This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning ...This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning the system a non-minimum phase system. The performance of the PID （proportional-integral-derivative） and LQR （linear quadratic regulator） controller are discussed considering the zero dynamics of the system in three points of special interest： （I） the collocated case, when the sensor is in the base of the link; （2） the critical case, where the system starts to present zeroes in the right-plan complex and （3） the limit case, when the sensors are in the end point of the flexible link. Investigation for a simple rigid-flexible model with one mode, in the three cases, the PID and LQR controller performance are damage. To deal with this kind of problem, new control techniques should be developed.展开更多
The optimal control problem of the multibody dynamics of a spacecraft in space, modeled as a central body with one-sided connected deployable solar arrays, is investigated. The dynamical equations of motion of the spa...The optimal control problem of the multibody dynamics of a spacecraft in space, modeled as a central body with one-sided connected deployable solar arrays, is investigated. The dynamical equations of motion of the spacecraft with solar arrays are derived using the multibody dynamics method. The control of the attitude motion of a spacecraft system can be transformed into the motion planning problem of nonholonomic system when the initial angular momentum is zero. These are then used to investigate the motion planning of the spacecraft during solar arrays deployment via particle swarm optimization (PSO) and results are obtained with the optimal control input and the optimal trajectory. The results of numerical simulation show that this approach is effective for the control problem of the attitude of a spacecraft during the deployment process of its solar arrays.展开更多
文摘This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning the system a non-minimum phase system. The performance of the PID （proportional-integral-derivative） and LQR （linear quadratic regulator） controller are discussed considering the zero dynamics of the system in three points of special interest： （I） the collocated case, when the sensor is in the base of the link; （2） the critical case, where the system starts to present zeroes in the right-plan complex and （3） the limit case, when the sensors are in the end point of the flexible link. Investigation for a simple rigid-flexible model with one mode, in the three cases, the PID and LQR controller performance are damage. To deal with this kind of problem, new control techniques should be developed.
基金supported by the National Natural Science Foundation of China (Grant No. 11072038)
文摘The optimal control problem of the multibody dynamics of a spacecraft in space, modeled as a central body with one-sided connected deployable solar arrays, is investigated. The dynamical equations of motion of the spacecraft with solar arrays are derived using the multibody dynamics method. The control of the attitude motion of a spacecraft system can be transformed into the motion planning problem of nonholonomic system when the initial angular momentum is zero. These are then used to investigate the motion planning of the spacecraft during solar arrays deployment via particle swarm optimization (PSO) and results are obtained with the optimal control input and the optimal trajectory. The results of numerical simulation show that this approach is effective for the control problem of the attitude of a spacecraft during the deployment process of its solar arrays.
