Axis intersection measurement of three-axis turntable with two crosshair targets

In order to measure three-axis intersection error, two crosshair targets were fixed in the inner axis frame of a three-axis turntable. Also a theodolite was used to point its telescope to the targets and to measure the horizontal angles when three axes were on equi-spaced angle positions. The calculation equations of the axis intersection were deduced from the mounting position of the theodolite, positions of two targets, angular positions of three axes, and the measured horizontal angles with the theodolite. Finally, a practical measurement is carried out on a horizontal three-axis turntable and error analysis is conducted.

Misalignment Angle Calculation Accuracy Analysis of Three-Axis Stabilized Geostationary Satellite

The most challenging problem of navigation in three-axis stabilized geostationary satellite is accurate calculation of misalignment angles, deduced by orbit measurement error, attitude measurement error, thermal elastic deformation, time synchronization error, and so on. Before the satellite is launched, the misalignment model must be established and validated. But there were no observation data, which is a non-negligible risk of yielding the greatest returns on investment. On the basis of misalignment modeling using landmarks and stars, which is not available between different organizations and is developed by ourselves, experimental data are constructed to validate the navigation processing flow as well as misalignment calculation accuracy. In the condition of using landmarks, the maximum misalignment calculation errors of roll, pitch, and yaw axis are 2, 2, and 104 micro radians, respectively, without considering the accuracy of image edge detection. While in the condition of using stars, the maximum errors of roll, pitch, and yaw axis are 1, 1, and 3 micro radians, respectively, without considering the accuracy of star center extraction. Results are rather encouraging, which pave the way for high-accuracy image navigation of three-axis stabilized geostationary satellite. The misalignment modeling as well as calculation method has been used in the new generation of geostationary meteorological satellite in China, FY-4 series, the first satellite of which was launched at the end of 2016.

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.

Application of hybrid robust three-axis attitude control approach to overactuated spacecraft——A quaternion based model

A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.

A Three-Axis Robot Using a Remote Network Control System

For the petroleum industry, to reduce the risk of a gas explosion in dangerous working areas, the use of explosion-proof equipment such as air-driven devices which are free from explosions becomes essential. Moreover, for the purpose of saving manpower, a remote operation using a robot via a visual monitoring system and a network is used. However, to overcome the drawback of costly manpower and to improve safety in explosion-prone zones, a three-axis robot using a remote network control system is proposed. In this paper, the three-axis robot can be monitored online via the USB protocol. Furthermore, it also can be remotely manipulated via the TCP/IP protocol by clicking the command of the VB interface on the client pc. Consequently, the remote-control three-axis robot can not only work for people in severe and dangerous circumstances but also can reduce the cost of manpower.

IMPROVED QUANTITATIVE FEEDBACK THEORY TECHNIQUE AND APPLICATION TO THREE-AXIS HYDRAULIC SIMULATOR

In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwidth. By choosing a special nominal plant, the improved method assigns relative magnitude and phase tracking error between system uncertainty and nominal control plant. Relative tracking error induced by system uncertainty is transformed into sensitivity problem and relative tracking error induced by nominal plant forms into a region on Nichols chart. The two constraints further form into a combined bound which is fit for magnitude and phase loop shaping. Because of leaving out pre-filter of classical QFT controller structure, tracking performance is enhanced greatly. Furthermore, a cascaded two-loop control strategy is proposed to heighten control effect. The improved technique＇s efficacy is validated by simulation and experiment results.

Gradient coil design with enhanced shielding constraint for a cryogen-free superconducting MRI system

The relatively fragile low-temperature stability of cryogen-free superconducting magnetic resonance imaging(MRI)magnets requires the careful management of exogenous heat sources.A strongly shielded gradient magnetic field is important for the optimal operation of cryogen-free MRI systems.In this study,we present an enhanced shielding method incorporating a regionalized stray field constraining strategy.By optimizing the constraint parameters,we could develop engineering-feasible gradient coil schemes without increasing system complexity but with the stray field intensity reduced by half.In real measurement in an integrated MRI system,the developed gradient assembly demonstrated good performance and supported to output images of excellent quality.Our findings suggested that the proposed method could potentially form a useful design paradigm for cryogen-free MRI magnets.

Enhancing silicon spectral emission in LIBS using Tesla coil discharge

Laser-induced breakdown spectroscopy(LIBS)is a powerful technique for elemental analysis,offering rapid analysis,minimal sample preparation,wide elemental coverage,and portability.To enhance the detection sensitivity of LIBS,increasing the spectral emission intensity is crucial.This paper explores the use of Tesla coil(TC)discharge as an alternative to spark discharge in silicon LIBS.The study examines the influence of TC discharge on both time-integrated and timeresolved spectra,with and without TC discharge;the corresponding electron temperature and density are obtained.The results show that TC discharge significantly amplifies the spectral intensity,improving signal sensitivity in LIBS analysis.Specifically,in the laser energy range from 7.4 to 24.0 mJ,TC discharge increased the average spectral line intensities of Si(II)385.60 nm and Si(I)390.55 nm by factors of 8.4 and 5.1,respectively.Additionally,the average electron temperature and density were enhanced by approximately 3.2%and 4.2%,respectively,under TC discharge.The advantages of TC discharge include higher energy deposition,extended discharge duration,reduced electrode erosion,and enhanced safety.This research contributes to advancing LIBS technology and expanding its applications in various fields.

The Impact Study of Three-axis Servo System Interference Torque based on Virtual Prototype

The three-axis servo system with the core of gyro stabilization is the foundation to realize its function, and a key technology of the seeker devolopment. In order to reduce the costs, improve the efficiency of research and devolopment, a new method that instead of physical prototype by virtual prototype was proposed. Adams and MATLAB/simulink are used to establish the mechanical dynamics model and controller model of the three-axis servo system. The simulation data which was processed and analyzed is compared with test data, to determine the control parameters of the virtual prototype and improve the accuracy of the model, and test the multiple condition simulation,which can provide a reference for practical production.The simulation results verify the feasibility of the models.

Analytical computation of magnetic field in coil-dominated superconducting quadrupole magnets based on racetrack coils

Currently,three types of superconducting quadrupole magnets are used in particle accelerators:cos 2θ,CCT,and serpentine.However,all three coil configurations have complex spatial geometries,which make magnet manufacturing and strain-sensitive superconductor applications difficult.Compared with the three existing quadrupole coils,the racetrack quadrupole coil has a simple shape and manufacturing process,but there have been few theoretical studies.In this paper,the two-dimensional and three-dimensional analytical expressions for the magnetic field in coil-dominated racetrack superconducting quadrupole magnets are presented.The analytical expressions of the field harmonics and gradient are fully resolved and depend only on the geometric parameters of the coil and current density.Then,a genetic algorithm is applied to obtain a solution for the coil geometry parameters with field harmonics on the order of 10^(-4).Finally,considering the practical engineering needs of the accelerator interaction region,electromagnetic design examples of racetrack quadrupole magnets with high gradients,large apertures,and small apertures are described,and the application prospects of racetrack quadrupole coils are analyzed.

Effect of coil and chamber structure on plasma radial uniformity in radio frequency inductively coupled plasma

Enhancing plasma uniformity can be achieved by modifying coil and chamber structures in radio frequency inductively coupled plasma(ICP)to meet the demand for large-area and uniformly distributed plasma in industrial manufacturing.This study utilized a two-dimensional self-consistent fluid model to investigate how different coil configurations and chamber aspect ratios affect the radial uniformity of plasma in radio frequency ICP.The findings indicate that optimizing the radial spacing of the coil enhances plasma uniformity but with a reduction in electron density.Furthermore,optimizing the coil within the ICP reactor,using the interior point method in the Interior Point Optimizer significantly enhances plasma uniformity,elevating it from 56%to 96%within the range of the model sizes.Additionally,when the chamber aspect ratio k changes from 2.8 to 4.7,the plasma distribution changes from a center-high to a saddleshaped distribution.Moreover,the plasma uniformity becomes worse.Finally,adjusting process parameters,such as increasing source power and gas pressure,can enhance plasma uniformity.These findings contribute to optimizing the etching process by improving plasma radial uniformity.

Fuzzy Proportional Integral Derivative control of a voice coil actuator system for adaptive deformable mirrors

Research on adaptive deformable mirror technology for voice coil actuators(VCAs)is an important trend in the development of large ground-based telescopes.A voice coil adaptive deformable mirror contains a large number of actuators,and there are problems with structural coupling and large temperature increases in their internal coils.Additionally,parameters of the traditional proportional integral derivative(PID)control cannot be adjusted in real-time to adapt to system changes.These problems can be addressed by introducing fuzzy control methods.A table lookup method is adopted to replace real-time calculations of the regular fuzzy controller during the control process,and a prototype platform has been established to verify the effectiveness and robustness of this process.Experimental tests compare the control performance of traditional and fuzzy proportional integral derivative(Fuzzy-PID)controllers,showing that,in system step response tests,the fuzzy control system reduces rise time by 20.25%,decreases overshoot by 78.24%,and shortens settling time by 67.59%.In disturbance rejection experiments,fuzzy control achieves a 46.09%reduction in the maximum deviation,indicating stronger robustness.The Fuzzy-PID controller,based on table lookup,outperforms the standard controller significantly,showing excellent potential for enhancing the dynamic performance and disturbance rejection capability of the voice coil motor actuator system.

Mathematical Modelling and Design of Helical Coil Heat Exchanger for Production of Hot Air for Fluidized Bed Dryer

In global industrialization, efforts have been made to increase the rate of heat transfer in heat exchanger, minimizing the size of heat exchanger to reduce cost as well as increasing the effectiveness. Helical coil heat exchanger (HCHE) has been proven to be effective in improving heat transfer due to its large surface area. In this study, HCHE was designed to provide hot air needed for fluidized bed drying processes. The HCHE design model was fabricated and evaluated to study the efficiency of the hot air output for a laboratory fluidized bed dryer. The mathematical model for estimation of the final (output) temperature of air, Taf, passing through the HCHE was developed and validated experimentally. The drying of bitter kola particulates was carried out with a drying temperature of 50C 3C and a bed height-to-bed diameter ratio (H/D) of 1.5. The time taken to dry bitter kola particulates to 0.4% moisture content was 1 hour 45 minutes. Hence, HCHE is recommended for use in the production of hot for laboratory-scale fluidized bed dryers.

Experimental and Numerical Investigation of the Performance of Turbulent Heat Transfer in Tubes with Different Cross-Sectioned Wire Coils

The thermal-hydraulic performance of plain tubes with and without wire coils in turbulent regimes is investigated experimentally and numerically.The effects of wire coil distribution(circular cross section)within the tube were explored experimentally,and water was employed as the working fluid.The numerical simulation was carried out using software programmer ANSYS Fluent 2019 R3 using the finite-volume approach.In the turbulent regime,six cross-sectionedwire coilswere analyzed,including:circular,rectangular,hexagonal,square,star shape,and triangle.The utilization of a tube with a wire coil has been shown to increase heat transfer rate and pump consumption.The results indicate a high level of concurrence,as the deviations are all below 8%.Compared with plain tube,the wire coils,according to the arrangement(TWD),gave the best PEC.The heat transfer enhancement ability of different cross sections follows the following order:StCS>RCS>HCS>SqCS>CCS>TCS.Also,the sequence of pump consumption for each cross section is as follows:RCS>StCS>SqCS>HCS>CCS>TCS.

Numerical Studies on Thermal and Hydrodynamic Characteristics of LNG in Helically Coiled Tube-in-Tube Heat Exchangers

As compact and efficient heat exchange equipment,helically coiled tube-in-tube heat exchangers(HCTT heat exchangers)are widely used in many industrial processes.However,the thermal-hydraulic research of liquefied natural gas(LNG)as the working fluid inHCTT heat exchangers is rarely reported.In this paper,the characteristics of HCTT heat exchangers,in which LNG flows in the inner tube and ethylene glycol-water solution flows in the outer tube,are studied by numerical simulations.The influences of heat transfer characteristics and pressure drops of the HCTT heat transfers are studied by changing the initial flow velocity,the helical middle diameter,and the helical pitch.The results indicate that different initial flow velocities in the inner tube and the outer tube of the HCTT heat exchanger have little influence on the secondary flow of the fluid in the helical tubes,and the overall flow characteristics tend to be stable.The smaller helical middle diameter of the HCTT heat exchanger leads to the shorter fluid flow length,the smaller resistance along the tubes and the increase of initial pressure under the condition of constant inlet velocity,which promotes the occurrence of secondary flow.The axial flow of fluid promotes the destruction of heat transfer boundary layer and gains strength of the turbulence and heat transfer efficiency.With the increase of the helical pitch of the HCTT heat exchanger,the turbulent intensity and the heat transfer efficiency are also increased.Moreover,the improvement of the flow state of the HCTT exchanger in a longer helical pitch also enhances the heat exchange efficiency.

Numerical Simulation of Liquified Natural Gas Boiling Heat Transfer Characteristics in Helically Coiled Tube-in-Tube Heat Exchangers

Helically coiled tube-in-tube(HCTT)heat exchangers are widely applied to the process technology because of their compactness and higher heat transfer efficiency.HCTT heat exchangers play an important role in liquified natural gas(LNG)use and cold energy recovery.The heat transfer characteristics,pressure distribution,and degree of vaporization of LNG in HCTT heat exchangers are numerically investigated.By comparing the simulation results of the computational model with existing experimental results,the effectiveness of the computational model is verified.The numerical simulation results show the vapor volume fraction of the HCTT heat exchanger is related to the inlet Reynolds number,inner tube diameters,and helix diameter.The vapor volume fraction increases rapidly from the fourth to the seventh equal division points of the helix tube length.On condition that the inlet Reynolds number is greater than 33500,the pressure drop rate gradually increases.When the magnitude of the vapor volume fraction is below 0.2,the heat transfer coefficient increase rate is greater than that when the vapor volume fraction is above 0.2.The heat exchange efficiency of HCTT heat exchangers increases with the decrease of the ratio of helix diameter to inner tube diameter.

自动引线系统中旋转偏心检测与补偿方法

在空心杯转子线圈的自动引线微操作系统中,线圈的几何中心很难与旋转台的回转中心重合,因此在旋转过程中产生偏心现象,进而导致线圈引线失败。为此,提出了一种检测和补偿线圈偏差的方法。从分析线圈偏心源出发,建立偏心数学模型,设计了一种偏心模型与图像特征提取算法结合的偏差测量方法,并提出基于自动控制与补偿模型的校正方法。通过实验验证了模型的精确性以及偏心补偿的有效性,基于均方根误差的评价,模型对于偏差预测以及特征提取算法均具有较高的精度,补偿后的最大残余误差小于4μm,平均补偿幅度约为98.6%,引线实验展示了所提方法的优良性能。提出的偏心检测补偿方法具有精度高、复杂度低、效率高、实时性,以及嵌入式等优点,且在微操作以及微装配领域具有更合适、更广泛的应用。

p-τ值对COIL的影响的实验研究

实验研究了单重态氧发生器 ( SOG)的 p-τ值 ,即初始氯气分压与停留时间的乘积 ,对化学氧碘激光器 ( COIL)的影响 ,并分析了诸多实验因素对 SOG的 p-τ值的影响。对于提高

以氮气为载气的千瓦级COIL的初步实验研究

首次在氯气流量为 110 mmol/ s、采用方列管型射流式 O2 (1 Δ)发生器 (SPJSOG)以及列阵式超音速氧碘混合喷管的 COIL装置上 ,以氮气替代氦气作为载气进行出光实验研究。初步实验获得 1.8k W的激光输出功率以及

超音速连续波COIL的二维半数值模拟

给出了超音速连续波（ＣＷ）氧碘化学激光器（ＣＯＩＬ）的理论模型，利用此模型对典型实验装置进行了二维半几何近似下的初步数值模拟研究，对所得结果进行了讨论。