Adaptive Angular Velocity Tracking Control of Spacecraft with Dynamic Uncertainties

The tracking of orientation and angular velocity is a primary attitude control task for an on-orbit spacecraft.The problem for a rigid spacecraft tracking a desired angular velocity profile is addressed using an adaptive feedback control.An angular velocity feedback tracking algorithm is firstly developed based on the precisely known attitude dynamics of the spacecraft,and the global tracking of the control algorithm is proved based on the Lyapunov analysis.An adaptation mechanism is then designed to deal with the dynamic uncertainties of the spacecraft.Such an adaptation mechanism enables the controller to track any desired angular velocity trajectories even in the presence of uncertain inertia parameters,although it does not guarantee the inertia tensor being precisely identified.To verify the effectiveness of the proposed adaptive control policy,computer simulations on dynamic equations of a spacecraft are conducted and their results are discussed.

PROBABILITY DISTRIBUTION FUNCTION OF NEAR-WALL TURBULENT VELOCITY FLUCTUATIONS

By large eddy simulation （LES）, turbulent databases of channel flows at different Reynolds numbers were established. Then, the probability distribution functions of the streamwise and wall-normal velocity fluctuations were obtained and compared with the corresponding normal distributions. By hypothesis test, the deviation from the normal distribution was analyzed quantitatively. The skewness and flatness factors were also calculated. And the variations of these two factors in the viscous sublayer, buffer layer and log-law layer were discussed. Still illustrated were the relations between the probability distribution functions and the burst events-sweep of high-speed fluids and ejection of low-speed fluidsIin the viscous sub-layer, buffer layer and loglaw layer. Finally the variations of the probability distribution functions with Reynolds number were examined.

A Theoretical Analysis of the Acceleration and the Angular Momentum of the Universe

The loss of Baryonic Matter through Black Holes from our spatial 3-D Universe into its 4th dimension as Dark Matter, is used along with the Conservation of Angular Momentum Principle to prove theoretically the accelerated expansion of the 3-D Universe, as has already been confirmed experimentally being awarded the 2011 Nobel Prize in Physics. Theoretical calculations can estimate further to indicate the true nature of the acceleration;that the outward acceleration is due to the rotation of the Universe caused by Dark Energy from the Void, that the acceleration is non-linear, initially increasing from zero for the short period of about a Million years at a constant rate, and then leveling off non-linearly over extended time before the outward acceleration begins to decrease in a non-linear fashion until it is matched by the gravitational attraction of the matter content of 4D Space and the virtual matter in 3-D Vacuum Space. m = m(4D) + m(Virtual). The rotation of our 3D Universe will become constant once all 3D matter has entered 4D space. As the 3-D Universe tries to expand further it will be pulled inward by its gravitational attraction and will then keep on oscillating about a final radius rf while it also keeps on oscillating at right angles to the radius rf around final angular velocity ωf, until it becomes part of the 4-D Universe. The constant value of the Angular Momentum of our Universe is L = .

Effect of extrusion wheel angular velocity on continuous extrusion forming process of copper concave bus bar

The continuous extrusion forming process for producing large section copper concave bus bar under different extrusion wheel angular velocities was studied by three-dimensional finite element technology based on software DEFORM-3D. The rigid-viscoplastic constitutive equation was employed in the model. The numerical simulation results show that the deformation body flow velocity in the die orifice increases gradually with the increase of the extrusion wheel angular velocity. But slippage between the rod and extrusion wheel occurs when the extrusion wheel angular velocity is high. The effective stress near the die orifice enhances gradually with increasing extrusion wheel angular velocity. High stress is concentrated in adjacent regions of the flash gap. The effective strain gradient is greater near the abutment than that near the die orifice. The effective strain of the product increases gradually with increasing extrusion wheel angular velocity. In the deformation process, the deformation body temperature increases remarkably due to friction and deformation. So the cooling is necessary in the region of the die and tools.

Effect of background fluctuation on velocity diagnostics by Mach probe

The effect of background fluctuation on velocity diagnostics is discussed and studied. The kinetic theory of Mach probe(MP) and the theory of BGK mode are combined to evaluate how the measurement of MP is affected by electrostatics fluctuation. It is found that the quantity of speed by the MP model is closer to the effective velocity in the picture of momentum flux rather than the real mean velocity, while, with high fluctuation, the fitting parameter of MP's exponential formula should be corrected.

Influence of the instability of angular velocity of the rotating carrier itself on the stability of silicon micromachined gyroscope

In order to find out the influence of the instability of angular velocity of the rotating carrier itself on the stability of silicon micromachined gyroscope, the digital models for relative error of the high and low damping gyroscope's output signal are given respectively, based on the motion equations of the silicon micromachined gyroscope. Theory proves that the output signal error of the silicon micromachined sensor is mainly caused by the instability of damping factor and the angular velocity of the rotating carrier itself. The experiment result indicates that the error of proportionality coefficient of output voltage which is caused by the instability of the angular velocity of the rotating carrier itself reaches to 4.1 %. Theoretical demonstration and experimental verification show that the instability of angular velocity of the rotating carrier itself has an important effect on the stability of low damping silicon micromachined gyroscope.

Research on Angular Output Velocity of a Drive Shaft with Double Cross Universal Joints

The study object is the angular output velocity of the drive shaft which is made up of two series-wound cross universal joints. We have deduced the function relation between the angular output velocity and initiative input angle of the drive shaft with double cross universal joints that is based on the calculation formula of the angular output velocity of a single cross universal joint, and by analyzing the relation between the two input angles. By using this function relation, the constant velocity condition of the drive shaft with double cross universal joints＂ is verified. The step-by-step searching algorithm is adopted to obtain the optimal phase angle that leads to the minimum fluctuate index of the angular output velocity in the vary velocity condition. At the same time, we worked out the maximal and minimum value of the angular output velocity, and their initiative input angle. The correctness of the function of the angular output velocity and the step-by-step search algorithm are verified by an ADAMS simulation example.

Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity

This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.

CFD simulation of pressure fluctuation characteristics in the gas-solid fluidized bed:Comparisons with experiments

A simple hydrodynamic model based on two-fluid theory, taking into account the effect of discrete particles on both the gas- and solid-phase momentum equations, was used to numerically investigate the pressure fluctuation characteristics in a gas-solid fluidized bed with the aid of CFX 4.4, a commercial CFD software package, by adding user-defined Fortran subroutines. Numerical simulations together with typical experimental measurements show that pressure fluctuations originate above the distributor when a gas pulse is injected into the fluidized bed. The pressure above the bubble gradually increases due to the presence of a rising bubble. When the bubble passes through the bed surface, the pressure near the bed surface gradually decreases to a lower value. Moreover, the pressure signals in the bubbling fluidized beds show obviously periodic characteristics. The major frequency of pressure fluctuations at the same vertical position is affected slightly by the operating gas velocity, and the amplitude of pressure fluctuations is related to both the operating gas velocity and the vertical height. In this study, the influence of the operating gas velocity on the pressure wave propagation velocity can be ignored, and only two peak frequencies in the power spectrum of the pressure fluctuations are observed which are associated with the bubble formation above the distributor and its eruption at the bed surface.

Study of droplet flow in a T-shape microchannel with bottom wall fluctuation

Droplet generation in a T-shape microchannel, with a main channel width of 50 μm, side channel width of 25 μm, and height of 50 μm, is simulated to study the effects of the forced fluctuation of the bottom wall. The periodic fluctuations of the bottom wall are applied on the near junction part of the main channel in the T-shape microchannel. Effects of bottom wall＇s shape,fluctuation periods, and amplitudes on the droplet generation are covered in the research of this protocol. In the simulation,the average size is affected a little by the fluctuations, but significantly by the fixed shape of the deformed bottom wall, while the droplet size range is expanded by the fluctuations under most of the conditions. Droplet sizes are distributed in a periodic pattern with small amplitude along the relative time when the fluctuation is forced on the bottom wall near the T-junction,while the droplet emerging frequency is not varied by the fluctuation. The droplet velocity is varied by the bottom wall motion,especially under the shorter period and the larger amplitude. When the fluctuation period is similar to the droplet emerging period, the droplet size is as stable as the non-fluctuation case after a development stage at the beginning of flow, while the droplet velocity is varied by the moving wall with the scope up to 80% of the average velocity under the conditions of this investigation.

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.

Estimator-Based GPS Attitude and Angular Velocity Determination

In this paper,the estimator-based Global Positioning System(GPS)attitude and angular velocity determination is presented.Outputs of the attitude estimator include the attitude angles and attitude rates or body angular velocities,depending on the design of estimator.Traditionally as a position,velocity and time sensor,the GPS also offers a free attitude-determination interferometer.GPS research and applications to the field of attitude determination using carrier phase or Doppler measurement has been extensively conducted.The rawattitude solution using the interferometry technique based on the least-squares approach is inherently noisy.The estimator such as the Kalman filter(KF)or extended Kalman filter(EKF)can be incorporated into the GPS interferometer,potentially providing several advantages,such as accuracy improvement,reliability enhancement,and real-time characteristics.Three estimator-based approaches are investigated for performance comparison,including(1)KF with measurement involving attitude angles only;(2)EKF with measurements based on attitude angles only;(3)EKF with measurements involving both attitude angles and body angular rates.The assistance from body mounted gyroscopes,if available,can be utilized as the measurements for further performance improvement,especially useful for the case of signal-challenged environment,such as the GPS outages.Modeling of the dynamic process involving the body angular rates and derivation of the related algorithm will be presented.Simulation results for various estimator-based approaches are conducted;performance comparison is presented for the case of GPS outages.

Investigation of Wall Pressure Fluctuations in a Turbulent Boundary Layer by Large Eddy Simulation

Large eddy simulation (LES) was used to investigate the space-time field of the low Mach number, fully developed turbulent boundary layer on a smooth, rigid flat plate. The wall-pressure field simulated by LES was analyzed to obtain the pressure statistics, including the wall-pressure root-mean square, skewness and flatness factors, which show the wall pressure distribution was not Gaussian. The profile of the auto-power spectral density and the contour of the streamwise wavenumber-frequency spectral density of wall-pressure were plotted. The "convection ridge" can be observed clearly and the convection velocity can be calculated from the location of the convection peak.

Branching ratio and angular distribution of ejected electrons from Eu 4f^76p_(1/2)nd auto-ionizing states

The branching ratios of ions and the angular distributions of electrons ejected from the Eu 4f^76p_（1/2）nd auto-ionizing states are investigated with the velocity-map-imaging technique.To populate the above auto-ionizing states,the relevant bound Rydberg states have to be detected first.Two new bound Rydberg states are identified in the region between41150 cm^（-1）and 44580 cm^（-1）,from which auto-ionization spectra of the Eu 4f^76p_（1/2）nd states are observed with isolated core excitation method.With all preparations above,the branching ratios from the above auto-ionizing states to different final ionic states and the angular distributions of electrons ejected from these processes are measured systematically.Energy dependence of branching ratios and anisotropy parameters within the auto-ionization spectra are carefully analyzed,followed by a qualitative interpretation.

Smoothed Particle Hydrodynamic Modelling of Hydraulic Jumps: Bulk Parameters and Free Surface Fluctuations

A hydraulic jump is a rapid transition from supercritical flow to subcritical flow characterized by the development of large scale turbulence, surface waves, spray, energy dissipation and considerable air entrainment. Hydraulic jumps can be found in waterways such as spillways connected to hydropower plants and are an effective way to eliminate problems caused by high velocity flow, e.g. erosion. Due to the importance of the hydropower sector as a major contributor to the Swedish electricity production, the present study focuses on Smoothed Particle Hydrodynamic (SPH) modelling of 2D hydraulic jumps in horizontal open channels. Four cases with different spatial resolution of the SPH particles were investigated by comparing the conjugate depth in the subcritical section with theoretical results. These showed generally good agreement with theory. The coarsest case was run for a longer time and a quasi-stationary state was achieved, which facilitated an extended study of additional variables. The mean vertical velocity distribution in the horizontal direction compared favorably with experiments and the maximum velocity for the SPH-simulations indicated a too rapid decrease in the horizontal direction and poor agreement to experiments was obtained. Furthermore, the mean and the standard deviation of the free surface fluctuation showed generally good agreement with experimental results even though some discrepancies were found regarding the peak in the maximum standard deviation. The free surface fluctuation frequencies were over predicted and the model could not capture the decay of the fluctuations in the horizontal direction.

From Hölder Continuous Solutions of 3D Incompressible Navier-Stokes Equations to No-Finite Time Blowup on [ 0,∞ ]

This article gives a general model using specific periodic special functions, that is, degenerate elliptic Weierstrass P functions composed with the LambertW function, whose presence in the governing equations through the forcing terms simplify the periodic Navier Stokes equations (PNS) at the centers of arbitrary r balls of the 3-Torus. The continuity equation is satisfied together with spatially periodic boundary conditions. The yicomponent forcing terms consist of a function F as part of its expression that is arbitrarily small in an r ball where it is associated with a singular forcing expression both for inviscid and viscous cases. As a result, a significant simplification occurs with a v3(vifor all velocity components) only governing PDE resulting. The extension of three restricted subspaces in each of the principal directions in the Cartesian plane is shown as the Cartesian product ℋ=Jx,t×Jy,t×Jz,t. On each of these subspaces vi,i=1,2,3is continuous and there exists a linear independent subspace associated with the argument of the W function. Here the 3-Torus is built up from each compact segment of length 2R on each of the axes on the 3 principal directions x, y, and z. The form of the scaled velocities for non zero scaled δis related to the definition of the W function such that e−W(ξ)=W(ξ)ξwhere ξdepends on t and proportional to δ→0for infinite time t. The ratio Wξis equal to 1, making the limit δ→0finite and well defined. Considering r balls where the function F=(x−ai)2+(y−bi)2+(z−ci)2−ηset equal to −1e+rwhere r>0. is such that the forcing is singular at every distance r of centres of cubes each containing an r-ball. At the centre of the balls, the forcing is infinite. The main idea is that a system of singular initial value problems with infinite forcing is to be solved for where the velocities are shown to be locally Hölder continuous. It is proven that the limit of these singular problems shifts the finite time blowup time ti∗for first and higher derivatives to t=∞thereby indicating that there is no finite time blowup. Results in the literature can provide a systematic approach to study both large space and time behaviour for singular solutions to the Navier Stokes equations. Among the references, it has been shown that mathematical tools can be applied to study the asymptotic properties of solutions.

ANGULAR VELOCITY INTERPOLATION USING QUATERNION

In simulation,sometimes we wish to stipulate a specified angular velocity applied to a given frame.Although position,linear velocity and orientation interpolations are well studied,less attention is paid on angular velocity interpolation.In this paper,a new method to smoothly interpolate angular velocity using quaternions is presented.This method can be easily incorporated into a key frame animation system.The angular velocity at an arbitrary time can be calculated easily by our method.This method can also be generalized to smoothly interpolate orientations.

Fluidization characteristics of magnetic particles and determination of stable fluidization zone in magnetically fluidized bed

To determine and calculate the stable fluidization zone in a magnetically fluidized bed, the fluidization characteristics of magnetic particles are investigated. Four kinds of magnetic particles with different average diameters, ranging from 231 to 512 μm, are fluidized in the presence of magnetic fields with specified values of the intensity in the range of zero to 7330 A/m, and the particle fluidization curves are plotted. For marking the stable fluidization zone in the curves, the minimum bubbling velocities of particles are measured by the pressure-drop fluctuation. Based on the fluidization curves, the influences of the average particle diameter and magnetic field intensity on the zone are analyzed and discussed. A correlation to determine the stable fluidization zone is derived from the experimental data, using three dimensionless numbers, i. e., the ratio of magnetic potential to gravity potential, the Reynolds number and the Archimedes number. Compared with available data reported, it is shown that the correlation is more simplified to predict relative parameters for the bed operating in the state of stable fluidization under reasonable conditions.

GNSS gyroscopes:determination of angular velocity and acceleration with very high-rate GNSS

Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from GNSS.Motivated by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared errors.The major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically incorrect.The same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS gyroscopes.By comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the former is of better accuracy than the latter.As a result,to suppress the significant amplification of noise in GNSS attitudes,larger regularization parameters have to be chosen for the high-rate GNSS attitudes,resulting in smaller peak angular accelerations by a maximum factor of 37.55 percent in the angular velocity to a maximum factor of 6.20 times in the angular acceleration in comparison of the corresponding IMU results.Nevertheless,the regularized angular acceleration waveforms for both GNSS and IMU look more or less similar in pattern or waveform shape.

Measurement of acceleration and angular velocity of particles during a 3D silo discharge

Accurate measurement of the three-dimensional(3D)movement of discrete particles is crucial for comprehending complex granular rheology in silos.In this paper,the acceleration and angular velocity of particles in 3D silos are measured by using a spherical detector based on inertial technology and magnetic positioning technology.The acceleration of particles is the largest in the center of silos,which suggest that the resistance generated by friction and extrusion is the smallest.Surprisingly,the angular velocity distribution follows lognormal function except for particles near the outlet.The correlation between acceleration and angular velocity is opposite in different flow regions.It reveals for the first time that the extent to which the resultant force on the particles affects their rotational motion is related to the flow pattern.These results have practical significance for regulating the granular flow pattern and optimizing the structural design of silos.