scholarly journals Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Yanhua Han
Keyword(s):  
Attitude Control ◽  
Dynamics Modeling ◽  
Attitude Control System ◽  
Constraint Forces ◽  
Inertia Moment ◽  
Modeling And Control ◽  
And Control ◽  
Kane Method ◽  
Control Study ◽  
Space Target

Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier) freely flying around a space target on earth’s circular orbit is studied in the paper. The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier. Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation. The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used. The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment. Numerical simulation validation is conducted finally.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Dynamics modeling and control of active track tensioning system for tracked vehicle

2019 ◽  
Vol 26 (11-12) ◽  
pp. 989-1000
Author(s):  
Pingxin Wang ◽  
Xiaoting Rui ◽  
Hailong Yu ◽  
Bo Li
Keyword(s):  
Control Strategies ◽  
Stable Range ◽  
Dynamics Modeling ◽  
Modeling And Control ◽  
Flow Equations ◽  
Ground Pressure ◽  
Coupling System ◽  
Hydraulic Mechanism ◽  
And Control ◽  
Peak Value

Track assemblies are widely used to reduce vehicles’ ground pressure and improve their off-road performance. During off-road, the track tension has a significant effect on the performance of the crawler driving system. Previous control strategies only make use of the motions of partial road wheels. This paper develops a logical improvement to govern the motion of the track tensioner by using all road wheels. First, a dynamic model of the hydraulic-mechanism coupling system is established using the transfer matrix method for multibody systems and pressure-flow equations. Then, in order to get the angle of the idler arm, a modeling method of wheel envelope perimeter is developed, which is based on the locations of all wheels. Simulation results indicate that the control system maintains the wheel envelope perimeter almost constant while road wheels swing and decrease the possibility of peel-off and breakage of the track. It alleviates the track repeated stretch and keeps the tension in a stable range to reduce the fatigue damage. The control strategy can effectively reduce the peak value of the upper track tension during a vehicle passing through obstacles. This study suggests that the active track tensioning system can be implemented to improve the driving properties of tracked vehicles.

scholarly journals A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints

2009 ◽  
Vol 2009 ◽  
pp. 1-16 ◽  
Author(s):  
Suguru Arimoto ◽  
Morio Yoshida ◽  
Masahiro Sekimoto ◽  
Kenji Tahara
Keyword(s):  
Riemannian Geometry ◽  
Position Control ◽  
Hybrid Control ◽  
Object Manipulation ◽  
Rolling Contact ◽  
Kernel Space ◽  
Constraint Forces ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
And Control

A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under holonomic or non-holonomic constraints is presented. First, position/force hybrid control of an endeffector of a multijoint redundant (or nonredundant) robot under a holonomic constraint is reinterpreted in terms of “submersion” in Riemannian geometry. A force control signal constructed in the image space of the constraint gradient is regarded as a lifting (or pressing) in the direction orthogonal to the kernel space. By means of the Riemannian distance on the constraint submanifold, stability of position control under holonomic constraints is discussed. Second, modeling and control of two-dimensional object grasping by a pair of multijoint robot fingers are challenged, when the object is of arbitrary shape. It is shown that rolling contact constraints induce the Euler equation of motion, in which constraint forces appear as wrench vectors affecting the object. The Riemannian metric is introduced on a constraint submanifold characterized with arclength parameters. An explicit form of the quotient dynamics is expressed in the kernel space with accompaniment of a pair of first-order differential equations concerning the arclength parameters. An extension of Dirichlet-Lagrange's stability theorem to redundant systems under constraints is suggested by introducing a Morse-Lyapunov function.

On the Control of the Collector Field Outlet Temperature of Shiraz 250 KW Solar Power Plant

2012 ◽  
Vol 260-261 ◽  
pp. 163-168 ◽  
Author(s):  
Mostafa Zamani Mohi Abadi ◽  
Seyed Mohammad Hessam Mohammadi ◽  
Seyed Ali Akbar Safavi ◽  
Seyed Vahid Naghavi
Keyword(s):  
Power Plant ◽  
Solar Power ◽  
Real Data ◽  
Outlet Temperature ◽  
Solar Power Plant ◽  
Modeling And Control ◽  
The Real ◽  
Standard Tool ◽  
And Control ◽  
Control Study

This paper presents a control study of the real Shiraz 250KW solar power plant together with a modeling and a monitoring interface. Here, a PID controller is developed to control the outlet oil temperature of the collector field of the solar power plant as a standard tool for industrial automation. First the power plant is modeled within MATLAB environment and the model is verified with the real data of the power plant. Then an HMI environment is developed within the LabVIEWsoftwarewhile incorporating the model developed in MATLAB. The simulation results showed that a fixed-coefficient PID failed to provide the desired results over a year and the best coefficients for each month were calculated. The friendly and accurate developed environment within MATLAB and LabVIEW provide a valuable tool for modeling and control studies and monitoring of the real power plant.

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