Institute of Aerospace System Engineering Shanghai

Shanghai, China

Institute of Aerospace System Engineering Shanghai

Shanghai, China
SEARCH FILTERS
Time filter
Source Type

Qi C.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Wang Q.,Shanghai JiaoTong University
IEEE Transactions on Industrial Electronics | Year: 2017

The simulation of contact process of flying objects in space is important for many space missions. The hardware-in-the-loop (HIL) simulation is an attractive approach because it integrates the fidelity of physical simulation and the flexibility of numerical simulation. But the HIL contact simulation is divergent due to the time delay, e.g., the dynamic response delay and the force measurement delay. In this study, a force compensation approach is proposed toward the HIL simulation divergence problem for the damped and elastic contact. The idea is to make the compensated force close to the ideal force corresponding to the numerical position computed from the dynamics model of flying objects. The approach includes the phase lead based force compensation for the force measurement delay, and the response error based force compensation for the dynamic response delay of the motion simulator. From simulations and experiments, it is shown that the proposed approach can effectively and satisfactorily compensate the simulation divergence. © 2016 IEEE.


Chen W.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Meng X.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Hu Y.,Shanghai JiaoTong University
Science China Technological Sciences | Year: 2017

Offshore wind power and ocean wave energy are clean, renewable and rich resources. The integrated generation unit for the two kinds of energy is introduced. The energy conversion device (ECD) is utilized to convert the mechanical energy absorbed from the wind power and wave energy into the hydraulic energy, the conversion efficiency of which is significant. In this paper, a power recovery method for testing the efficiency of the ECD is proposed. A simulation desktop is developed to validate the proposed method. The efficiency of the ECD is influenced by the hydraulic cylinders and the mechanical transmission. Here, the static efficiency of the hydraulic cylinders of the ECD is tested first. The results show that the static mechanical efficiency is about 95% and that the volumetric efficiency is over 99%. To test the effects induced by the mechanical transmission of the ECD, each hydraulic cylinder of the ECD is substituted with two springs. Then the power loss of the ECDM under different rotational speeds is obtained. Finally, a test platform is built and the efficiency of the ECD under different rotational speeds and pressures is obtained. The results show that the efficiency is about 80%. © 2017 Science China Press and Springer-Verlag Berlin Heidelberg


Qi C.,Shanghai JiaoTong University | Wang Q.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai
2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016 | Year: 2016

The hardware-in-The-loop (HIL) simulation is an effective and flexible approach to simulate contact dynamics of flying objects in space. A HIL contact simulation system including the mechanical and control systems is established. One challenging problem of the HIL contact simulation is the simulation divergence caused by time delay. To guarantee the simulation accuracy, the time delay should be compensated. In this study, the force measurement delay is assumed to be a pure delay, which is compensated by a first-order phase lead method. Because the dynamic response delay of the motion simulator is difficult to be modeled, it is compensated by a response error based force compensation method. The dynamic response model is not required. Simulations and experiments show that the proposed approach can effectively compensate the simulation divergence and guarantee the simulation fidelity. © 2016 IEEE.


Pan G.,Institute of Aerospace System Engineering Shanghai | Pan G.,Shanghai JiaoTong University | Guan E.,Shanghai JiaoTong University | Yang F.,Shanghai Institute of Technology | And 2 more authors.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2017

This paper focuses on the motion planning method for a novel mobile welding robot (MWR), based on the screw theory. The robot consists of a vehicle unit and a 5-DOF manipulator, which equipped a torch at the end of manipulator. In order to finish the welding task, the kinematic motion planning strategy is of great importance. As the traditional strategy which uses inverse kinematic and polynomial interpolation may cause a waste of computing time, the screw theory is chosen to improve the strategy. From the simulation and experiment results, it can be found that the optimal motion planning method is reliable and efficient. © 2017, Springer International Publishing AG.


Qi C.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Hu Y.,Shanghai JiaoTong University
Advances in Intelligent Systems and Computing | Year: 2017

The hardware-in-the-loop (HIL) simulation (also called hybrid simula-tion) is a useful and flexible approach for the simulation of contact dynamics in space. In this study, a HIL contact simulation system including the motion simulator, control system and algorithm is introduced. The simulation divergence problem due to the time delay is studied. To compensate the time delay, the phase lead method is used compensate the force measurement delay, and the response error based force compensation is used to compensate the dynamic response delay of the motion simulator. The compensation requires the force measurement delay value, but does not require the dynamic response model. The effectiveness of the HIL simulation system and the delay compensation approach are verified by the simulations and experiments. © Springer International Publishing AG 2017.


Qi C.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Gao F.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | And 2 more authors.
IEEE/ASME Transactions on Mechatronics | Year: 2017

The hardware-in-the-loop simulation on the ground is effective to test the contact dynamics of the spacecraft in space. However, it is very challenging due to the simulation velocity divergence caused by the time delay. In this study, a compensation approach for the velocity divergence caused by the dynamic response of the motion simulator is proposed. Traditional delay compensation requires the time delay or the delay model to be known. In practice, the dynamic response of the motion simulator is time varying and unknown. This motivates development of the model-free compensation approach. It compensates the contact force from the real-time response error of the motion simulator and the real-time identified contact stiffness and damping. The proposed compensation approach is easy to implement since it does not require the dynamic response model of the motion simulator. Simulations and experiments are used to verify the effectiveness of the proposed compensation approach. © 2016 IEEE.


Chen W.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Meng X.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Zhou S.,Shanghai JiaoTong University
Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment | Year: 2017

Offshore wind power is more abundant and stronger than the onshore, and more and more research enthusiasms have been raised in recent years. However, there are still many issues in the utilization of the offshore wind power such as the cost of installations and maintenance and the ability to resist extreme weather conditions. In this article, an offshore hydraulic wind turbine generator with variable-diameter rotor is presented. The diameter of the rotor can be regulated according to the wind speeds to achieve the maximum power coefficient. The hydraulic energy working as the transmission medium can improve the output power quality. The high-speed gearbox is removed, and the generator is installed on the platform, which facilitates the installations and maintenance. Here, the power conversion principle of the wind turbine generator was introduced first. Then, the dynamics and performance of the wind turbine generator was obtained. The relationship between the diameter of the rotor and the wind speed was established according to the dynamics and the optimum tip-speed ratio. Relying on the specific parameters, the dynamic response was calculated in Simulink. The results show that the instantaneous output of the wind turbine generator is relatively stable. Based on the power recovery method, the test platform was built, and the efficiency of the energy conversion device was tested. The experimental results demonstrate that the efficiency of the energy conversion device can be 88%. Finally, the total efficiency of the offshore hydraulic wind turbine generator was predicted to be 33.7%. © 2016 Institution of Mechanical Engineers.


Qi C.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Qian W.,Shanghai JiaoTong University
Chinese Control Conference, CCC | Year: 2016

The hardware-in-the-loop (HIL) simulation is an attractive and effective approach to simulate the contact dynamics of flying objects in space. However, the HIL contact simulation is very difficult due to the simulation divergence caused by the time delay existing in the HIL simulation closed-loop system. In this study, the static delay of the force measurement system is compensated by the phase lead. The dynamic delay of the motion simulator is compensated by the response error based force compensation. Simulations and experiments show that the proposed approach can effectively compensate the simulation divergence and guarantee the reproduction fidelity of the contact process in space. © 2016 TCCT.


Chen W.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Meng X.,Shanghai JiaoTong University | Chen B.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai
Ocean Engineering | Year: 2016

Energy resources of offshore wind and ocean wave are abundant, clean and renewable. Various technologies have been developed to utilize the two kinds of energy separately. We present a high-power integrated generation unit for offshore wind power and ocean wave energy (W2P). The unit includes that: (1) The wind wheel with retractable blades and the 3-DOF (degrees of freedom) mechanism with the hemispherical oscillating body are used to collect the irregular wind and wave power, respectively; (2) The energy conversion devices (ECDs) are utilized to convert mechanical energy from both the wind wheel and the 3-DOF mechanism into hydraulic energy; (3) The hydraulic energy is used to drive the hydraulic motors and electrical generators to produce electricity. Some analyses and experiments have been conducted to obtain the performance of the key components of the unit. Based on the layout method, the single row wind-wave power plant is established. © 2016 Elsevier Ltd


Qiao B.,Nanjing University of Aeronautics and Astronautics | Tang S.,Institute of Aerospace System Engineering Shanghai | Ma K.,Nanjing University of Aeronautics and Astronautics | Liu Z.,Nanjing University of Aeronautics and Astronautics
Acta Astronautica | Year: 2013

The capacity to acquire the relative position and attitude information between the chaser and the target satellites in real time is one of the necessary prerequisites for the successful implementation of autonomous rendezvous and docking. This paper addresses a vision based relative position and attitude estimation algorithm for the final phase of spacecraft rendezvous and docking. By assuming that the images of feature points on the target satellite lie within the convex regions, the estimation of the relative position and attitude is converted into solving a convex optimization problem in which the dual quaternion method is employed to represent the rotational and translational transformation between the chaser body frame and the target body frame. Due to the point-to-region correspondence instead of the point-to-point correspondence is used, the proposed estimation algorithm shows good performance in robustness which is verified through computer simulations. © 2013 IAA.

Loading Institute of Aerospace System Engineering Shanghai collaborators
Loading Institute of Aerospace System Engineering Shanghai collaborators