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检索条件"主题词=Control Algorithm"

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A Decentralized Optimal control Law for Multi-circular Circumnavigation around a Stationary Target

A Decentralized Optimal Control Law for Multi-circular Circu...

引用

AIAA SciTech Forum

作者： Pradhan, Prateek Priyaranjan Sen, Arijit Kothari, Mangal Rajawat, Ketan Indian Inst Technol Kanpur Dept Aerosp Engn Kanpur 208016 Uttar Pradesh India Indian Inst Sci Educ & Res Bhopal Dept Elect Engn & Comp Sci Bhopal 462066 Madhya Pradesh India Indian Inst Technol Kanpur Dept Elect Engn Kanpur 208016 Uttar Pradesh India Indian Inst Technol Dept Aerosp Engn Bombay 400076 Maharashtra India

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper explores the circumnavigation of a stationary target by a group of nonholonomic agents aiming to achieve a desired multi-circular formation. Despite the substantial number of works in the area of cooperative circumnavigation problems, the existing literature lacks an optimal control law that minimizes the deviation of the desired values of agents. Therefore, a two-stage control protocol is proposed in this work to ensure the multi-circular circumnavigation formation. At first, assuming the inaccessibility of the formation parameters to some of the agents, distributed estimators are considered to estimate the parameters. Then, a linear quadratic regulator (LQR) based decentralized optimal control algorithm is proposed to minimize a weighted sum of squared deviations from desired states and control inputs. The effectiveness of the proposed algorithm is demonstrated through numerical simulations.

关键词： Algebraic Riccati Equation Linear Quadratic Regulator Numerical Simulation control algorithm Heading Angle Earth Multi Agent System Optimization algorithm Satellite Formation Nonlinear Systems

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Sliding Mode control Toolbox for Aerospace Applications: Relative Degree Approach

Sliding Mode Control Toolbox for Aerospace Applications: Rel...

引用

AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Kode, S. Shtessel, Y. Univ Alabama Huntsville Dept Elect & Comp Engn Huntsville AL 35899 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

A sliding mode control toolbox for designing and simulating aerospace vehicle control systems is developed using the relative degree approach. The proposed toolbox is created based on a MATLAB/Simulink platform. The created toolbox allows the design and the simulation of the aerospace vehicles controlled by classical and higher order sliding mode control algorithms, including their adaptive and continuous implementations. Efficacy of the proposed toolbox is illustrated via numerical simulations of controlled Resource Prospector Lunar Lander (RPL) and Rocket Launch Vehicle using the simplified mathematical models provided by NASA/MSFC.

关键词： Open Loop Transfer Function Mathematical Models MATLAB In Situ Resource Utilization Robust control System Rocket Launch Vehicle Numerical Simulation control Rocket control algorithm Soft Landing

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Adaptive control and Scaling Approach for the Emulation of Dynamic Sub-scale Torque Loads

Adaptive Control and Scaling Approach for the Emulation of D...

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AIAA SciTech Forum

作者： Bianco, Santino J. Simon, Donald L. Hill, Elyse D. NASA Glenn Res Ctr Intelligent Control & Auton Branch 21000 Brookpark Rd Cleveland OH 44135 USA Oak Ridge Associated Univ Oak Ridge TN 37831 USA Intelligent Control & Auton Branch 21000 Brookpark Rd Oak Ridge TN 44135 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Previous research by the authors proposed a control and scaling approach for emulating dynamic sub-scale torque loads. This approach produced an emulation controller that successfully regulated the dynamic behavior of a sub-scale electro-mechanical system intended to be a dynamical representation of the sub-scale turboelectric powertrain of a single-aisle commercial aircraft. The sub-scale system provides an environment without turbomachinery or rotors for the initial testing of electrified aircraft propulsion (EAP) control algorithms as they would be applied to a full-scale EAP system. The sub-scale turbomachinery/rotor torque loads were produced by electric machines (EMs) driven by the control and scaling approach, a full-scale turboelectric powertrain model, and an advanced EAP control algorithm. Although successfully tested, this approach produces an emulation controller that does not guarantee asymptotic stability. Modifying the original control law and integrating adaptive control techniques into the emulation controller allows the designer to guarantee asymptotic stability. This paper introduces the idea behind the emulation controller modifications, derives the controller, proves asymptotic stability, describes the implementation of the controller on a sub-scale electro-mechanical system intended to represent a parallel hybrid-electric turbofan engine, and describes the testing of a full-scale advanced EAP control algorithm. The turbofan engine and emulation controller performance are compared to results obtained using the previous, non-adaptive control and scaling approach.

关键词： Sliding Mode control Turbomachinery Turbofan Engines Electrified Aircraft Propulsion control algorithm Commercial Aircraft Propulsion Subsystem Electrical Systems Damping Coefficient Hybrid Electric Propulsion

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control system design for four-legged walking robot with insect type leg using ROS

Control system design for four-legged walking robot with ins...

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4th International Conference on Advances in Materials and Manufacturing Applications (IConAMMA)

作者： Kalburgi, Virbhadrappa James, P. M. Sreedharan, Pramod Amrita Vishwa Vidyapeetham Amritapuri Dept Mech Engn Kollam 690525 India

This work presents the development of a control algorithm for an insect type four-legged robot which contains hips, torso and legs joints. The mechanical design is inspired by the locust insect. ROS is adapted because it provides a reliable mechanism for fast robot development and algorithm reuse. We presenting the control algorithm which helps to robot get stable and balanced walking locomotion in a given environment, also able to perform task like avoiding static obstacles. This control algorithm is validated in a simulation environment GAZEBO, RVIZ. (c) 2020 Elsevier Ltd. Selection and peer-review under responsibility of the scientific committee of the International Conference on Advances in Materials and Manufacturing Applications.

关键词： control algorithm Insect robot ROS_node_graph Obstacle avoidance Gazebo

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Microprocessor control of Devices Systems of Pneumatic Container Delivery for the Analysis of Samples of Concentrating and Metallurgical Production 2

Microprocessor Control of Devices Systems of Pneumatic Conta...

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2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Khmara, V. V. Lobotskiy, Yu. G. Kabyshev, A. M. State Technol Univ FSBEI HE Northern Caucasus Min & Met Inst Ind Elect Dept Vladikavkaz Russia

ISBN: (纸本)9781509013227

It is well known that automatic control of any process implies continuous or infrequent monitoring process parameters. At the ore dressing mills and metallurgical plants, such parameters may include composition of feedstock, fluxes, reagents, intermediate products, final tailings and wastewater. Usually, this information is supplied by the automated analytical monitoring system (AAMS), in which the main component is the automated sub-system for sampling and representative test sample transportation. This paper is dedicated to current issues regarding optimization of the microprocessor-based control system by the use of robotic mechanisms and devices in the pneumatic test sample capsule transportation facility and computer-aided modelling. The article describes a functional scheme of the pneumatic conveying system. Here, control signals are optimized, the algorithms and schemes of universal microprocessor of controlled system are outlined.

关键词： analytical control technology testing representative single test sample transportation of samples for assay microprocessor-based control system control algorithm

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New control Scheme for a Battery Energy Storage System for Output Stabilization of a Wind Generator

New Control Scheme for a Battery Energy Storage System for O...

引用

IEEE PES T and D Conference and Exposition

作者： Huh, J. S. Moon, W. S. Shin, H. S. Ryu, K. H. Kim, J. C. Soongsil Univ Dept Elect Engn Seoul 156743 South Korea Hyosung Power & Ind Syst R&D Ctr Anyang 431799 South Korea Iljin Elect R&D Ctr Hwasung 445380 South Korea

ISBN: (纸本)9781479936564

Wind power output has the characteristics of being intermittent and low quality, which have a negative effect on the spread of renewable energy sources. To solve these problems, energy storage systems (ESSs) are used. ESSs have demonstrated that high-quality power from renewable energy sources can be supplied through the charge and discharge operation of an ESS. In this paper, ESS control methods are studied to operate a power grid connected wind turbine with stable condition. First, we introduce an output smoothing method to mitigate the unstable system with a wind turbine, and then a moving average method is proposed to obtain the target output. An output-smoothing algorithm considering the constraints of a battery ESS (BESS) is presented. Additionally, this algorithm is simulated by MATLAB with actual wind turbine data.

关键词： Battery energy storage system (BESS) control algorithm Output fluctuation Wind power

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Using HIL testing for Differential Lock control 21

Using HIL testing for Differential Lock Control

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21st International Scientific Conference on Transport Means (Transport Means)

作者： Kucera, P. Pistek, V Brno Univ Technol Fac Mech Engn Inst Automot Engn Tech 2896-2 Brno 61669 Czech Republic

The paper deals with the testing of a control algorithm for locking differential of the truck. This algorithm is applied to hardware for HIL testing. Connection and communication between sensor, actuator, and hardware is described. In conclusion, a Real-time testing of the mechatronic system is created to verify the functionality of the assembled control algorithm of the differential. Moreover, a reaction on the real sensor is monitored.

关键词： control algorithm NI VeriStand differential HIL

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Synthesis of algorithms and Optimal control System of Start-Up Modes of Continuous Induction Installation

Synthesis of Algorithms and Optimal Control System of Start-...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Danilushkin, Aleksander Bazarov, Aleksander Zhivotyagin, Denis Samara State Tech Univ Samara Russia

ISBN: (纸本)9781728145907

The problem of optimization of starting conditions of a continuous induction heating installation is examined. In the work, an optimal algorithm for controlling the process of starting the heater to a given operating mode is obtained by the accuracy criterion. The optimal phase portrait consists of two intervals: the interval of bounded moving and the "special" region. It is shown that the "special" region represents a periodic piecewise continuous function asymptotically approaching a required final value. The synthesis of a looped optimal system is complicated by the fact that at the "special" control interval the temperature of the metal at the exit of the heater does not change. It was found that the temperature of the metal inside the heater varies according to a certain law in accordance with the optimal algorithm. This circumstance allows synthesizing a looped optimal system at the "special" interval as a system with feedback on the metal temperature at some "internal" point of the heater. A connection is established between the temperature change at the control point and the control algorithm. It is shown that the phase trajectory has the form of a piecewise constant function that converges to a steady-state value. The coordinate of the installation location of the feedback sensor is determined. The dependence of the number of control intervals on the tolerable error of approximating the output quantity to a required value is given.

关键词： distributed object optimization control algorithm phase trajectory

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Spacecraft Testbed to Support control System Design for Space Missions

Spacecraft Testbed to Support Control System Design for Spac...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Betancur, Yomary A. Moncayo, Hever Embry Riddle Aeronaut Univ Adv Dynam & Control Res Lab Dept Aerosp Engn 600 South Clyde Morris Blvd Daytona Beach FL 32114 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

The development of research spacecraft systems has a significant impact on the preparation and simulation of future space missions. Hardware, software and operation procedures can be properly tested, validated and verified before they are deployed for an actual mission. In this paper, a spacecraft vehicle testbed named Extreme Access System is introduced. The system has been developed to support validation and verification of guidance, navigation and control algorithms. Description of the spacecraft testbed, subsystems and integration is presented in this paper along with an analysis of results from numerical simulation and actual implementation of control laws. An attitude control architecture based on a Quaternion Feedback Linearization based controller is also described and performance analysis in the compensation of undesired dynamics is presented to demonstrate capabilities and potential missions that can be simulated using this system.

关键词： Space Missions Spacecraft Performance Quaternions Attitude Stabilization Feedback Linearization Numerical Simulation control algorithm control System Design Spacecraft System Solenoids

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Magnetorquer-only Nonlinear Attitude control for CubeSats

Magnetorquer-only Nonlinear Attitude Control for CubeSats

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Carabellese, Davide Umansky-Castro, Joshua S. Peck, Mason A. Politecn Torino Aerosp Engn Corso Duca Abruzzi 24 I-10129 Turin Italy Cornell Univ Ithaca NY 14850 USA Sibley Sch Mech & Aerosp Engn 452 Upson Hall Ithaca NY 14853 USA Sibley Sch Mech & Aerosp Engn 455 Upson Hall Ithaca NY 14853 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

This paper presents a novel strategy for attitude control of a spinning spacecraft in low Earth orbit (LEO) using only magnetorquers. The work has been developed within the Alpha CubeSat mission at Cornell University, and is embedded in the flight computer of the 1U CubeSat. The attitude-control algorithms shall accomplish two separate maneuvers to (1) detumble and spin the satellite about its maximum principal axis of inertia with a desired magnitude, and (2) align the spin axis with the Earth's magnetic field lines. Specifically, a nonlinear control law based on energy-dissipation principles manages the detumbling and spinning phase, while a linear PD control law achieves alignment with the external magnetic field lines. Stability analysis and simulation of these control laws has been conducted through MALTAB & Simulink.

关键词： Satellites Attitude control System Spin Stabilisation External Magnetic Field Earth's Magnetic Field control algorithm Spinning Spacecraft Flight Computer Nonlinear control Cartesian Coordinate System

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