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第32届中国控制与决策会议

作者： Lei Yang Minjie Zhang Lin Tian Ping Wang Institute of Manned Space System Engineering China Academy of Space Technology

Modern space vehicles face the challenge of large disturbances in attitude control,such as the environmental torques,flex/slosh dynamics.Furthermore,the robust behavior of the attitude controller is largely restricted by the thruster dynamics.This paper presents a robust phase plane controller augmented by extended state observer with special attention on disturbance attenuation and thruster dynamics compensation.The proposed controller is validated with stability analysis and compared to the traditional phase plane controller in simulation studies,showing superior performance in disturbance rej ection and reference tracking.

关键词： Space Vehicle Attitude control Sloshing Thruster Dynamics Extended State Observer phase plane

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Nonlinearity and periodic solution of a standard-beam balance oscillation system

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Chinese Physics B 2012年第6期21卷 339-343页

作者：李世松兰江韩冰谭红李正坤 Department of Electrical Engineering Tsinghua University National Institute of Metrology(NIM)

We present the motion equation of the standard-beam balance oscillation system, whose beam and suspensions, compared with the compound pendulum, are connected flexibly and vertically. The nonlinearity and the periodic solution of the equation are discussed by the phase-plane analysis. We find that this kind of oscillation can be equivalent to a standard-beam compound pendulum without suspensions; however, the equivalent mass centre of the standard beam is extended. The derived periodic solution shows that the oscillation period is tightly related to the initial pivot energy and several systemic parameters： beam length, masses of the beam, and suspensions, and the beam mass centre. A numerical example is calculated.

关键词： balance oscillation nonlinearity limit cycle phase plane

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A NEW CRITERION FOR OCCURRENCE OF STICK-SLIP MOTION IN DRIVE MECHANISM

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Acta Mechanica Sinica 2000年第3期16卷 273-281页

作者：丁文镜樊世超陆明万 Department of Engineering Mechanics Tsinghua UniversityBeijing 100084China

This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.

关键词： friction phase plane stick-slip motion parameter criterion

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The bifurcation threshold value of the chaos detection system for a weak signal＊

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Chinese Physics B 2003年第7期12卷 714-720页

作者：李月杨宝俊杜立志袁野 CollegeofCommunicationEngineering JilinUniversityChangchun130012China CollegeofGeo-ExplorationSciencesandTechnology JilinUniversityChangchun130026China

Recently, it has become an important problem to confirm the bifurcation threshold value of a chaos detectionsystem for a weak signal in the fields of chaos detection. It is directly related to whether the results of chaos detectionare correct or not. In this paper, the discrimination system for the dynamic behaviour of a chaos detection system fora weak signal is established by using the theory of linear differential equation with periodic coefficients and computingthe Lyapunov exponents of the chaos detection system; and then, the movement state of the chaos detection system isdefined. The simulation experiments show that this method can exactly confirm the bifurcation threshold value of thechaos detection system.

关键词： chaos detection bifurcation threshold value weak signal phase plane Lyapunov exponent

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STUDY OF NONLINEAR ROSSBY WAVES IN THE ATMOSPHERE UNDER SEMI-GEOSTROPHIC APPROXIMATION

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Acta meteorologica Sinica 1993年第1期7卷 90-100页

作者：何建中 Nanjing Institute of Meteorology Nanjing 210044

Under semi-geostrophic approximation the nonlinear ordinary differential equations are obtained for the motion in the barotropic and baroclinic atmospheres with the effects of zonal shear basic flow and topographic forcing included. Two constraints are acquired of finite-amplitude periodic and solitary waves in the original model with the aid of the phase-plane geometric qualitative theory of a dynamic system defined by the differential equation.The explicit solution of the nonlinear waves is found by means of the approximation method and some significant results are achieved.

关键词： semi-geostrophic dynamic system phase plane nonlinear Rossby waves

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Estimation of Vehicle Side Slip Angle Using Hybrid Observer

Estimation of Vehicle Side Slip Angle Using Hybrid Observer

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第二十九届中国控制会议

作者： SHANG Mingli,CHU Liang,GUO Jianhua,FANG Yong State Key Laboratory of Automobile Dynamic Simulation,Jilin University,Changchun 130025,P.R.China

The vehicle side slip angle is an important matter of vehicle stabilitycontrol,and it is usuallyobtained by estimation method today.A hybrid observer is proposed to estimate the vehicle side slip angle in this paper.The hybrid observer includes three parts:a state-space observer,a kinematics integration module and a weight distribution module.The weighting distribution module includes a vehicle stability detection module and a fuzzy controller.We use the phase plane method to detect the stable status of the vehicle.Then,we use the fuzzy controller to calculate the weight of the state-space observer based on the status of the vehicle stability.Through the weight of the state-space observer,the hybrid observer integrates the state-space observer method and kinematics integration method together and makes full use of the advantage of the two methods.And in order to reduce the integration error of the kinematics integration module,we use the Kalman filter to handle the signals that the sensor measured.So,the hybrid observer can work well in the whole area of the tire.The simulation results show that the hybrid observer can achieve the precise estimation results whether the vehicle is in linear area or in the nonlinear area.

关键词： Vehicle Side Slip Angle State-space Kinematics Integration Kalman Filter phase plane Fuzzy Control

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