分布式的网络型电能质量监控系统有着优良的性能,本文利用近年来发展迅速的嵌入式技术,采用自由软件搭建了一套低成本、高可靠性、高性能的网络型电能质量监控系统,系统采用模块化设计和总线式的接口方式,具有很强的兼容性和扩展性。文...分布式的网络型电能质量监控系统有着优良的性能,本文利用近年来发展迅速的嵌入式技术,采用自由软件搭建了一套低成本、高可靠性、高性能的网络型电能质量监控系统,系统采用模块化设计和总线式的接口方式,具有很强的兼容性和扩展性。文章详细介绍了该系统的设计思想以及各个层次的软硬件结构,分析了控制系统的实时性概念,并且针对uClinux嵌入式操作系统实时性较差的缺陷,利用RTAI(Real Time Application Interface)对uClinux的实时性进行了扩展,使uClinux可以应用于硬实时控制领域,拓宽了uClinux操作系统在控制领域中的应用范围。展开更多
This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free...This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface（RTAI） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.展开更多
文摘分布式的网络型电能质量监控系统有着优良的性能,本文利用近年来发展迅速的嵌入式技术,采用自由软件搭建了一套低成本、高可靠性、高性能的网络型电能质量监控系统,系统采用模块化设计和总线式的接口方式,具有很强的兼容性和扩展性。文章详细介绍了该系统的设计思想以及各个层次的软硬件结构,分析了控制系统的实时性概念,并且针对uClinux嵌入式操作系统实时性较差的缺陷,利用RTAI(Real Time Application Interface)对uClinux的实时性进行了扩展,使uClinux可以应用于硬实时控制领域,拓宽了uClinux操作系统在控制领域中的应用范围。
基金supported by National Basic Research Program of China(973 Program)(No.2013CB733103)Program for New Century Excellent Talents in University(No.NCET-10-0058)
文摘This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface（RTAI） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.
