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"0 =m(rxv)
I. INTRODUCTION
(1)
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dHo=M
dt
(2)
of the body( N . ill), the reasons for its appearance include the
gravity torque M
g,
AIR '
ball
Mf
M g can be
o
M go =mg cosBcos
-cos Bsin
sinB
-sinB
r (3)
M g 1 =mgb.r
(4)
M t (t)
So M o is written as
Ma =Mgo+Mg1 +~(t)
(5)
co = A(M go + M(t))
(6)
M(t) as
M(t)
= M g 1 + M t (t)
I~~
A= 0
200
600
800
1000
800
1000
Time(s)
0.2
0.1 -
(8)
I""
0
400
1
2
3
4
5
1((
-0.1
200
M=200 kg;g=9.8 m 2 /s ;
A. dynamics inversion
rx =O'r
=2e-6m'M
= O' M z
' y=O-r
' z
' y
=O,
= 0; lU = 0; lU = 0;
If/o = 0;80= O; 0= O.lrads
yO
zo
(to ,to
~rotl =(Wt1
M] in one axis
+ M 2 + M 3 in one axis
-1
2 -
M 3 = -5 x10 - 4 sin(2)N m
CIO)
angular .
Integrates Equation 6 in (to
M 1 = -0.0004N m
B)[ M(to) J
600
Time(s)
lUx o
400
~rot2=(<I>t2
0 )
( 8)
Then
+Lt,to + 2Lt) :
B)[ M(to)J
r
CII)
10,11 :
( 9)
~rotO
= <l>tO r
CI2)
2246
I'
cp(t) = e
"0
.~
0.
a
<
xcos6t
(13 )
0.5
Ot--- ----./
-0.5
500
rx
=-3 l e-Zm.z
=-2
, y =-8 . l e-Sm.z
, z
Oe-om:,
Figure 2 shows the result of M(t) .
X
1000
Timc(s)
Figure 3 Morlet wavelet
10.4
0
'::'
'-"
........ -5
II
..".
-10
0
and ~WI (a, b) will become large, and vice versa. So the
200
400
600
Tirne(s)
800
1000
400
300
Wavelet transformation
Wavelet transformation is a famous time frequency
analysis technique since 1980s, which can work in variable
resolutions and can represent the local signal in both time
domain and frequency domain, in which the time resolution is
higher in the high frequency part while the frequency
resolution is higher in the low frequency part''", Compare to
the traditional Fourier transform, Wavelet transformation is
more adaptive to analyze the signal.
In continuous wavelet transformation (CWT) theory
B.
f t-b
WCWI(a,b) = Ia, j(t)lf/(-)dt
a
(13 )
t-b
,_.!. If/(----;-)
If/a,b (t) = Ia
( 14)
_.!.
2
100
200
If/(OJ)
= fI
If
Jet)
II
(15 )
dOJ<+oo
IS
800
Time(s)
12
I~
600
II
400
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- theoretical vahe
- computing value
0.
U
<.l
::l
2"
f-
_2Q------'----'-----'----~----..J
200
400
600
Time(s)
800
3x 10
-3
-4
Ox10
150
200
400
600
Timc(s)
800
Time(s)
5 x 10
-4
50
A CKNOWLEDGM ENT
-4
R EFERENCES
- 81'--------:::'-::-----~:------:-:'
100
150
[I) Lin Lai-xing, "Study on the function of the air bearing table simulation",
Control Engineering of China,1983(4):1-9
[2] Jana L S, Mason A P, .. Christopher D H. Historical review of airbearing spacecraft simulators" . Journal of Guid-ance , Control, and
Dynamics, 2003, 26(4) : 513-522 '
[3] Lu Xing-ju , " Research and Design of a Spacecraft Attitude Control
Simulator System, " Master thesis, National University of Defense
Technology , 2005.
Time(s)
Figure 7. angle ofthe motion
rx =4 l e-Sm:r
=-1. l e-orn;r
=-2 2e-5m',
, y
, z
And figure 8 shows the result of the disturbing torque.
150
50
100
Timc(s)
III
2248
2249