Error analysis and a new steering law design for spacecraft control system using SGCMGs

Based on the singular value decomposition theory,this paper analyzed the mechanism of escaping/avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros (SGCMGs) as the actuator for the attitude control system.The expression of output-torque error is given at the point of singularity,proving the incompatible relationship between the gimbal rate and the output-torque error.The method of establishing a balance between the gimbal rate and the output-torque error is discussed,and a new steering law is designed.Simulation results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.     

Attitude control of a rigid spacecraft with one variable-speed control moment gyro

Nonlinear controllability and attitude stabilization are studied for the underactuated nonholonomic dynamics of a rigid spacecraft with one variable-speed control moment gyro(VSCMG), which supplies only two internal torques.Nonlinear controllability theory is used to show that the dynamics are locally controllable from the equilibrium point and thus can be asymptotically stabilized to the equilibrium point via time-invariant piecewise continuous feedback laws or time-periodic continuous feedback laws. Specifically,when the total angular momentum of the spacecraft-VSCMG system is zero, any orientation can be a controllable equilibrium attitude. In this case, the attitude stabilization problem is addressed by designing a kinematic stabilizing law, which is implemented through a nonlinear proportional and derivative controller, using the generalized dynamic inverse(GDI)method. The steady-state instability inherent in the GDI controller is elegantly avoided by appropriately choosing control gains. In order to obtain the command gimbal rate and wheel acceleration from control torques, a simple steering logic is constructed to accommodate the requirements of attitude stabilization and singularity avoidance of the VSCMG. Illustrative numerical examples verify the efcacy of the proposed control strategy.     

Underactuated spacecraft angular velocity stabilization and three-axis attitude stabilization using two single gimbal control moment gyros

Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros （SGCMGs） as actuators is investigated. First of all, the dynamic model of the underactuated spacecraft is established and the singularity of different configurations with the two SGCMGs is analyzed. Under the assumption that the gimbal axes of the two SGCMGs are installed in any direction, and that the total system angular momentum is not zero, a state feedback control law via Lyapunov method is designed to globally asymptotically stabilize the angular velocity of spacecraft. Under the assumption that the gimbal axes of the two SGCMGs are coaxially installed along anyone of the three principal axes of spacecraft inertia, and that the total system angular momentum is zero, a discontinuous state feedback control law is designed to stabilize three-axis attitude of spacecraft with respect to the inertial frame. Furthermore, the singularity escape of SGCMGs for the above two control problems is also studied. Simulation results demonstrate the validity of the control laws.     

Beam generating and sound field modeling of flexible phased arrays for inspecting complex geometric components

The flexible phased array ultrasonic technology has been developed to tackle the long-term challenge of damage inspection in complex-profiled components. However, due to the influences of curved interfaces, it is sometimes difficult to control the transmission signal of the sound field, thereby creating unreliable transducer performances. This paper proposes the time delay laws for generating steering or focusing beams on curved surfaces (concave, convex, concave/convex) based on the ray acoustics theory. Then, we derive the analytic expression of the entire flexible array ultrasonic field based on the multiple line source model and the time delay laws. Finally, the acoustic pressure distribution of curved structures is simulated to verify the feasibility of the derived principles. The numerical results show that the beams can realize dynamic steering and focusing without distortions or disorientations even when the steering angle reaches 45 degrees. Furthermore, the influences of the specimen surface profile, steering angle and focusing distance on the acoustic field are also analyzed by the axial sound pressure plots. These preliminary results represent an essential step in the development of a nondestructive testing (NDT) system for inspecting components with complex surfaces.     

An improved constrained steering law for SGCMGs with DPC

An improved constrained （IC） steering law for single gimbal control moment gyros （SGCMGs） with deformed pyramid configuration （DPC） is proposed, First of all, the original system with five pyramid configuration （FPC） whose two adjacent gyros are in failure state is reconfigured as a degraded system with DPC. Then, the singular angular momentum hypersurfaces of the original and the degraded systems are plotted via the singular angular momentum equa- tion of SGCMGs. Based on singular surfaces, the differences between FPC and DPC in singularity and momentum envelope are obtained directly, which provide an important reference for steering law design of DPC. Finally, an IC steering law is designed and applied to DPC. The simulation results demonstrate that the IC steering law has advantages in simplicity of calculation, avoidance of singularity and exactness of output torque, which endow the degraded system with fine controllability in a restricted workspace.     

三维双材料结构的应力奇异性分析

应用有限单元法子模型技术，对具有不同界面角的三维双材料结构的应力奇异性进行了分析。结果表明，应用子模型技术估算三维双材料结构的应力奇异性指数是有效的。然后分析了界面端线和界面端点处附近奇异性指数，得到了一些重要而有趣的结果。最后对消除三维双材料结构应力奇异性的几何条件进行了讨论。     

Attitude control for part actuator failure of agile small satellite

The stability and singularity problem of agile small satellite （ASS） with actuator failure is discussed in this paper. Firstly, the three-axis stabilized controller of an ASS is designed, where micro control moment gyros （MCMG＇s） in pyramid configuration （PC） is used as the actuator. By using the same controller and steering law, the control results before and after one gyro fails are compared by simulation. The variation of singular momentum envelope before and after one gyro fails is also compared. The simulation results show that the failure intensively decreases the capacity of output torque, which leads to the emergence of more singular points and the rapid saturation of MCMG＇s. Finally, the parameters of system controller are changed to compare the control effect.     

外环干扰力矩对陀螺加速度计测试精度的影响

摆式积分陀螺加速度计的外环干扰力矩包括仪表外环轴的摩擦力矩和交叉轴加速度引起的交变力矩。作者分析了引起摆式积分陀螺加速度计外环干扰力矩的主要原因,提出一种在高精度三轴测试转台上分离摆式积分陀螺加速度计外环干扰力,测试摆式积分陀螺加速度计精度的试验方法。该试验采用三轴转台中环转动速度随动摆式积分陀螺加速度计外环进动角速度,同时摆式积分陀螺加速度计陀螺摆的输出轴在整个试验中保持水平,从而分离仪表外环干扰力的方案。通过对试验数据进行分析,得出外环干扰力的存在影响了摆式积分陀螺加速度计测试精度,为改善摆式陀螺加速度计工艺以提高摆式陀螺加速度计的测试精度提供了依据。     

旋转导向钻具组合力学分析

旋转导向系统代表了当今定向钻井的先进水平,是井眼轨道控制技术的发展方向. 为了解决旋转导向钻井轨道控制问题,进行了旋转导向钻具组合(rotary steering bottom hole assembly, RS-BHA) 力学分析. 应用纵横弯曲法建立了典型的柔性RS-BHA 三维力学分析模型,得到了钻头侧向力和导向参数间的相互关系,进而根据极限曲率法可预测旋转导向工具的造斜能力,并计算设计井眼轨道需要的导向参数. 通过力学分析,可以优化RS-BHA,了解井眼轨道控制规律,为旋转导向工具设计和定向钻井自动控制提供理论依据.     

控制力矩陀螺框架伺服系统的超低速测速方法

在超低转速下,有限的转速测量分辨率是影响控制力矩陀螺框架伺服系统控制性能的一个重要因素.在分析转速分辨率对超低速控制性能影响的基础上,提出了一种基于多周期后向差分的转速计算方法,可提高测速分辨率并保证测速带宽.针对后向差分带来的相位延迟会限制测速分辨率进一步提高的问题,在选取合适的差分周期基础上,采用Kalman预估器对框架转速进行预估,进一步提高了框架转速的测速分辨率及测速带宽.通过仿真表明,所提出的测速方法将转速分辨率提高了两个数量级,解决了框架伺服系统在超低转速下由于有限的转速测量分辨率造成的爬行现象.     

扩展裂纹尖端奇异场的实验研究

用云纹方法测量了 LY12-M 铝材,双边裂纹试件、扩展裂纹沿 x和y方向位移场u_x,u_y。实验的裂纹尖端奇异场与 GH 理论奇异场进行了比较。两者偏差在±10％范围内,得到实验的 GH 奇异场范围与形状。实验证明:扩展裂纹尖端场有(lnA/r)~(α+1)奇异主导区。该主导区形状由腰子形向扁圆、圆形过渡,接近裂纹扩展时形状不规则。在 GH 主导区内,裂纹尖端附近有一个三维贲形,材料损伤区。在该区内 GH 奇异性不存在。     

Q–S synchronization between chaotic systems with double scaling functions

A double function Q–S synchronization (DFQSS) scheme of non-identical chaotic systems is proposed and analyzed with the assumption that all of the parameters are unknown. The sufficient conditions for achieving the double function Q–S synchronization with the desired scaling functions of two different chaotic systems (including the systems of non-identical dimension) are derived based on Lyapunov stability theory. By the adaptive control technique, the control laws and the corresponding parameter update laws are presented such that the DFQSS of non-identical chaotic systems is to be achieved. Numerical simulations and a brief discussion conclude the paper.     

A note on faxen laws for nonspherical particles

The advantages of new forms of Faxen laws with derivatives of finite order are discussed and specifically illustrated for prolate spheroids. Earlier ideas on the connection between the Faxen laws and certain “associated solutions” (single-particle solutions of the Stokes flow where the ambient velocity is a uniform stream or linear field) have been refined for the case where the associated solution has a relatively simple singularity solution.     

Model predictive control of rigid spacecraft with two variable speed control moment gyroscopes

In this paper, an attitude maneuver control problem is investigated for a rigid spacecraft using an array of two variable speed control moment gyroscopes(VSCMGs)with gimbal axes skewed to each other. A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal rates and the second-order derivative of the rotor spinning velocity, instead of the gyroscope torques, are taken as input variables. Moreover, taking external disturbances into account,a feedback control law is designed for the system based on a method of nonlinear model predictive control(NMPC). The attitude maneuver can be realized fast and smoothly by using the proposed controller in this paper.     

水轮发电机定子系统电磁激发参强联合共振

分析了水轮发电机定子系统的参、强联合共振,求得了稳态响应的分岔方程,进行了奇异性分析,揭示了一些新的规律和现象。给出了物理参数平面上的转迁集与分岔图,便于工程实际参考使用本文的分析结果。     

静止裂纹尖端实验的HRR奇异场

用近代光学试验方法(面内云纹和投影云纹),测量了不同应变硬化指数材料(n=3.350～9.180)、平面应力Ⅰ型双边裂纹试件、裂纹尖端附近位移场和应变场。由试验结果分析了裂纹尖端位移奇异性,得到J主导区和围绕裂纹尖端附近HRR场分布。分析了HRR分布随载荷、材料不同的变化规律。     

机翼/外挂颤振主动抑制的控制律研究

本文介绍了对机翼/外挂系统的颤振抑制控制律的研究。并用三种控制律的结果进行了风洞实验验证。结果表明:控制律的设计是成功的,理论计算与实验结果吻合良好。 文中重点介绍了两种控制律,它们都是以现代控制理论为基础。首先,把最优控制理论与颤振分析的状态空间法相结合,得到状态反馈。然后导出不同的输出反馈。文中,还讨论了该系统的阵风减缓和稳定裕度。 为对比起见,还给出了在同一模型上,用气动能量概念方法导出的控制律。由此,可看出它们在颤振抑制效益上的差异。     

航空遥感用惯性稳定平台动力学耦合分析

航空遥感用惯性稳定平台承载重量较大的成像载荷,系统相对复杂,耦合明显。根据航空遥感用三轴惯性稳定平台的结构特点,应用矢量叠加原理推导了平台环架运动学方程,建立了欧拉动力学模型,并分析了基座运动情况下各环架间的动力学耦合误差。仿真结果表明,基座对平台环架耦合较大,环架交叉耦合相对较小,且在外界干扰下基座及环架间的耦合加强。研究结果为稳定平台控制系统设计提供了依据。     

Bifurcation of elastic tank-liquid coupled sloshing system

The nonlinear equations of an elastic tank-liquid coupling system subjected to the external excitation are established. By means of the multi-scale method and the singularity theory, the bifurcation behaviors of the system are investigated and analyzed. The various nonlinear dynamical behaviors of the coupling system are obtained, which can further explain the relationship between the physical parameters and the bifurcation solutions. The results provide a theoretical basis to the realization of the parameter optimal control.     

The resonances of parametric vibration with forced vibration of the stator system of hydroelectric-generator stimulated by electromagnetism

The resonances of parametric vibration with forced vibration is analyzed, the bifurcation equation of the system is obtained and the singularity analysis is made. Some of the laws and phenomena are revealed. The transition variety and bifurcation diagram of the physical parametric plane are given. The results can be used in engineering. Supported by National Natural Science Foundation and Doctoral Programme Foundation of Institution of Higher Education of China.