To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms(ISPs) with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion–integration–differentiation(PID) control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7%and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs. 相似文献
The study addresses the possible ways of involving gaseous products produced by “wet” incineration of human wastes mixed with H2O2 in an alternating electric field in the cycling of the physical model of a bio-technical life support system (BTLSS). The resulting gas mixture contains CO2 and O2, which are easily involved in the cycling in the closed ecosystem, and NH3, which is unacceptable in the atmosphere of the BTLSS. NH3 fixation has been proposed, which is followed by nitrification and involvement of the resulting products in the mass exchange of the closed system. Experiments have been performed to show that plants can be grown in the atmosphere resulting from the closing of the gas loop that includes a physicochemical installation and a growth chamber with plants representing the phototrophic compartment of the BTLSS. The results of the study suggest the conclusion that the proposed method of organic waste oxidation can be a useful tool in creating a physical model of a closed-loop integrated BTLSS. 相似文献
Coulomb forces between charged close-flying satellites can be used for formation control, and constant electric potentials enable static equilibria solutions. In this work, open-loop time-varying potential functions, which produce periodic, two-craft, Coulomb formation motions are demonstrated for the first time. This is done in the rotating Hill-Frame, with linearized gravity, and craft position components assumed in the form of simple harmonic oscillators. Substitution of the oscillatory functions into the dynamics, further constrains these functions, and yields necessary potential histories, to produce the periodic flow. The assumed position functions, however, are not arbitrary, since the dynamical model restricts what oscillatory trajectories are allowed. Specifically, a Hill-Frame integral of motion is derived, and this is used to show certain candidate periodic functions to be inadmissible. The system dynamics are then linearized to expose stability properties of the solutions, and it is established that asymptotic stability is impossible for all orbit families. Finally, the degree of instability in the assumed motions, over free parameter ranges, is determined numerically via the Floquet multipliers of the associated full-cycle state-transition matrices. 相似文献
Early warning systems represent an innovative and effective approach to mitigate the risk associated with natural hazards. Early warning technologies are now available for almost all natural hazards and systems are already in operation in all parts of the world. Nevertheless, recent disasters such as the Indian Ocean tsunami in 2004 and Katrina hurricane in 2005, highlighted inadequacies in early warning technologies.
Efforts towards the development of a global warning system are necessary for turning the tide in early warning processes and technologies. There is a pressing need for a globally comprehensive early warning system based on existing systems. The global system should be a mechanism which can consolidate scientific information and evidences, package this knowledge in a form usable to international and national decision makers and actively disseminate this information to those users.
The proposed Global Environmental Alert Service (GEAS) will provide information emanating from monitoring, Earth observing and early warning systems to users in a near-real-time mode and bridge the gap between the scientific community and policy makers. Characteristics and operational aspects of such a service, GEAS, are discussed. 相似文献