Detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target

The rotational motion of a tumbling target brings great challenges to space robot on successfully capturing the tumbling target.Therefore,it is necessary to reduce the target's rotation to a rate at which capture can be accomplished by the space robot.In this paper,a detumbling strategy based on friction control of dual-arm space robot for capturing tumbling target is proposed.This strategy can reduce the target's rotational velocity while maintaining base attitude stability through the establishment of the rotation attenuation controller and base attitude adjustment controller.The rotation attenuation controller adopts the multi-space hybrid impedance control method to control the friction precisely.The base attitude adjustment controller applies the dual-arm extended Jacobian matrix to stabilize the base attitude.The main contributions of this paper are as follows:(1)The compliant control method is adopted to achieve a precise friction control,which can reduce the target angular velocity steadily;(2)The dual-arm extended Jacobian matrix is applied to stabilize the base attitude without affecting the target capture task;(3)The detumbling strategy of dualarm space robot is designed considering base attitude stabilization,realizing coordinated planning of the base attitude and the arms.The strategy is verified by a dual-arm space robot with two 7-DOF(degrees of freedom)arms.Simulation results show that,target with a rotation velocity of 20(°)/s can be effectively controlled to stop within 30 s,and the final deflection of the base attitude is less than 0.15°without affecting the target capture task,verifying the correctness and effectiveness of the strategy.Except to the tumbling target capture task,the control strategy can also be applied to other typical on-orbit operation tasks such as space debris removal and spacecraft maintenance.

Optimal PD/PID control of smart base isolated buildings equipped with piezoelectric friction dampers

Long-period pulses in near-field earthquakes lead to large displacements in the base of isolated structures.To dissipate energy in isolated structures using semi-active control,piezoelectric friction dampers（PFD） can be employed.The performance of a PFD is highly dependent on the strategy applied to adjust its contact force.In this paper,the seismic control of a benchmark isolated building equipped with PFD using PD/PID controllers is developed.Using genetic algorithms,these controllers are optimized to create a balance between the performance and robustness of the closed-loop structural system.One advantage of this technique is that the controller forces can easily be estimated.In addition,the structure is equipped with only a single sensor at the base floor to measure the base displacement.Considering seven pairs of earthquakes and nine performance indices,the performance of the closed-loop system is evaluated.Then,the results are compared with those given by two well-known methods：the maximum possive operation of piezoelectric friction dampers and LQG controllers.The simulation results show that the proposed controllers perform better than the others in terms of simultaneous reduction of floor acceleration and maximum displacement of the isolator.Moreover,they are able to reduce the displacement of the isolator systems for different earthquakes without losing the advantages of isolation.

Pressure-tracking control of a novel electro-hydraulic braking system considering friction compensation

This work presents an integrated pressure-tracking controller for a novel electro-hydraulic brake(EHB) system considering friction and hydraulic disturbances. To this end, a mathematical model of an EHB system, consisting of actuator and hydraulic sub-systems, is derived for describing the fundamental dynamics of the system and designing the controller. Due to sensor inaccuracy and measurement noise, a Kalman filter is constructed to estimate push rod stroke for generating desired master cylinder pressure. To improve pressure-tracking accuracy, a linear friction model is generated by linearizing the nonlinear Tustin friction model, and the unmodeled friction disturbances are assumed unknown but bounded. A sliding mode controller is designed for compensating friction disturbances, and the stability of the controller is investigated using the Lyapunov method. The performance of the proposed integrated controller is evaluated with a hardware-in-the-loop(HIL) test platform equipped with the EHB prototype. The test results demonstrate that the EHB system with the proposed integrated controller not only achieves good pressure-tracking performance, but also maintains robustness to friction disturbances.

Road Friction Estimation under Complicated Maneuver Conditions for Active Yaw Control

Road friction coefficient is a key factor for the stability control of the vehicle dynamics in the critical conditions. Obviously the vehicle dynamics stability control systems, including the anti-lock brake system（ABS）, the traction control system（TCS）, and the active yaw control（AYC） system, need the accurate tire and road friction information. However, the simplified method based on the linear tire and vehicle model could not obtain the accurate road friction coefficient for the complicated maneuver of the vehicle. Because the active braking control mode of AYC is different from that of ABS, the road friction coefficient cannot be estimated only with the dynamics states of the tire. With the related dynamics states measured by the sensors of AYC, a comprehensive strategy of the road friction estimation for the active yaw control is brought forward with the sensor fusion technique. Firstly, the variations of the dynamics characteristics of vehicle and tire, and the stability control mode in the steering process are considered, and then the proper road friction estimation methods are brought forward according to the vehicle maneuver process. In the steering maneuver without braking, the comprehensive road friction from the four wheels may be estimated based on the multi-sensor signal fusion method. The estimated values of the road friction reflect the road friction characteristic. When the active brake involved, the road friction coefficient of the braked wheel may be estimated based on the brake pressure and tire forces, the estimated values reflect the road friction between the braked wheel and the road. So the optimal control of the wheel slip rate may be obtained according to the road friction coefficient. The methods proposed in the paper are integrated into the real time controller of AYC, which is matched onto the test vehicle. The ground tests validate the accuracy of the proposed method under the complicated maneuver conditions.

Study on Mt control method of friction welding

A new type control method in friction welding is suggested in this pa- per,that is compositive control method of friction torque and friction time,it called Mt control method for short.The principle of Mt control method and its feature are concisely explained.

Damping characteristics of friction damped braced frame and its effectiveness in the mega-sub controlled structure system

Based on energy dissipation and structural control principle, a new structural configuration, called the megasub controlled structure （MSCS） with friction damped braces （FDBs）, is first presented. Meanwhile, to calculate the damping coefficient in the slipping state a new analytical method is proposed. The damping characteristics of one-storey friction damped braced frame （FDBF） are investigated, and the influence of the structural parameters on the energy dissipation and the practical engineering design are discussed. The nonlinear dynamic equations and the analytical model of the MSCS with FDBs are established. Three building structures with different structural configurations, which were designed with reference to the conventional mega-sub structures such as used in Tokyo City Hall, are comparatively investigated. The results illustrate that the structure presented in the paper has excellent dynamic properties and satisfactory control effectiveness.

Sliding Mode Controller Design for Position and Speed Control of Flight Simulator Servo System with Large Friction

Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is

An Improved Dynamic Friction Rejection Attitude Stability Control Strategy

The attitude stability control of under actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular control law based on quaternion and extended state observer (ESO) is employed to establish a stabilization control so as to restrain the effect of friction. The corresponding simulation results demonstrate the highly stable accuracy and performance compensated dynamic friction. Furthermore if there is a non zero initial condition in under actuated axis the attitude stability can be enhanced with a magnetic torquer. Simulations for a nano spacecraft denote a potential application value in pointing accuracy using two reaction wheels and a magnetic torquer.

Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics

A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.

Impulse Controller Design of a Harmonic Drive System with Friction

A friction model was established for impulse control design in a precision control system. First, the physical characteristics of the impulse in momentum, such as motion and energy, were analyzed and formulated. Then, experimental response to a new pulse with two harmonic expansions was studied. The first harmonic is the main pulse to drive the arm, and the second harmonic has two functions： its first half helps the main pulse eliminate the dead zone, and its second half, a negative pulse, stops the arm motion quickly. Finally, an impulse feedback controller was developed. Comparison between simulation and experiments shows the effectiveness of the proposed controller.

Adaptive high precision position control of servo actuator with friction compensation using LuGre model

Adaptive control of servo actuator with nonlinear friction compensation is addressed. LuGre dynamic friction model is adopted to characterize the nonlinear friction and a new kind of slid ing mode observer is designed to estimate the internal immeasurable state of LuGre model. Based on the estimated friction state, adaptive laws are designed to identify the unknown model parameters and the external disturbances, and the system stability and asymptotic trajectory tracking perform ance are guaranteed by Lyapunov function. The position tracking performance is verified by the ex perimental results.

铝合金板冲压摩擦试验机开发与试验

针对铝合金板冲压成形对摩擦测试的需求,确定考虑加热条件下铝合金板材冲压摩擦伺服压力摩擦测试平台的总体设计方案,开发适用于铝合金板材成形的小载荷高精度多功能摩擦试验机系统。该系统由运动组件、加热系统及控制系统组成。运动组件实现上模具和夹头的运动支撑;加热系统实现模具与试件单独加热;在伺服控制模式下,结合外部力传感器和光栅尺,实现试件压力和模具间隙高精度高稳定性控制。实际应用检验该试验机对不同因素的区分度和重复性,并设计正交试验,探索不同因素对铝合金板材摩擦的影响。结果表明:试验机性能稳定,重复性好;影响摩擦系数因素的重要次序为:模具温度、压力、速度、润滑剂;温度越低,压力越大,速度越快,摩擦系数越小;同一种类型的润滑剂对摩擦系数的影响较小。随着压力的增大,摩擦系数减少的趋势越来越小,逐渐趋于平稳。

Experimental Investigations of Axial Force Monitoring and Control for Friction Stir Welding Process

Friction stir welding( FSW) is a solid-state welding process that utilizes a rotating tool to induce gross material plastic deformation and join two parts together. A large number of studies have indicated that axial force control can be used to achieve good welding quality. However,in the welding process,due to workpiece's geometry error,improper clamping and other process variations,the axial force can vary significantly and produce welding defects.The control of force in the process of FSW is investigated. At first,the development and evaluation of a closed-loop control system is described,which is equipped with a custom real-time wireless force dynamometer for FSW. Then,an axial force controller is designed based on nonlinear force controllers for FSW. Experimental validations are carried out on an FSW platform. The experimental results demonstrate that the controller maintains the constant axial force and shows desirable dynamic behavior, even when the disturbance is encountered during the welding process.

基于刚度可调的气动位置伺服系统摩擦补偿控制

气动伺服系统的低刚度、低气源压强、流量易饱和等特性,导致系统在工作过程中能量耗散较大,系统易受摩擦影响,且补偿效果不明显。尤其是当系统的运动方向改变时,会产生明显的“平顶现象”,严重影响气动伺服系统的跟踪精度。采用负载口独立控制结构,消除因两腔耦合而导致的能量耗散,使系统流量特性尽可能地位于线性区间;针对气动系统中存在的摩擦中部分参数不确定,以及外界干扰、动态负载的不确定性,设计非线性自适应鲁棒控制方法;将系统的刚度调节与自适应鲁棒控制进行协同控制,提高气动位置伺服系统的动态性能。仿真和实验结果均表明:具有刚度调节的自适应鲁棒控制能够明显降低系统能量耗散,提高系统位置跟踪精度,有效改善摩擦引起的“平顶现象”。

大跨度索穹顶结构半主动振动控制分析

为了实现大跨空间结构半主动振动控制,提出了一种基于模糊控制算法的半主动振动控制方法.以某体育馆大跨度索穹顶屋盖为分析对象,建立了基于台站与地震信息的地震动记录选择集,采用研发的新型压电摩擦阻尼器,开展索穹顶结构被动控制研究.将地面加速度和结构变形量2个指标作为控制参数,进行索穹顶结构半主动振动控制分析.结果表明:被动控制时不同地震动强度下结构峰值加速度、最大相对变形量的最小减振率平均值仅分别为3.7%和-1.6%;半主动控制下的压电摩擦阻尼器能够适应不同强度地震动,有效降低结构的峰值加速度和峰值位移,且峰值加速度减振率平均值为20.0%~41.9%,最大相对变形量减振率平均值为12.0%~19.0%.

液压机械臂驱动关节的非线性摩擦力自适应补偿控制

液压机械臂在重载任务中至关重要,但在精细化作业中却普遍存在“力量够大、精细不足”的问题。无论采用全自主还是半自主的作业方式,精密运动控制都是实现精细作业的首要基础。液压机械臂多采用液压缸直动推动关节转动的非线性驱动关节构型,摩擦分别来自液压缸和转动轴,但现研究大多忽略直动摩擦而仅考虑转动摩擦,因而运动控制中的摩擦补偿不到位。建立了面向模型补偿控制的液压机械臂非线性驱动关节动力学模型,全面考虑液压缸和转动轴的摩擦特性,进而提出摩擦补偿控制方法。结合基于最小二乘的在线参数自适应律,设计了直接/间接自适应鲁棒控制器。最后开展多组仿真对比,验证所提控制方法对液压机械臂驱动关节控制精度的提升效果。

基于GMS摩擦力补偿和干扰观测器的高精度速度控制

为了降低机械轴系摩擦力扰动对于伺服控制器在低速运动控制精度的影响,进一步提高传统伺服控制器对于稳定平台的控制能力,提出了一种基于广义Maxwell滑动(generalized Maxwell-slip,GMS)摩擦力模型前馈和干扰观测器的高精度摩擦力补偿方案。首先在传统控制基础上引入GMS摩擦模型前馈补偿对摩擦扰动进行初步的补偿;然后,通过加入干扰观测器,对残余扰动及其他扰动进行第2次的抑制。利用实物平台对控制方法的低速运动性能进行了测试,对比设计的控制算法和传统PI控制器的控制结果,验证提出的控制策略抑制摩擦扰动的效果。结果表明,基于GMS摩擦力前馈和干扰观测器的控制方案有效的补偿了摩擦非线性、模型不确定性等因素对于控制系统的影响。新方法可将稳定平台低速运动时的控制误差降低到0.015°/s,在实际工程中具有较高的应用价值。

考虑离合器摩擦性能衰减的湿式DCT车辆起步控制研究

建立了考虑离合器摩擦系数变化及离合器性能衰减的湿式双离合变速器(dual clutch transmission,DCT)车辆起步过程动力学模型,以车辆起步过程冲击度、滑摩功和起步滑摩时间为优化目标,采用线性二次型最优控制方法获得了车辆起步过程离合器最优传递转矩。针对离合器摩擦系数变化及离合器性能衰减对车辆起步过程离合器压力控制的影响,提出了一种离合器压力非线性鲁棒控制策略,以实现对离合器最优传递转矩的跟踪。结果表明,所提出的非线性鲁棒控制策略能够在离合器摩擦系数变化的情况下实现对离合器最优传递转矩的有效跟踪,跟踪误差不大于0.02 N·m,且能够适应摩擦性能衰减导致不同寿命阶段摩擦系数的不同变化规律,与比例-积分-微分(proportion-integral-differential,PID)控制策略相比具有更精确的控制效果和更强的鲁棒性。

复杂工况下储能飞轮转子传力支承与减振设计

针对复杂工况下飞轮转子上、下传力支承角接触球轴承与支座间隙配合导致的振动问题,以及真空环境下振动控制问题,提出飞轮转子上支承采用圆柱滚子轴承,下支承采用深沟球轴承+成对角接触球轴承联合传力支承方案,解决了复杂工况下轴向力调整、磁轴承失效、轴向力平衡、支承刚度连续、支承系统变形协调等结构设计难题。同时引入一种主控式弹支干摩擦阻尼器(ESDFD),抑制转子径向振动。采用有限元法建立ESDFD-储能飞轮转子系统耦合动力学模型,计算飞轮转子动力学特性,分析单/双阻尼器对转子振动的控制效果。结果表明:针对转子一阶、二阶模态振动,采用单/双阻尼器控制方式,最大响应均低于30μm,减振比超过90%。

基于摩擦补偿的链式弹仓自适应滑模控制

针对链式弹仓精确到位控制中出现抖振与收敛速度慢等问题,提出了一种基于摩擦补偿的自适应非线性滑模控制(ANLSMC)方法。该控制方法引入LuGre动态摩擦模型用于补偿弹仓模型,使得弹仓模型更加贴近于真实工作环境。将传统线性滑模函数改进为非线性滑模函数,与自适应算法相结合,提高了系统鲁棒性,加快收敛速度,有效削减抖振。根据仿真结果表明,提出的摩擦补偿的自适应非线性滑模控制(ANLSMC)方法使弹仓跟踪轨迹误差减小,相比于线性滑模自适应控制方法其有效削减抖振,具有较快的收敛速度。