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Vibration suppression of a large flexible spacecraft for on-orbit operation

Science China(Information Sciences) 2017年第5期60卷 36-50页

作者： Deshan MENG Houde LIU Yanan LI Wenfu XU Bin LIANG Shenzhen Graduate School Harbin Institute of Technology Department of Mechanical and Aerospace Engineering The Ohio State University Shenzhen Key Lab of Space Robotic Technology and Telescience Shenzhen Graduate SchoolTsinghua University

Flexible appendages, such as solar panels, communication antennas and other large structures, are mounted on the base of a space robot and target satellite. The vibration of the flexible structure is excited by operations of a space manipulator. It is very challenging to control the vibration of large flexible appendages for on-orbit operation and, especially when the manipulator operates a non-cooperative target with unknown structural parameters and vibration information. In this study, a hybrid control method is proposed based on wave-based control and PD control methods to control the motion of a manipulator while suppressing the vibration of appendages. First, the rigid-flexible coupled dynamic model of a compounded system is *** is followed by designing a hybrid control strategy combining wave-based control and PD control for restto-rest maneuvers based on the characteristics of the compounded system. Finally, the simulation of a 3D compounded system is provided to verify the effectiveness of the presented approach. The simulation results indicate that the space robot can successfully berth the target while suppressing the vibrations of the structure.

关键词： space robot large flexible spacecraft vibration suppression wave-based control on-orbit operation

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Modeling and Control of a Two-link Flexible space Manipulator Using the Wave-based Method 29

Modeling and Control of a Two-link Flexible Space Manipulato...

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第29届中国控制与决策会议

作者： LI Yanan MENG Deshan LIU Houde WANG Xueqian LIANG Bin Shenzhen Engineering Laboratory of Geometry Measurement Technology Graduate School at ShenzhenTsinghua University Shenzhen Graduate School Harbin Institute of Technology Shenzhen Key Lab of Space Robotic Technology and Telescience

ISBN: (纸本)9781509046584

The vibration control of flexible space manipulator is challengeable due to the complex dynamics model and uncertain ***,the non-model-based control method is one of the important research directions of the vibration suppression of the flexible *** wave-based method proposed by O'Connor can well eliminate residual vibration for single-input flexible ***,there are very few studies on multi-input multi-output flexible system using wave-based *** this paper,we research vibration control of a two-link flexible space manipulator based on the principle of ***,based on the pseudo-rigid body method,the dynamics model of a two-link planar space manipulator with joint and link flexibility is ***,the basic principle of wave-based control method is briefly *** wave transfer function and the wave propagation in the flexible body are ***,the steady-state error of the two-link control system is studied and we proposed an elimination method of the steady-state error of the manipulator ***,the simulations of a single-link and a two-link flexible space manipulator are conducted to verify the effectiveness of the presented *** simulation results verify the validity of the proposed method.

关键词： Flexible space Manipulator Pseudo-rigid Body Wave-based Vibration Control Dynamic Modeling

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Extension of Virtual Decomposition Control to Cooperative Carrying of Dual-arm Robots in Free Motion 29

Extension of Virtual Decomposition Control to Cooperative Ca...

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第29届中国控制与决策会议

作者： Xueqian Wang Bo Xia Gang Li Houde Liu Bin Liang Tsinghua University National Laboratory for Information Science and Technology Shenzhen Key Lab of Space Robotic Technology and Telescience Tsinghua University Graduate School at Shenzhen Shenzhen Engineering Lab of Geometry Measurement Technology

ISBN: (纸本)9781509046584

This investigation is to deal with the internal force control issue for cooperative carrying of dual-arm robots in free motion using virtual decomposition *** to the virtual decomposition control principle,the entire system of the dual-arm robot in free motion for cooperative carrying is virtually decomposed into two chain subsystems and an object *** motion control problem of this entire system is converted into that of subsystems in which the internal force control of the object is *** the basis of establishing the mathematical model of the entire system,kinematics and dynamics of every subsystem are calculated.A virtual decomposition controller of each subsystem is designed,and this controller and the corresponding subsystem structure a control subsystem of this *** subsystem controllers constitute the controller of the entire robot system,and the combination of this controller and the robot system is the virtual decomposition control system of this *** analysis of the devised robot virtual decomposition control system is accomplished analyzing the virtual stability of each control subsystem by way of the virtual power flow related to the products of velocities errors and force ***,the virtual decomposition control system of the dual-arm robot to carry an object in free motion is *** results show that the virtual decomposition control system is stable and effective.

关键词： Dual-arm Robot Free Motion Virtual Decomposition Control Cooperative Carrying

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A Particle Filter and Long Short Term Memory Fusion Algorithm for Failure Prognostic of Proton Exchange Membrane Fuel Cells 29

A Particle Filter and Long Short Term Memory Fusion Algorith...

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第29届中国控制与决策会议

作者： Chunchun Yang Zhiheng Li Bin Liang Weining Lu Xueqian Wang Houde Liu Tsinghua University Graduate School at Shenzhen Shenzhen Key Lab of Space Robotic Technology and Telescience Department of Automation School of Information Science and TechnologyTsinghua University Shenzhen Engineering Lab of Geometry Measurement Technology

ISBN: (纸本)9781509046584

Prognostics and Health Management(PHM) appears to be a promising maintenance strategy which can enhance reliability and reduce maintenance costs of the target *** the process of PHM,Prognostics is the most important and *** approaches can be roughly divided into two categories:model-based methods and data-driven methods,both of which have advantages and *** overcome the limitations of these methods and improve the accuracy and precision of the forecasting,we propose a novel fusion prognostic *** method fuses the Particle Filter(PF,model-based) and Long Short Term Memory(LSTM,data-driven) *** the literature,PF is used by estimating the system state and identifying the parameters of the model for the purpose of ***,it does not have ideal performance due to the lack of measurements in the prediction *** solve this problem,LSTM is used to forecast the measurements and use the results as the observation of *** experiment is applied to the data of Proton Exchange Membrane Fuel Cell Stack from IEEE PHM 2014 Data *** results demonstrate that the proposed method can effectively integrate the advantages of PF and LSTM,which leads to a better forecasting performance than naive PF approach.

关键词： Failure Prognostic LSTM Particle Filter PEMFC

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Research on Virtual Decomposition Control of Free-Flying space Robot with an Object Under Nonholonomic Constraints

Research on Virtual Decomposition Control of Free-Flying Spa...

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IEEE International Conference on Automation Science and Engineering

作者： Bo Xia Gang Li Shuang Yang Xueqian Wang Bin Liang Tsinghua University Graduate School at Shenzhen China Tsinghua University National Laboratory for Information Science and Technology China Shenzhen Key Lab of Space Robotic Technology and Telescience China

This paper aims at solving the stable control issue of the free-flying space robot with an object when the orientation of space base is controlled but the position is out of control using the virtual decomposition control (VDC). According to the VDC principle, the entire system is conceptually divided into such subsystems: the object, the space base, the manipulator, the reaction wheel and the massless virtual manipulator. The last term is designed to solve the nonholonomic constraints of the whole system. Based on the mathematical model of the entire system, kinematics and dynamics of every subsystem from the object to the space base are analyzed. A virtual decomposition controller of each subsystem is simultaneously designed, and this controller and the corresponding subsystem structure a control subsystem of the whole robot. All subsystem controllers constitute the controller of the entire robot system, and the combination of this controller and the robot system is the virtual decomposition control system of this robot. Then it takes two steps to achieve its stability analysis -- the virtual stability of each control subsystem and the stability analysis of the whole control system. Finally, the VDC system of the free-flying space robot with an object is simulated. Simulation results show that the VDC system is stable and effective.

关键词： VDC orientation controlled

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Application of H-infinity output-feedback control with analysis of weight functions and LMI to nonlinear nuclear reactor cores

Lecture Notes in Mechanical Engineering

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Lecture Notes in Mechanical Engineering 2017年 457-468页

作者： Li, Gang Liang, Bin Wang, Xueqian Li, Xiu Xia, Bo National Laboratory for Information Science and Technology Tsinghua University Haidian District Beijing China Graduate School at Shenzhen Tsinghua University University Town Shenzhen China Department of Automation Tsinghua University Haidian District Beijing China Shenzhen Key Lab of Space Robotic Technology and Telescience University Town Shenzhen China Shenzhen Engineering Lab of Precision Geometry Measurement Technology University Town Shenzhen China

This research is to deal with the nonlinear control issue for power regulations of the pressurized water reactor core in nuclear power plants. Based on modeling a nonlinear pressurized water reactor core using the lumped parameter method, its linearized model is achieved through the small perturbation linearization way. The H∞ output-feedback control with analysis of weight functions and linear matrix inequalities solving method is used to contrive a robust controller of the linearized core model. Besides, general laws of selecting weight functions in H∞ control are summarized. The solved H∞ output-feedback controller is applied to the nonlinear core model. The nonlinear core model and the H∞ controller construct the nonlinear core power H∞ control system. Eventually, the nonlinear core power H∞ control system is simulated, and simulation results show that the nonlinear control system is effective. © Springer International Publishing Switzerland 2017.

关键词： Linear matrix inequalities

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Stability Analysis of Nonlinear Nuclear Reactor Cores Adopting T-S Fuzzy Modeling and Lyapunov Theory

Stability Analysis of Nonlinear Nuclear Reactor Cores Adopti...

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2016 International Conference on Applied Mathematics, Simulation and Modelling(AMSM2016)

作者： Gang Li Bin Liang Xueqian Wang Xiu Li Kang Wang Tsinghua University National Laboratory for Information Science and Technology Tsinghua University Graduate School at Shenzhen Tsinghua University Department of Automation Shenzhen Key Lab of Space Robotic Technology and Telescience Shenzhen Engineering Lab of Precision Geometry Measurement Technology

ISBN: (纸本)9781510833890

This research is to solve the stability analysis issue of nonlinear pressurized water reactor cores. On the basis of modeling a nonlinear pressurized water reactor core using the lumped parameter method, its linearized model is achieved via the small perturbation linearization way. Linearized models of the nonlinear core at six power levels are selected as local models of this core. The T-S fuzzy idea for the core is exploited to construct the T-S fuzzy model of the nonlinear core based on the local models and the triangle membership function, which approximates the nonlinear core model within the entire range of power level. This fuzzy model as a bridge is to cater to the stability analysis of the nonlinear core after defining its stability. One stability theorem is deduced to define the nonlinear core is globally asymptotically stable in the global range of power level. Finally, the simulation work and stability analyses are separately completed. Numerical simulations show that the fuzzy model can substitute the nonlinear core model;stability analyses verify the nonlinear core is globally asymptotically stable in the global range of power level.

关键词： reactor core T-S modeling Lyapunov theory stability analysis

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A Review for Modeling of Reactor Cores in Nuclear Power Plants

A Review for Modeling of Reactor Cores in Nuclear Power Plan...

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2015 2nd Asian Pacific Conference on Energy,Environment and Sustainable Development(APEESD 2015)

作者： Gang Li Xueqian Wang Bin Liang Xiu Li Kang Wang Tsinghua University National Laboratory for Information Science and Technology Tsinghua University Graduate School at Shenzhen Tsinghua University Department of Automation Tsinghua University Shenzhen Key Lab of Space Robotic Technology and Telescience

This investigation is to review main modeling approaches of reactor cores in nuclear power plants for electricity generation. A reactor core in a nuclear power plant is the key part as the hot source with radioactivity nuclear fuel, which possesses security risks and economic potential. Meanwhile, cores are timevarying complex systems with nonlinear characteristics. Hence, the core modeling is always the popular study field to analyze core dynamics. In the paper, the review for main four modeling methods of reactor cores is presented, which include the point reactor core modeling, the one-dimensional core modeling, the multi-node core modeling, the three-dimensional core modeling. This review can contribute to comprehend the past work with respective advantages, and then exploit novel modeling methods for development of NPPs on the basis of the work.

关键词： A Review for Modeling of Reactor Cores in Nuclear Power Plants Reactor

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Dynamic Coupling of space Robots with Flexible Appendages

Dynamic Coupling of Space Robots with Flexible Appendages

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IEEE International Conference on robotics and Biomimetics

作者： Deshan Meng Bin Liang Wenfu Xu Bo Zhang Houde Liu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School Shenzhen P.R. China School of Astronautics Harbin Institute of Technology Harbin P.R. China Shenzhen Key Lab of Space Robotic Technology and Telescience Shenzhen Engineering Lab of Precision Geometry Measurement Technology Tsinghua University Shenzhen Graduate School Shenzhen P.R. China

ISBN: (纸本)9781467396769

For a space robot with flexible appendages, the structure flexibilities will easily cause vibration during orbit and/or attitude maneuver of the base, and the operation of the manipulators. Hence, the pose (position and attitude) of the end-effector will deviate from the desired values largely. In this paper, we derive the rigid-flexible coupling dynamics of a space robot system with flexible appendages and establish the coupling model between the flexible structure and the space manipulator. Then, some coupling factors are defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Moreover, a new type of coupling map is proposed and drawn in joint space to represent the coupling motion between the joint and the appendages. The coupling map is very important for trajectory planning to reduce appendage vibration. The above work supplies a theoretic basis to guide the system design, performance evaluation, trajectory planning and motion control of such space robots.

关键词： deviate desired appendages

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