To achieve rapid and stable detumbling of a space noncooperative satellite, an adaptive variable admittance control method for the manipulator is proposed verified through simulation study ground experiment. The block diagram presented, compliant model established. controller includes fixed in task space, pose compensator grasping point on docking ring, damping regulator based joint angular velocity, stability proven by Lyapunov method. Subsequently, advantage comparison with other methods,...

Ground test for space berthing and docking mechanism plays crucial roles in their stable operation orbit. In this paper, a hardware-in-the-loop based ground system is presented economic reliability of small spacecraft. the system, support adapter unit employed to fix active part mechanism, end-effector manipulator connects passive part. The driven according relative motion calculated by model after gravity compensation, simulate space. A Smith predictor introduced control delays...

When the robot loads force on space station transfer mechanism, there exist some issues such as unstable control system, insufficient load accuracy, and long settling time. To solve these problems, a strategy for adjusting admittance controller parameters adaptively is proposed. Firstly, relationship between position established according to theory. And tracking/force loading based rectangular coordinate system initially designed. Then, of mechanism model are identified experiment data by...

Due to the unclear seepage mechanism for shale oil, it is hard establish a reasonable mathematical model describe flowing law. In this study, real pore structure was reconstructed with CT scanning and numerical of fluid in developed COMSOL, based on boundary slip at micro-nano scale study causes nonlinear seepage. A two-fluid employed simple relationship between flow rate pressure gradient using effective length account influence true slip, established verified experimental data coming from...

Abstract The particle size of the oxidizer used by solid rocket propellant has a great impact on combustion performance grain. In order to study influence law for jet milling, milling process test system is constructed. main parameters average was studied single-factor test.The orthogonal designed, and prediction model relationship between pressure, chamber material mass classification wheel speed established using multiple linear regression method, significance analysis were conducted.The...

Space instable target simulator (SITS) is a vital actuator for ground verification of on-orbital capture technology, the motion performance which directly affects simulation credibility. Different delays reduce stability SITS and ultimately lead to its divergence. In order achieve high fidelity simulation, impact force measurement delay, discrete control cycle, response delay on analyzed firstly. Then, dynamic equation transfer function identification model hybrid constructed, necessary...

The space instable target simulator (SITS) is a vital actuator for ground verification of on-orbital capture technology, the motion performance which directly affects simulation credibility. Different delays reduce stability SITS and ultimately lead to its divergence. In order achieve high-fidelity simulation, impacts force measurement delay, discrete control cycle, response delay on are analyzed first. Then, dynamic equation transfer function identification model hybrid constructed,...

<title>Abstract</title> To achieve rapid and stable detumbling of a space non-cooperative satellite, an adaptive variable admittance control method for the manipulator is proposed verified through on-ground experiment. The composition designed hardware-in-the-loop verification platform are first demonstrated, on this basis, principle elaborated. Subsequently, block diagram presented, compliant model kinematic established. controller includes fixed in task space, pose compensator grasping...

The article presents a kind of small satellite disturbing loads full-physical simulation system which is used to deeply research and validate the control algorithms orbit attitude under effect spacial disturbances. uses methods air floating hanging for gravity compensation five DOF platform on flexible solar wings have been installed. main parts designed analyzed in text. Finally, feasibility has illustrated by that result from combination ANSYS ADAMS softwares. proposed this paper make it...

Aiming at the lack of reliable gradual fault detection and abnormal condition alarm evaluation ability in plasticizing process single-base gun propellant, a diagnosis method based on normalized mutual information weighted multiway principal component analysis (NMI-WMPCA) under limited batch samples modelling was proposed. In this method, differences coupling correlation among multi-dimensional variables characteristics linear nonlinear relationships are considered. NMI-WMPCA utilizes...

This paper address the optimal tracking control problem of an air floating robot by combining linear theory and output regulation techniques. The developed controller is able to asymptotically track different reference signals. Interestingly, transient performance improved minimizing a predefined cost functional. Simulation results demonstrate effectiveness proposed approach.

In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing energy consumption simulator, a robot planning method based on saving is proposed. Observable-based system for SIT designed and process illustrated. Discrete optimization mathematical model simulator established. The general form joints test given. optimal joint path under discontinuous singularity configuration solved by constructing complete directed Dijkstra...

The aim of simulation technique for production line is to find out the most feasible scheme which designers made project. Simulation can verify actual effect project from schemes. Combined with mode, article analyzed bottleneck efficiency under different shifts. It mainly discussed value technology three ways: Number AGV based on workshop optimization, buffer occupancy rate and work-station. At last proposed a kind process evaluating standard combined management evaluation assess various...

The feeding and weighing of oxidizer agents is the key process solid rocket motor propellant preparation, its accuracy directly affects burning performance motors. At present, existing multi-batch methods have problem low high time consumption agent. In this paper, an improved mass flow rate regulation method based on variable frequency control proposed to improve reduce consumption. nonlinear variation during opening closing air-operated pinch valve analyzed. periodic introduced establish...

挠性附件运动时产生的弹性振动是影响空间飞行器指向精度和控制性能的主要原因.因此，在地面对控制系统抑制振动的性能进行验证具有重要意义.由于太阳帆板低频且长度较大，在地面构建大范围运动的空间微重力环境，耗资及难度极大.本文提出一种基于等效主轴惯量与挠性频率的卫星挠性旋转帆板挠性模拟器，基于气浮法设计了低摩擦与微重力环境的物理仿真系统，并建立了模拟器的动力学模型，等效模拟了卫星挠性旋转帆板的振动特性，降低了卫星挠性旋转帆板地面微重力运动环境模拟的难度，实现了对其控制算法抑制振动性能的有效及高经济性测试.仿真结果表明，模拟器可以通过简单操作实现参数的平滑改变以模拟不同参数及结构的卫星挠性旋转帆板，且具有与真实太阳帆板一致的振动特性，满足测试要求.

in this paper, a semi-physical ground test technology is proposed to simulate the disturbance of flexible solar panels on sun-tracking unit. In order improve precision test, several methods have been designed. Firstly, platform with ultra-high stiffness and automatically adapted motion errors without additional force designed provide foundation. Secondly, wing dynamic model established discrete by Wilson 6 method calculate torque real-time system. Thirdly, angular acceleration estimation...

To check driving performance of the sun directional device, a semi-physical test system is set up on ground based electric load simulator. The problems, such as big torque, high precision and frequency noise which control confronted, caused by characteristics flexibility large inertia solar arrays has been solved. In this paper, mechanism model simulator established, parameters loading unit are identified least square method, then significance each parameter to response characteristic...