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An improved quasi sliding mode rapid maneuver control algorithm based on linear extended state observer (LESO) of high agile small satellite is proposed. First of all, small satellite dynamics model and kinematics model are established in SGCMGs as actuator. Then, quaternion error feedback control scheme based on quasi sliding mode control is given, effectively weakening the chattering problem of...
This paper introduces the design of temperature acquisition system which is based on the PXI-6251 DAQ device, thermocouple acquisition module SCXI-1102 and the LabVIEW program language of NI. The design of temperature collection software and the configuration of hardware are described in details. The software developed in LabVIEW program language can acquire temperature data rapidly, what's more,...
The data acquisition (DAQ) system was developed by studying and using DAQmx driver based on virtual instrument in this paper. The system can realize temperature and voltage signal acquisition and processing. Temperature acquisition took K type thermocouple sensor, the high-accuracy thermocouple measurements module N I SC XI-1102 and high-speed data ac quisition module NI PXI-6251. Voltage acquisition...
The effects of the activated alumina on biogas production from corn straw hydrolysate were investigated in an up-flow anaerobic sludge blanket (UASB). The biogas fermentation was initiated by inoculation of the mixture of activated alumina and sludge (1 to 19 ratios) into the UASB, and operated at 37 _ for two month. The results showed that the activated alumina enabled 10 days earlier (10 days vs...
In dynamic path planning of multi-robot systems, to better resolve the behavior fusion problem, Particle Swarm Optimization (PSO) method was proposed to confirm the weight of each behavior and thus the fusion of the basic behavior was achieved. The basic behavior was devised through the improved behavior dynamics. The proposed arithmetic was simulated by using matlab. The simulation results show that...
To resolve the motion planning problem of multiple robots system, we present an improved architecture based on the dynamic robot networks. The presented architecture includes the group structure and the single robot structure. The group structure adopts the improved hierarchical structure, which can realize centralize coordination because it has the dynamic robot networks based on communication. This...
Aiming at the shortcomings of artificial potential field method (APFM), the improved grid-potential field method (IGPFM) is proposed. This method combines APFM with the grid method and make up the shortcomings of APFM by setting up the attributes of the grid. On this basis a kind of stepping motion coordination strategy based on environmental prediction for multiple robots system is put forward. This...
The formation problem of multi-robot is a type problem in cooperation and it is one of challenging research directions of multi-robot system. Aiming at the formation control problem, in this paper we propose a kind of hybrid architecture firstly, which combines the reactive architecture based on Motor Schema with the hierarchical architecture. Secondly we design four kinds of basic behaviors based...
For the level control problem, the circulation process is analysed, a water level model for supercharged boiler is presented and the dynamic process is simulated. Steam-water mixture in a drum is divided into three volumes, thus the phenomenon that the water level rapidly shrinks or swells due to the changing of pressure is captured. Using of the theory of thermal system and lumped parameter method,...
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