惯性空间

双臂空间机器人惯性空间轨迹的鲁棒跟踪控制

Robust Control of Dual-Arm Space Robot System in Inertial Space

最终以余弦函数对惯性空间的规划轨迹进行插值离散。

Eventually it adopts cosine function for discrete interpolation in the inertial space trajectory planning .

动力调谐陀螺仪（DynamicallyTunedGyroscope）是一种二自由度挠性陀螺仪，用于敏感惯性空间的角速度。

Dynamically tuned gyroscope ( DTG ) is a 2-DOF ( degree of freedom ) inertial sensor with a flexible joint , it is used to measure the angular velocity in inertial space .

例如在惯性空间中转动的角速度主要影响陀螺仪的活动质量在垂直于陀螺仪平面方向（即z轴方向）频率与驱动频率ω相同的振动的振幅。

For example , in an inertia space , the rotating angular velocity mainly influences the amplitude of the vibration of the frequency ( in the direction perpendicular to the gyroscope plane , namely in z-axis direction ) of the same with the drive frequency ω .

双臂空间机器人末端惯性空间轨迹运动的非线性反馈控制

Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System

带滑移铰空间机器人惯性空间轨迹跟踪的鲁棒混合自适应控制

Robust and adaptive composite control of space robot system with prismatic joints

自由飞行双臂空间机器人系统的动力学建模与惯性空间轨迹跟踪的滑模控制

Dynamic and Variable Structure Control for Dual-arm Space Robot to Track Desired Trajectory in Workspace

思维惯性空间模型

Model for thought inertia space

讨论了载体位置不受控制的漂浮基带滑移铰空间机械臂本体姿态与末端抓手惯性空间轨迹协调运动的逆运动学问题。

The inverse kinematics of coordinated motion of free-floating space manipulator system with prismatic joint is studied .

根据目标的运动来规划机械臂末端在惯性空间的期望轨迹。

Desired trajectory of the robot end effector in inertial space is planed based on the movement of the object .

以此为基础，对双臂空间机器人载体姿态与机械臂末端抓手惯性空间轨迹协调运动的控制问题作了研究。

Based on the result , the control problem for space manipulator to track the desired trajectory in joint workspace is discussed .

飞行航迹动态逆跟踪控制的神经网络方法带滑移铰空间机械臂惯性空间轨迹的复合自适应跟踪控制

Flight Path Control by Full Nonlinear Dynamic Inversion Using Artificial Neural Networks COMPOSITE ADAPTIVE CONTROL OF SPACE MANIPULATOR SYSTEM WITH PRISMATIC JOINT

平台的稳定性直接影响导航系统的精度，而平台稳定回路则担当了将平台稳定在惯性空间的任务。

The stabilization of the platform determines the precision of INS , while the platform stabilization loop forces the platform to the inertial space .

平台式惯导系统将陀螺通过平台稳定回路控制平台跟踪导航坐标系在惯性空间的角速度。

The platform inertial navigation system used peg-top to stabilize the loop through platform and control the angular speed of the platform track navigation coordinate system .

抑制扰动速度的保持内环隔离车体摇摆，保持天线在惯性空间的指向。

The inner loop , which compensates the disturbance angle speed , can effectively separate the vehicular vibration and stabilize the antenna in the inertia space .

以此为基础，针对系统参数不确定的情况，设计了空间机器人跟踪惯性空间期望运动轨迹的鲁棒混合自适应控制方案。

Based on the results proposed above , a robust and adaptive composite control scheme for the endeffector to track the desired trajectory in inertia space is proposed .

机载合成孔径雷达使用陀螺稳定平台使天线在惯性空间保持稳定并跟踪地速方向。

The airborne SAR ( Synthesis Aperture Radar ) uses a stabilized platform to make the antenna stable in the inertial place and trace the velocity to the ground .

以此为基础，针对末端抓手所持载荷参数是未知及不确定的两种情况，分别设计了载体姿态及末端抓手惯性空间轨迹协调运动的自适应控制方案与鲁棒控制方案。

Based on the results proposed above , the adaptive and robust control schemes of coordinated motion for both the base and manipulator to track the desired trajectory are developed .

然后通过一定的控制方式使天线的指向在惯性空间保持不变，通过圆锥扫描方式补偿误差，建立实质上以信号强度构成反馈的闭环控制系统。

The error is compensated through coning scanning control arithmetic , thus the closed-loop control system is formed , substantially , the feedback of the system is the intension of singal .

并在此基础上，给出了系统参数未知时由空间机械臂末端惯性空间期望轨迹产生机械臂关节铰期望角速度、角加速度的增广自适应控制算法。

According to the results , when the inertial parameters are unknown , two adaptive control schemes for a free floating space manipulator system to track the desired trajectory of works .

它用于测量物体相对于惯性空间的角速度信号，是惯性导航系统中十分重要的测量元件，比其他类型陀螺仪技术更成熟，成本更低廉。

It is used to measure the angle between object and inertial space and it is an important measuring element of inertial navigation system . It has mature technology and acceptable costs .

考虑在惯性空间中全充液挠性飞行器的控制模型，轻挠性梁一端固于刚体，另一端自由。

In this paper a flexible spacecraft filled with liquid in inertial space is considered a light flexible beam is clamped to the rigid body at one end and free at the other .

以此为基础，设计了系统部分参数未知情况下，由本体姿态期望运动及机械臂末端抓手惯性空间期望运动轨迹产生机械臂关节铰期望角速度、角加速度的自适应控制算法。

Based on the results , the adaptive control schemes of resolved motion velocity and acceleration of coordinated motion for space manipulator system with uncertain parameters to track desired trajectory in workspace are developed .

微陀螺系统是一种能够测量物体相对惯性空间角速度的传感器，它是基于哥氏加速度检测原理而工作的，在军事、导航领域有着广泛的应用。

Micro gyroscope is a kind of sensor which can measure the angle velocity in relative space . It works on basis of Coriolis acceleration detection theory , and it is widely used in military affairs and civil .

以经典的液核弹性地球自转动力学理论为基础，通过引入章动坐标系相对惯性空间的运动，建立液核地球极移和章动的联合动力学方程。

Based on classical dynamical equation on rotation of fluid core Earth , a associated dynamical equation containing both nutation and wobble of Earth rotation have been deduced through introducing motion of nutation frame system with respect to inertial spatial frame .

星敏感器利用拍摄到的星图，经过单星提取、星识别、确定星敏感器的光学主轴在惯性空间中的瞬时指向等过程最终计算出空间飞行器的三轴姿态。

The star sensor can finally calculate the attitude of the space aircraft by making use of the star image through the procedure of single star extraction , star recognition and making sure the direction of the optical axis in the inertial space .

陀螺稳定平台能够隔离载体扰动，保持平台上探测设备的视轴在惯性空间的稳定，从而保证探测设备对目标的精确跟踪，在现代武器系统中得到了广泛的应用。

Gyro-stabilized platform can isolate the disturbance of carrier to keep the line-of-sight of exploring equipment stable in the inertial space , which is sure that exploring equipment can trace to targets accurately , so gyro-stabilized platform have great application in the modern weapon system .

对几种陀螺反馈惯性空间稳定技术进行了详细叙述和对比，得到了采用高测量带宽的陀螺反馈回路可以有效提高系统隔离度，并推导出系统隔离度的计算公式。

Several kinds of gyroscope inertial stabilization technology are described and their comparison is made . The investigation indicates that gyroscope feedback loop with higher measurement bandwidth can effectively enhance the system ′ s disturbance isolation capability , and the formula for calculating system disturbance isolation capability is derived .

如外部扰动引起总动量矩不为零，则瞬时旋转轴在主刚体内产生常值偏角并在此位置附近振荡，同时在惯性空间中缓慢偏转。

When the total angular momentum is nonzero as a result fo the external disturbance , the instantaneous axis of rotation will deflect a constant angle within the main rigid body and oscillate about this position , at the same time the axis will rotate slowly in the inertial space .

惯性沉降空间含尘气流运动及其分级效率计算

On the air-flow of dust content and computation of fractional efficiency in the inertia settling space