Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure

Space manipulator with free-swinging joint failure simultaneously contains kinematic and dynamic coupling relationships,so it belongs to a new underactuated system.To allow the manipulator to carry on tasks,an effective robust underactuated control method for the space manipulator with free-swinging joint failure is studied in this paper.Considering the effect of model uncertainty and joint torque disturbance,a robust underactuated control system based on the Terminal Sliding Mode Controller(TSMC)is designed,but two drawbacks are discussed:(A)Robustness depraves with eliminating chattering.(B)Control parameters are difficult to be determined under unknown uncertainty and disturbance.To improve the TSMC,the adaptive fuzzy controller is introduced to estimate the real effect of unknown uncertainty and disturbance according to deviations of sliding mode and its reaching law.The estimated result is directly compensated into active joints torque.In simulation,the space manipulator with free-swinging joint executes tasks based on the TSMC and the Adaptive Fuzzy Terminal Sliding Mode Controller(AFTSMC)respectively.Same tasks can be finished with smaller joints torque and stronger robustness based on the AFTSMC.Therefore,AFTSMC can serve as an effective robust control method for the space manipulator with free-swinging joint failure under unknown model uncertainty and torque disturbance.

A multi-stage regulation strategy of space manipulators with a free-swinging joint failure

To ensure tasks can be completed after a free-swinging joint failure occurs,a multi-stage regulation strategy of space manipulators is proposed.Considering all terms of the dynamics equation,an evaluation model of the regulation ability(EMRA)of active joints over the fault joint is established based on the fuzzy entropy.And then a multi-stage regulation strategy based on the EMRA is designed to regulate the fault joint.The strategy divides the regulation process into several stages,and select a certain active joint to regulative the fault joint in every stage.With this multi-stage regulation strategy,the fault joint can be regulated to the desired angle without huge torque on regulative joints.The simulation is carried out with a 7-DOF space manipulator,verifying the correctness and effectiveness of the multi-stage regulation strategy.The strategy has three advantages:Coriolis and centrifugal terms are both considered for the first time in selecting the regulative joint,making the selection result more in line with the actual regulation process;The influence of the model uncertainty is eliminated in establishing the EMRA,making the evaluation of regulative ability more precise;The fault joint is successfully regulated to the desired angle without huge torque on regulative joints.

Numerical simulations of failure behavior around a circular opening in a non-persistently jointed rock mass under biaxial compression

Pre-existing discontinuities change the mechanical properties of rock masses,and further influence failure behavior around an underground opening.In present study,the failure behavior in both Inner and Outer zones around a circular opening in a non-persistently jointed rock mass under biaxial compression was investigated through numerical simulations.First,the micro parameters of the PFC^(3D) model were carefully calibrated using the macro mechanical properties determined in physical experiments implemented on jointed rock models.Then,a parametrical study was undertaken of the effect of stress condition,joint dip angle and joint persistency.Under low initial stress,the confining stress improves the mechanical behavior of the surrounding rock masses;while under high initial stress,the surrounding rock mass failed immediately following excavation.At small dip angles the cracks around the circular opening developed generally outwards in a step-path failure pattern;whereas,at high dip angles the surrounding rock mass failed in an instantaneous intact rock failure pattern.Moreover,the stability of the rock mass around the circular opening deteriorated significantly with increasing joint persistency.

Evaluation of tensile properties of a compositemetal joint with a novel metal insert design by experimental and numerical methods

Composite-metal joints with a metal insert are one kind of connecting structure.In this paper,tensile experimental tests were carried out to investigate tensile properties of a compositemetal joint with a novel metal insert design.Finite element models of the joint were established,and strain distribution and tensile strength were analyzed.The numerical results are in good agreement with the experimental results.Results show that the joint failure is dominated by shear properties of the resin layer.Increasing the resin layer thickness in a certain range will improve the tensile strength of the joint,while increasing the radius of the fillet on the ending side of the metal insert will decrease the joint strength.Increasing the resin layer plasticity will improve the joint strength.The effect of the embedded depth of the metal insert can be ignored.

Microstructure characterization and HCF fracture mode transition for modified 9Cr-1Mo dissimilarly welded joint at different elevated temperatures

The high cycle fatigue（HCF） tests of modified 9 Cr-1 Mo dissimilarly welded joint were carried out at different elevated temperatures and the fracture mechanism was systematically revealed. The fatigue strength at 108 cycles based on S-N curve can be estimated as a half of weld joint＇s yield strength for all conducted temperatures, which can be a reliable criterion in predicting the fatigue life. The results show that the inter-critical heat affected zones（IC-HAZs） of both sides are the weak zones due to their low hardness and inferior fatigue resistance property. HAZ of COST-FB2（BM2） is the weakest zone at room temperature due to the existence of numerously distributed defects and the initiation of cracks, either in the surface or interior zone, impacting a crucial effect on the fatigue life of the joint. While at elevated temperatures, fatigue life was controlled mostly by the intrusion-extrusion mechanism at the specimen surface under high stress level and subsurface non-defect fatigue crack origin（SNDFCO） from the interior material under low stress amplitude. With increasing temperature, more and more fatigue failures began to occur at the HAZ of COST-E（BM1） due to its higher susceptibility of temperature. Besides, it is found that the-ferrite in the BM1 has no harm to the HCF behavior of the joint at the conducted temperatures.