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Virtual Trajectory Augmented Landing control Based on Dual Quaternion for Lunar Lander

JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第9期39卷 2044-2057页

作者： Kwon, Jae-Wook Lee, Donghun Bang, Hyochoong Korea Adv Inst Sci & Technol Div Aerosp Engn 335 Gwahangno Daejeon 34133 South Korea Korea Aerosp Res Inst Div Lunar Explorat Res 115 Gwahangno Daejeon 34133 South Korea

A pinpoint soft landing with a low touchdown velocity is critical for a lunar lander in the terminal landing phase, particularly with respect to scientific exploration missions. However, the main descent thruster of the lander is usually equipped on one side along the body axis, whereas reaction thrusters for attitude control are fixed in three axes. This causes the translational dynamics and the rotational dynamics of the lunar lander to be mutually coupled. In this study, a new force-torque sequential control law is introduced to resolve the coupling effect. To further improve the coupled motion, a virtual landing trajectory augmented control law is designed. The virtual trajectory is represented as a virtual quaternion and is augmented as a command to the lander's position update using the dual quaternion. A combined augmented landing control algorithm is newly proposed to incorporate the virtual trajectory commands into the force-torque sequential control law. Numerical simulation results with some cases by the MonteCarlo method show that the designed augmented control system enables a terminal soft landing with less fuel consumption.

关键词： Lunar Lander Quaternions Landing control Attitude Dynamics control Systems Soft Landing control algorithm Monte Carlo Analysis Numerical Simulation Fuel Consumption

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control algorithm Study for Some Optical Tracking Measurement System with Low Mechanical Resonance Frequency

Control Algorithm Study for Some Optical Tracking Measuremen...

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4th International Conference on High Speed Machining

作者： Bi, Y. L. Wang, Z. X. Heilongjiang Univ Sch Mech Elect Engn Harbin 150080 Peoples R China

ISBN: (纸本)9783037850671

For some optical tracking measurement systems, because their size, weight and space structure are very strict restrictions, DC servo motors have to drive the loads through the several stages of gear transmission. For such a nonlinear controlled object, it is difficult to obtain acceptable control performance applying the traditional controller design method. In the paper, firstly, establish such a non-linear system dynamic model, and consider intelligent control algorithm to inhibit mechanical resonance effect for the control system performance. In order to achieve real-time control easily, the paper suggests a fuzzy numeric model with the self-regulating factor based on analytic expression for such a non-linear system. The result demonstrates that the fuzzy controller is very effective in applications. This work provides a new thought for a controller design to inhibit the low mechanical resonance frequency.

关键词： control algorithm Resonance frequency Fuzzy numeric model Fuzzy controller

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Inverse Kinematics in Pyramid-Type Single-Gimbal control Moment Gyro System

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JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第8期39卷 1893-1903页

作者： Yamada, Katsuhiko Asai, Takashi Jikuya, Ichiro Osaka Univ Dept Mech Engn Yamada Oka 2-1 Suita Osaka 5650871 Japan Nagoya Univ Dept Aerosp Engn Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan Kanazawa Univ Fac Elect & Comp Engn Inst Sci & Engn Kakuma Machi Kanazawa Ishikawa 9201192 Japan

An inverse kinematics computational procedure (IKCP) was presented for solving the inverse kinematics in the pyramid-type single-gimbal control moment gyro system (SGCMG). The initial candidates of the gimbal angles were selected by solving the eighth-order polynomial equation, and then the gimbal angles were adjusted by using the Newton method such that the cost function was decreased. The IKCP is applicable to accurately compute the maximum total angular momentum vector along the specified rotational direction and to the inverse kinematics steering logic (IKSL) for attitude control. The effectiveness of the proposed method was demonstrated by using both numerical simulations and ground experiments;in particular, it has been shown that the computational cost of IKSL is acceptable for real-time implementation.

关键词： Inverse Kinematics control Moment Gyros Newton's Method Numerical Simulation Computing Quaternions Tracking control Numerical Optimization control algorithm Feedback control

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Design and control of Hybrid a Powered Wheelchair for the Elderly

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TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A 2016年第12期40卷 1067-1076页

作者： Yoon, Tae-Su Ann, Sung-Jo Kim, Sang-Min Han, Young-Bin Kim, Jung-Yup Seoul Natl Univ Sci & Technol Dept Mech Syst Design Engn Seoul South Korea

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

关键词： Hybrid Powered Wheelchair The Elderly Brake Mechanism control algorithm

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Fault-Tolerant control algorithm for a Four-Corner Closed-Loop Air Suspension System

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2011年第10期58卷 4866-4879页

作者： Kim, Hyunsup Lee, Hyeongcheol Hanyang Univ Dept Elect Engn Seoul 133791 South Korea

This paper presents a new systematic control and fail-safe design methodology for a four-corner closed-loop air suspension (CLAS) system. The proposed control algorithm consists of "system control" determining the target heights of the four corners of the vehicle body from driving conditions and from the driver's commands and "actuator control" achieving the target heights by controlling actuators. A sliding-mode control with phase-compensated feedback signal is applied as the main part of the system control. With the use of the sliding-mode control, the proposed system control can improve control accuracy and robustness against delays and disturbances as well as reduce the bounce oscillation of the vehicle body. This paper proposes a stepwise height control as the actuator control to overcome the limited power of the production CLAS system. The stepwise height control adjusts the front corners and the rear corners alternately until the four corners reach their corresponding target heights. A fail-safe algorithm (FA) is also proposed to provide the fault detection (FD), diagnosis, and management of the CLAS. In particular, a model-based FD method for the pressure sensor and the height sensors, which are critical components in the CLAS control system, has been proposed. A mathematical model of a CLAS system is developed for algorithm development and simulation. The proposed control algorithm and FA are verified by simulations and actual vehicle tests.

关键词： Air suspension control algorithm fail-safe height control vehicle suspension

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A High Efficiency Storage Battery Energy Collection System with Input Source Extension

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AGRO FOOD INDUSTRY HI-TECH 2017年第3期28卷 3056-3061页

作者： Chen Xuechang Chongqing Coll Elect Engn Inst Appl Elect Chongqing Peoples R China

An efficient energy collection system is proposed, which is suitable for the expansion of the input source of the battery, and the control algorithm is designed. The energy collection circuit is mainly composed of a digital control unit (DCU), comparator, based on Dickson charge pump clock doubler voltage regulator (CVD) and analog switch, can be of a plurality of independent energy harvester (EH) electric energy collection. The system supports the expansion of any number of EH by hot swap. The proposed control algorithm can transfer the energy from each EH to the energy storage device and not interfere with each other. The proposed circuit is realized by using 0.18 mu m CMOS technology. Experimental results show that, compared to a similar energy harvesting system, the energy harvesting system is the minimum power consumption which is only 1.72 mu W, can provide up to three of the maximum energy collection efficiency for 96.1% input sources.

关键词： energy harvesting multi input source control algorithm low power consumption

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Charge Equalization controller algorithm for Series-Connected Lithium-Ion Battery Storage Systems: Modeling and Applications

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ENERGIES 2017年第9期10卷 1390页

作者： Hannan, Mahammad A. Hoque, Mohammad M. Ker, Pin J. Begum, Rawshan A. Mohamed, Azah Univ Tenaga Nas Dept Elect Power Engn Kajang 43000 Malaysia Univ Chittagong Dept Elect & Elect Engn Chittagong 4331 Bangladesh Univ Kebangsaan Malaysia Inst Climate Change Bangi 43600 Selangor Malaysia Univ Kebangsaan Malaysia Dept Elect Elect & Syst Engn Bangi 43600 Selangor Malaysia

This study aims to develop an accurate model of a charge equalization controller (CEC) that manages individual cell monitoring and equalizing by charging and discharging series-connected lithium-ion (Li-ion) battery cells. In this concept, an intelligent control algorithm is developed to activate bidirectional cell switches and control direct current (DC)-DC converter switches along with pulse width modulation (PWM) generation. Individual models of an electric vehicle (EV)-sustainable Li-ion battery, optimal power rating, a bidirectional flyback DC-DC converter, and charging and discharging controllers are integrated to develop a small-scale CEC model that can be implemented for 10 series-connected Li-ion battery cells. Results show that the charge equalization controller operates at 91% efficiency and performs well in equalizing both overdischarged and overcharged cells on time. Moreover, the outputs of the CEC model show that the desired balancing level occurs at 2% of state of charge difference and that all cells are operated within a normal range. The configuration, execution, control, power loss, cost, size, and efficiency of the developed CEC model are compared with those of existing controllers. The proposed model is proven suitable for high-tech storage systems toward the advancement of sustainable EV technologies and renewable source of applications.

关键词： charge equalization controller control algorithm modeling state of charge lithium-ion battery sustainable energies

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The control Strategy of Open-winding Permanent Magnet Synchronous Motor Drive System Based on Five-leg inverter 13

The Control Strategy of Open-winding Permanent Magnet Synchr...

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13th IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Dai, Shengnan Wei, Jiadan Zhou, Bo Xue, Jiachen Nanjing Univ Aeronaut & Astronaut Jiangsu Key Lab New Energy Generat & Power Conver Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781509035281

A novel Open-winding Permanent Magnet Synchronous Motor (OW-PMSM) drive system based on the five-leg inverter is presented to reduce the cost, volume and the switching loss of the inverter. Due to the common DC bus of the proposed five-leg inverter, the zero sequence current generated by the inherent 3rd harmonic of the phase back EMF flows through the phase windings and it leads to the weakness of efficiency and torque triple to the drive system, therefore, the closed-loop of zero sequence current and modulation method of the five-leg inverter were employed to the system control strategy and it generated the offset 3rd back EMF to suppress the zero sequence current. The double-loop control algorithm for the proposed OW-PMSM drive system was realized by the software of Matlab/Simulink, and the validity of the high performance OW-PMSM drive system based on the five-leg inverter was verified by the simulation results.

关键词： OW-PMSM five-leg inverter modulation strategy zero sequence current control algorithm

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Reliable Wireless control Wireless Connection in the control Loop 12

Reliable Wireless Control Wireless Connection in the Control...

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IEEE World Conference on Factory Communication Systems (WFCS)

作者： Olaya, Santiago Soler Perez Maetzler, Stefan Wollschlaeger, Martin Varutti, Paolo Szczepanski, Thorsten Tech Univ Dresden Inst Appl Comp Sci Chair Ind Commun Dresden Germany Ifak Syst GmbH Magdeburg Germany

ISBN: (纸本)9781509023394

Wireless communication technologies are adopted more and more in industrial applications. While being accepted as an add-on focusing on tasks like asset management, the use of wireless connection in the control loop is still less common. A main requirement for such an application is a reliable communication solution. The paper discusses a system approach of integrating wireless communication systems into a control application by using a model predictive control and an intelligent radio proxy in order to minimize the issues derived from a wireless connection, like packet loss and jitter. The engineering of such a solution is supported by a specific PLC function block.

关键词： softwarebased reliability control algorithm wireless control

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Design and Research on Hydraulic control Unit for a Novel Integrated-Electro-Hydraulic Braking System

Design and Research on Hydraulic Control Unit for a Novel In...

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IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC Asia-pacific)

作者： Zhang, Hongtao Han, Wei Xiong, Lu Xu, Songyun Tongji Univ Shanghai Peoples R China

ISBN: (纸本)9781509012725

Due to the decline of vacuum degree, the braking system of hybrid and electric vehicle shall not use vacuum booster any longer from the economics or logical point of view. This paper puts forward the design requirements of integrated-electro-hydraulic brake system (I-EHB) and the designing scheme of a novel I-EHB based on these design requirements. Hydraulic control unit (HCU), which consists of 6 high speed on-off solenoid valves, is an important part of I-EHB. HCU can be used to control the hydraulic pressure of wheel cylinders. Then we set up a simulation model and test the design with it. The results shows a high performance of the system and the hydraulic pressure of wheel cylinders are under precise control.

关键词： hydraulic control unit design integrated-electro-hydraulic brake system control algorithm

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