and variable damping respectively given by springs and SA magnetorheological (MR) dampers installed in parallel. The idea has been physically realized at the Denmark Technical University where a 1/20 scale model of a real, one hundred meters tall wind turbine has been assumed as case study for shaking table tests. A special control algorithm has been purposely designed to drive MR dampers. Starting from the results of preliminary laboratory tests, a finite element model of such structure has been calibrated so as to develop several numerical simulations addressed to calibrate the controller, i.e., to achieve as much as possible different, even conflicting, structural goals. The results are definitely encouraging, since the best configuration of the controller leaded to about 80% of reduction of base stress, as well as to about 30% of reduction of top displacement in respect to the fixed base case.

关键词： semi-active control wind turbine magnetorheological damper control algorithm

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DEPLOYMENT RETRIEVAL control OF TETHERED SUBSATELLITE THROUGH AN OPTIMAL PATH

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JOURNAL OF GUIDANCE control AND DYNAMICS 1994年第6期17卷 1292-1298页

作者： FUJII, HA ANAZAWA, S Tokyo Metropolitan Institute of Technology Hino Tokyo 191 Japan

Development of a feedback control law to follow an optimal path is presented concerning the deployment/retrieval phase of a subsatellite connected to the Shuttle through a tether. The optimal path to be tracked is obtained numerically by solving a two-point boundary-value problem with inequality constraints on tether tension that is the control force, with fixed boundary conditions, and with an unspecified terminal time. The feedback control algorithm is designed using a Lyapunov function to asymptotically reduce the deviation of the actual trajectory from the optimal path. The Lyapunov function is defined to be positive definite and to be zero when the trajectory coincides simultaneously with the optimal path. The present method of control is simulated numerically, and the results show excellent controlled response of the tethered subsatellite system. A comparison of the present approach with the neighboring optimum feedback control is also presented and shows the superior performance of the tracking-type control using the Lyapunov function for large initial variations from the optimal path.

关键词： Feedback control control algorithm Boundary Value Problems Optimal control Numerical Simulation Distributed Parameter System Conjugate Gradient Method Numerical Analysis Tethered Satellite System Artificial Gravity

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Design of a near-isentropic supersonic inlet using active control

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JOURNAL OF PROPULSION AND POWER 2005年第2期21卷 292-299页

作者： Ahsun, U Merchant, A Paduano, JD Drela, M MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

A two-dimensional Mach 2.2 internal compression inlet with 97% total pressure recovery has been designed using viscid-inviscid computational tools. Losses are minimized by careful boundary-layer management combined with shape design for weak shocks. The resulting inlet has reduced stability to unstart in the face of atmospheric and engine-borne disturbances, necessitating the use of an active stabilization bleed system that recovers the disturbance-rejection capabilities required of modern inlets. Atmospheric disturbances that the inlet may encounter during supersonic flight are characterized. Two separate physical mechanisms for unstart are identified, and active control algorithms to prevent these forms of unstart are designed and demonstrated using one- and two-dimensional unsteady Euler simulations. The resulting actively stabilized inlet can withstand flight velocity, temperature, and angle-of-attack perturbations consistent with atmospheric flight.

关键词： Active control Inlet Ramp Boundary Layer Separation Supersonic Aircraft Angle of Attack control algorithm Flight Velocity Critical Mach Numbers One Dimensional Flow Terminal Normal Shock

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ROBUST-control DESIGN AND IMPLEMENTATION ON THE MIDDECK ACTIVE control EXPERIMENT

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JOURNAL OF GUIDANCE control AND DYNAMICS 1994年第6期17卷 1163-1170页

作者： GROCOTT, S HOW, J MILLER, D MACMARTIN, D LIU, K Massachusetts Institute of Technology Cambridge Massachusetts 02139

This paper presents a coherent methodology for robust controller synthesis for the Middeck Active control Experiment (MACE): a Shuttle program scheduled for flight on STS-67 in February 1995. The experiment has been designed to investigate the extent to which the on-orbit behavior of a precision-controlled spacecraft can be predicted and controlled using analysis and ground testing prior to launch. A goal of the flight experiment is to demonstrate good payload pointing performance using active controllers designed based on the predicted structural dynamics. For systems with complicated control topologies and large model uncertainties, this requires a systematic control design methodology. The results from preliminary ground-based control experiments are used in this paper to present such st design technique and to illustrate how it can be applied to future flight experiments. This control design methodology is then used to develop controllers that obtain a 22 dB improvement in the performance metric on the current MACE hardware.

关键词： Closed Loop System Structural Dynamics Linear Quadratic Gaussian Reaction Wheels Finite Element Modeling Feedback Loop Spacecraft Dynamics Flexible Spacecrafts control algorithm Spacecraft Motion

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Linear quadratic flight control for ejection seats

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JOURNAL OF GUIDANCE control AND DYNAMICS 1996年第1期19卷 15-22页

作者： Wise, KA Brinker, JS SO ILLINOIS UNIV EDWARDSVILLEIL 62026

Linear quadratic based flight control design for a next generation ejection seat design is presented. The flight control design process, dynamic models, control algorithm design, and nonlinear simulation results are presented. Study results are for a solid fuel pintle-based propulsion actuation system. The controller design was verified through linear analysis and nonlinear six-degree-of-freedom simulation.

关键词： Aircraft Flight control Flight control Law Solid Fuels control algorithm Six Degree of Freedom Linear Quadratic Regulator Angle of Attack Propulsion System Sideslip Angle Crew Member

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Disturbance Observer-Based Prescribed Performance Predictive control for Spacecraft On-Orbit Inspection

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JOURNAL OF GUIDANCE control AND DYNAMICS 2022年第10期45卷 1873-1889页

作者： Fu, Jiangliang Chen, Li Zhang, Dexin Zhang, Jun Shao, Xiaowei Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai 200240 Peoples R China Beijing Inst Tracking & Telecommun Technol Beijing 100094 Peoples R China Jiangsu Univ Sch Elect & Informat Engn Zhenjiang 212013 Jiangsu Peoples R China

Spacecraft on-orbit inspection provides a prerequisite for the subsequent autonomous proximity operations. To fulfill the mission, robust constrained control algorithms for relative position tracking and attitude adjustment should be employed to handle the nonlinear coupled dynamics, system constraints, and external disturbances. In this paper, a robust nonlinear model predictive control (NMPC) scheme with prescribed performance based on a fixed-time neural network disturbance observer is proposed. Predefined tracking performance requirements are achieved, and, meanwhile, safety and stability are guaranteed. By exploiting the prescribed performance control technique, the proposed NMPC structure is capable of establishing a quantitative relationship between design parameters and certain prespecified performance values. Moreover, the proposed fixed-time neural network disturbance observer shows superiority in the disturbance estimations due to the property of universal approximation and fixed-time convergence. To illustrate the capabilities of our algorithm, comparison simulation tests concerning with prescribed performance and disturbance estimating are presented. Selection of tuning parameters is discussed, and computational load of the proposed algorithm is profiled.

关键词： Spacecraft Models Model Predictive control Neural Networks control algorithm Earth Aerodynamic Force Spacecraft Proximity Operations Spacecraft Attitude Attitude Dynamics Equatorial Orbit

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Distributed Formation Flight control Using Constraint Forces

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JOURNAL OF GUIDANCE control AND DYNAMICS 2009年第1期32卷 112-120页

作者： Zou, Yunfei Pagilla, Prabhakar R. Ratliff, Ryan T. Oklahoma State Univ Dept Mech & Aerosp Engn Stillwater OK 74078 USA Boeing Co St Louis MO 63166 USA

A new approach for formation flight control of multiple aircraft is presented. Constraint forces are used to derive the dynamics of a constrained, multibody system. A stable, distributed control algorithm is designed based on the information How graph for a group of aircraft. The aircraft will achieve a particular formation while ensuring an arbitrarily small bounded navigation tracking error with parameter uncertainties of the entire group. It is assumed that uncertainty exists in the drag coefficient of each aircraft. An adaptation algorithm is developed to compensate for the uncertainty and estimate the drag coefficient. The advantage of the proposed distributed control algorithm is that it allows the addition/removal of other aircraft into/from the formation seamlessly with simple modifications of the control input. Furthermore, the algorithm provides inherent scalability. Simulations were conducted to verify the proposed approach.

关键词： Flight control System Drag Coefficient control algorithm Multibody System Ailerons Flight Path Angle Proportional Integral Derivative Lift Coefficient Aircraft Dynamics Heading Angle

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