Research on Steward Dynamic Platform Simulation Numerical Algorithm

In order to achieve attitude control of the six degrees of freedom steward dynamic platform, as well as the real time simulation cockpit attitude, Washout Filtering method was adopted in this paper as the simulation algorithm to derive Washout Fiher high-pass, low-pass filter transfer functions into a differential equation algorithm and longitudinal acceleration tilt strategy, pitching strategies etc. Experimental examples are used to verify correctness of the algorithm.

Control system for dynamic testing platform of asymmetrical pitch mechanism

A novel asymmetrical pitch system for rotary wing is presented. The pitch control characteristics are studied and analyzed. Because elastic linkage is a key part in whole asymmetrical pitch system, in order to obtain the variation of the elastic linkage deformation, an experimental platform mainly based on the device of micro aerial vehicles （MAVs） and a new control system mounted on TMS320LF2407 are designed. This control system has its compacted configuration and reliability. Finally, using this system to control the MAV for simulating the flying forward, experimental results show the MAV＇s flight attitude can he controlled based on the variation of the elastic linkage.

SPACECRAFT DOCKING SIMULATION USING HARDWARE-IN-THE-LOOP SIMULATOR WITH STEWART PLATFORM

A ground-based hardware-in-the-loop （HIL） simulation system with hydraulically driven Stewart platform for spacecraft docking simulation is presented. The system is used for simulating docking process of the on-orbit spacecraft. Principle and structure of the six-degree-of-freedom simulation system are introduced. The docking process dynamic of the vehicles is modeled. Experiment results and mathematical simulation data are compared to validating the simulation system. The comparisons of the results prove that the simulation system proposed can effectively simulate the on-orbit docking process of the spacecraft.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

The Governance Model for Entrepreneurial Enterprises:A Study Based on Dynamic Ownership Governance Platform

When human capital becomes the most important strategic capital,an entrepreneurial enterprise has to reform and innovate its corporate governance around human capital and its dynamism so as to acquire the capacity of sustainable endogenous growth.This article is intended to discuss the meaning and adaptability of Huawei’s characteristic systems and mechanisms and then proceeds to introduce the general design of entrepreneurial enterprises'dynamic ownership governance platform and the possible effect of corporate governance.Subject to existing Chinese laws and regulations and with full consideration of the dynamics of human capital,this article recommends an entrepreneurial enterprise to set up a dynamic ownership governance platform,innovate and optimize its corporate governance structure and relevant mechanisms and promote the gradual socialization of its founder/founding team’s rights to earnings,control and management;then put in place scientific and proper counterbalance mechanisms in accordance with the principle of separation of powers and incentive compatibility,reform its selection of managing staff and introduce market mechanisms to promote fair competition and dynamic incentive compatibility between its founder/founding team and other key stakeholders.This article is meant to facilitate an entrepreneurial enterprise to turn to socialization corporate governance,and acquire the motivation and gradually form the capacity for endogenous growth.