在航天器编队飞行过程中,可能由于通信故障并非所有航天器都能直接获得参考信息,系统通信拓扑结构也可能发生变化。为了提高航天器编队系统的鲁棒性、降低生产成本等,本文在仅有部分航天器能直接获得参考信息和变化通信拓扑结构图的条件下,研究了一种基于一致性理论的航天器编队飞行协同控制方法,并通过仿真来验证其有效性。首先,介绍了航天器编队飞行中的一致性问题和动力学模型。然后,设计航天器编队飞行协同控制律,包括航天器编队飞行姿态协同控制律和航天器编队飞行轨道构型建立与保持协同控制律的设计。最后通过数值仿真验证了控制方法的有效性,仿真结果表明所设计的航天器编队控制方法有效。
2022-01-24 18:16:41
1.21MB
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The MRSim (Multi-Robot Simulator) is an extension of the Autonomous mobile robotics toolbox SIMROBOT (SIMulated ROBOTs) created for MatLab 5 in 2001. MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. When compared to its predecessor SIMROBOT, MRSim presents two key contributions:
1) It is fitted to the new MatLab versions - Previously, users were unable to work with SIMROBOT functions since most of them were incompatible with the new MatLab versions. MatLab significantly evolved over the last 10 years, making SIMROBOT obsolete. In this extension, all features of SIMROBOT were updated and improved based on the new MatLab functions;
2)It is also fitted to suit multi-robot applications - although SIMROBOT was endowed with various interesting features for mobile robotics, it presented several limitations for multi-robot applications. Therefore, MRSim was created primarily to allow users to develop multi-robot applications, which would benefit working with some specific requirements such as multi-hop communication.
Moreover, most of the functionalities in MRSim have an integrated help (which can be accessed just by typing help function) that allows to easily understand the dynamics of how to create and run simulations. In sum, just like SIMROBOT, each robot in MRSim can be equipped with several virtual sensors and can be driven by its own control algorithm. The toolbox includes two independent applications. The first one is the EDITOR (simedit), which allows the user to create and modify the virtual environment,to edit the control algorithms of robots, to load and save simulation, and others. The second application, SIMULATOR (simview), can be run directly from the EDITOR or separately from MatLab Command Window and serves as a simulation viewer.
A MatLab help file is being currently created and will be add in the future.
2021-11-09 22:02:02
2.18MB
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为了保障交直流混合微电网供电可靠性与运行稳定性，基于改进直流母线分层思想，提出了一种综合协同控制的能量管理策略。根据直流侧直流母线电压变化，分别设计了并网和孤岛工况下微电网内微源的协同控制策略，其为无需通信线的分散控制，协调对光伏电池、储能电池、交直流接口变流器、直流负荷、交流负荷与大电网之间的控制。所提策略保障了分布式微源发电的充分利用与计划重要负荷的持续稳定供电，优化了储能电池能量利用。分析了微电网内控制器设计与微源能量分配方法。设计搭建了交直流混合微电网实验平台，实验验证了该协同控制的能量管理策略的可行性与正确性。
2021-09-14 17:35:40
1.41MB
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Ren Wei的协同控制导论，值得一读。
2021-08-30 11:56:52
2.56MB
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