Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order to keep the PMSpA with good trajectory tracking performance, this paper designs a time delay estimation controller based on gradient compensation. Firstly, the dynamic model of the PMSpA with nonlinear terms is derived. The nonlinear terms in the complex dynamic model can be simplified and estimated by the time delay estimation method. Secondly, for the estimation errors caused by time delay control, a gradient compensator is introduced to further correct and compensate for it. Furthermore, the stability of the designed controller is proved by the Lyapunov equation. Finally, the correctness and effectiveness of the controller are validated by comparison with other controllers through simulation. In addition, experimental results have also shown that the control accuracy of the spherical motor can be effectively improved using the proposed controller.

Frequency Domain Analysis of Partial-Tensor Rotating Accelerometer Gravity Gradiometer

The output model of a rotating accelerometer gravity gradiometer (RAGG) established by the inertial dynamics method cannot reflect the change of signal frequency, and calibration sensitivity and self-gradient compensation effect for the RAGG is a very important stage in the development process that cannot be omitted. In this study, a model based on the outputs of accelerometers on the disc of RGAA is established to calculate the gravity gradient corresponding to the distance, through the study of the RAGG output influenced by a surrounding mass in the frequency domain. Taking particle, sphere, and cuboid as examples, the input-output models of gravity gradiometer are established based on the center gradient and four accelerometers, respectively. Simulation results show that, if the scale factors of the four accelerometers on the disk are the same, the output signal of the RAGG only contains (4k+2)ω (ω is the spin frequency of disc for RAGG) harmonic components, and its amplitude is related to the orientation of the surrounding mass. Based on the results of numerical simulation of the three models, if the surrounding mass is close to the RAGG, the input-output models of gravity gradiometer are more accurate based on the four accelerometers. Finally, some advantages and disadvantages of cuboid and sphere are compared and some suggestions related to calibration and self-gradient compensation are given.

Self-Gradient Compensation of Full-Tensor Airborne Gravity Gradiometer

In the process of airborne gravity gradiometry for the full-tensor airborne gravity gradiometer (FTAGG), the attitude of the carrier and the fuel mass will seriously affect the accuracy of gravity gradiometry. A self-gradient is the gravity gradient produced by the surrounding masses, and the surrounding masses include distribution mass for the carrier mass and fuel mass. In this paper, in order to improve the accuracy of airborne gravity gradiometry, a self-gradient compensation model is proposed for FTAGG. The self-gradient compensation model is a fuction of attitude for carrier and time, and it includes parameters ralated to the distribution mass for the carrier. The influence of carrier attitude and fuel mass on the self-gradient are simulated and analyzed. Simulation shows that the self-gradient tensor element Γ x x , Γ x y , Γ x z , Γ y z and Γ z z are greatly affected by the middle part of the carrier, and the self-gradient tensor element Γ y z is affected by the carrier’s fuel mass in three attitudes. Further simulation experiments show that the presented self-gradient compensation method is valid, and the error of the self-gradient compensation is within 0.1 Eu. Furthermore, this method can provide an important reference for improving the accuracy of aviation gravity gradiometry.

Pressure-discharge and Hydraulic Gradient along the Lateral of the Drip Irrigation System for Okra

Micro irrigation system should ensure relatively same amount of water to each plant along the total length of lateral line. In general, the drip irrigation systems are low to medium operating pressure head systems with a pressure requirement in range of 0.5 kg/cm2 to 2.5 kg/cm2 depending on the area irrigated and field layout geometry. However, since these systems are pressure irrigation systems which require appropriate operating pressure heads to deliver the required rates of flow, the inevitable frictional head losses are to be compensated for maintaining uniformity in water application. Hence, the hydraulic gradient compensation needs to be achieved by some viable mechanism so that the inequality in pressure heads and discharges can be eliminated or minimized. The crop production will have its maximum yield and water use efficiency only one the water distribution uniformities at its the highest. Hydraulic gradient compensation assumes a vital role in compensating the operating pressure heads as well as the emitter discharges. The hydraulic gradient compensated drip lateral layout registered high order of water distribution uniformity in the range of 97.8% and irrigation usage efficiency in the range of 17.98 kg/ha/mm to 20.69 kg/ha/mm for 2 lph emitter arrangements.