A synchronous control of relative attitude and position is required in separated ultraquiet spacecraft, such as drag-free, disturbance-free, and distributed spacecraft. Thus, a twistorbased synchronous sliding mode co...A synchronous control of relative attitude and position is required in separated ultraquiet spacecraft, such as drag-free, disturbance-free, and distributed spacecraft. Thus, a twistorbased synchronous sliding mode control is investigated in this paper to solve the control problem of relative attitude and position among separated spacecraft modules. The twistor-based control design and the stability proof are implemented using the Modified Rodrigues Parameter（MRP）.To evaluate the effectiveness of the proposed control method, this paper presents a case study of separated spacecraft flying control considering the mass uncertainty and external disturbances. In addition, a simulation study of the Proportional-Derivative（PD） control is also presented for comparison. The results indicate that the twistor-based sliding mode controller can ensure global asymptotic stability. The states converge fast with ultra-precision and ultra-stability in both the attitude and position. Moreover, the proposed twistor-based sliding mode control system is robust to the mass uncertainty and external disturbances.展开更多
针对传统应变/温度采集模块采样参数单一导致的数据不同步、无法兼容多类型传感器等问题,研发了基于ARM的多类型温度/应变信号同步采集系统,设计实现了基于零漂移放大器的高精度模拟调理电路,利用24 Bit ADC实现了2路应变与2路热电偶信...针对传统应变/温度采集模块采样参数单一导致的数据不同步、无法兼容多类型传感器等问题,研发了基于ARM的多类型温度/应变信号同步采集系统,设计实现了基于零漂移放大器的高精度模拟调理电路,利用24 Bit ADC实现了2路应变与2路热电偶信号的同步实时采集,采集数据通过上位机软件可实时显示与回放。测试结果表明:应变与温度的采集精度分别达到了0.1%FS和0.2%FS,且能够兼容不同类型应变片与标准热电偶进行同步高精度与宽量程的采样与传输,具有较好通用性与实时性,为进一步探索温度-应变耦合信息获取提供了研究基础。展开更多
在加工制造领域中,高精度和多工位同步控制的重要性日益显现。传统多工位加工采用多台电机按既定时序分时完成,系统工作效率较低。为提高多工位同步加工效率,提出一种复合直线开关磁阻电机(composite linear switched reluctance motor,...在加工制造领域中,高精度和多工位同步控制的重要性日益显现。传统多工位加工采用多台电机按既定时序分时完成,系统工作效率较低。为提高多工位同步加工效率,提出一种复合直线开关磁阻电机(composite linear switched reluctance motor,CLSRM),它由定子、长动子、左、右次动子4部分组成。左、右次动子嵌套在长动子上,能够与长动子实现复合运动,同时长动子和左、右动子能够独立运动,提高了系统运行效率。考虑到CLSRM运动系统的不确定性和时变扰动导致无法准确建模,采用系统辨识在线实时估计系统动态模型,结合基于极点配置的自适应控制策略实时调整控制参数。实验结果表明,该控制策略使电机位置跟踪稳态误差在6?m以内,同步稳态误差在1?m以内,验证了自适应算法对CLSRM高精度位置控制的有效性。展开更多
基金supported by the National Natural Science Foundation of China(Nos.51675430,11402044,and U1537213)
文摘A synchronous control of relative attitude and position is required in separated ultraquiet spacecraft, such as drag-free, disturbance-free, and distributed spacecraft. Thus, a twistorbased synchronous sliding mode control is investigated in this paper to solve the control problem of relative attitude and position among separated spacecraft modules. The twistor-based control design and the stability proof are implemented using the Modified Rodrigues Parameter（MRP）.To evaluate the effectiveness of the proposed control method, this paper presents a case study of separated spacecraft flying control considering the mass uncertainty and external disturbances. In addition, a simulation study of the Proportional-Derivative（PD） control is also presented for comparison. The results indicate that the twistor-based sliding mode controller can ensure global asymptotic stability. The states converge fast with ultra-precision and ultra-stability in both the attitude and position. Moreover, the proposed twistor-based sliding mode control system is robust to the mass uncertainty and external disturbances.
文摘针对传统应变/温度采集模块采样参数单一导致的数据不同步、无法兼容多类型传感器等问题,研发了基于ARM的多类型温度/应变信号同步采集系统,设计实现了基于零漂移放大器的高精度模拟调理电路,利用24 Bit ADC实现了2路应变与2路热电偶信号的同步实时采集,采集数据通过上位机软件可实时显示与回放。测试结果表明:应变与温度的采集精度分别达到了0.1%FS和0.2%FS,且能够兼容不同类型应变片与标准热电偶进行同步高精度与宽量程的采样与传输,具有较好通用性与实时性,为进一步探索温度-应变耦合信息获取提供了研究基础。
文摘在加工制造领域中,高精度和多工位同步控制的重要性日益显现。传统多工位加工采用多台电机按既定时序分时完成,系统工作效率较低。为提高多工位同步加工效率,提出一种复合直线开关磁阻电机(composite linear switched reluctance motor,CLSRM),它由定子、长动子、左、右次动子4部分组成。左、右次动子嵌套在长动子上,能够与长动子实现复合运动,同时长动子和左、右动子能够独立运动,提高了系统运行效率。考虑到CLSRM运动系统的不确定性和时变扰动导致无法准确建模,采用系统辨识在线实时估计系统动态模型,结合基于极点配置的自适应控制策略实时调整控制参数。实验结果表明,该控制策略使电机位置跟踪稳态误差在6?m以内,同步稳态误差在1?m以内,验证了自适应算法对CLSRM高精度位置控制的有效性。
