Institute of Aerospace System Engineering Shanghai

Shanghai, China

Institute of Aerospace System Engineering Shanghai

Shanghai, China

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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.


Qi C.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | And 4 more authors.
Mechatronics | Year: 2016

The hardware-in-the-loop (HIL) simulator is an important equipment to test the performance of the docking mechanisms (DMs) in the docking process of two spacecrafts on the ground. However, the design and control of the HIL simulator is very challenging due to the simulation divergence caused by the time delay. The phase lead is a common approach to compensate the time delay. In this study, it is found that the simulation is still divergent using the traditional phase lead compensation approach when the contact frequency increases to a threshold value depending on the HIL simulator. In practice, because the experimental contact frequency is time-varying and unknown, traditional phase lead compensation approach could make the system instable and divergent. The Smith predictor based delay compensation is proposed in this study. It integrates the Smith predictor and the phase lead compensation. The contact model of the DMs is not required. The simulation system is stable and convergent when the contact frequency increases and satisfies the stability condition. The HIL simulation with a little convergence is better than the divergent simulation because the previous one can be considered to have some simulation error while the latter one could destroy the hardware. The phase and stability analyses are given to prove the simulation convergence and the closed-loop stability. Simulations and experiments are used to verify the effectiveness of the proposed compensation approach. © 2016 Elsevier Ltd. All rights reserved.


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
Acta Astronautica | Year: 2016

The hardware-in-the-loop (HIL) contact simulation for flying objects in space is challenging due to the divergence caused by the time delay. In this study, a divergence compensation approach is proposed for the stiffness-varying discrete contact. The dynamic response delay of the motion simulator and the force measurement delay are considered. For the force measurement delay, a phase lead based force compensation approach is used. For the dynamic response delay of the motion simulator, a response error based force compensation approach is used, where the compensation force is obtained from the real-time identified contact stiffness and real-time measured position response error. The dynamic response model of the motion simulator is not required. The simulations and experiments show that the simulation divergence can be compensated effectively and satisfactorily by using the proposed approach. © 2016 IAA.


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.


Qi C.,Shanghai JiaoTong University | Zhao X.,Shanghai JiaoTong University | Gao F.,Shanghai JiaoTong University | Ren A.,Institute of Aerospace System Engineering Shanghai | Sun Q.,Shanghai JiaoTong University
Acta Astronautica | Year: 2016

The hardware-in-The-loop (HIL) contact simulator is to simulate the contact process of two flying objects in space. The contact stiffness and damping are important parameters used for the process monitoring, compliant contact control and force compensation control. In this study, a contact stiffness and damping identification approach is proposed for the HIL contact simulation with the force measurement delay. The actual relative position of two flying objects can be accurately measured. However, the force measurement delay needs to be compensated because it will lead to incorrect stiffness and damping identification. Here, the phase lead compensation is used to reconstruct the actual contact force from the delayed force measurement. From the force and position data, the contact stiffness and damping are identified in real time using the recursive least squares (RLS) method. The simulations and experiments are used to verify that the proposed stiffness and damping identification approach is effective. © 2016 IAA. Published by Elsevier Ltd. All rights reserved.


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 | Liu Z.,Nanjing University of Aeronautics and Astronautics | Hu B.,Institute of Aerospace System Engineering Shanghai | Chen M.,Institute of Aerospace System Engineering Shanghai
Transactions of Nanjing University of Aeronautics and Astronautics | Year: 2014

The tracking of orientation and angular velocity is a primary attitude control task for an on-orbit spacecraft. The problem for a rigid spacecraft tracking a desired angular velocity profile is addressed using an adaptive feedback control. An angular velocity feedback tracking algorithm is firstly developed based on the precisely known attitude dynamics of the spacecraft, and the global tracking of the control algorithm is proved based on the Lyapunov analysis. An adaptation mechanism is then designed to deal with the dynamic uncertainties of the spacecraft. Such an adaptation mechanism enables the controller to track any desired angular velocity trajectories even in the presence of uncertain inertia parameters, although it does not guarantee the inertia tensor being precisely identified. To verify the effectiveness of the proposed adaptive control policy, computer simulations on dynamic equations of a spacecraft are conducted and their results are discussed.


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.

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