The purpose of this paper is to present a method to obtain the inertia parameter of a captured unknown space target.
An inertia parameter identification method is proposed in the post-capture scenario in this paper. This method is to resolve parameter identification with two steps: coarse estimation and precise estimation. In the coarse estimation step, all the robot arms are fixed and inertia tensor of the combined system is first calculated by the angular momentum conservation equation of the system. Then, inertia parameters of the unknown target are estimated using the least square method. Second, in the precise estimation step, the robot arms are controlled to move and then inertia parameters are once again estimated by optimization method. In the process of optimization, the coarse estimation results are used as an initial value.
Numerical simulation results prove that the method presented in this paper is effective for identifying the inertia parameter of a captured unknown target.
The presented method can also be applied to identify the inertia parameter of space robot.
In the classic momentum-based identification method, the linear momentum and angular momentum of system, both considered to be conserved, are used to identify the parameter of system. If the elliptical orbit in space is considered, the conservation of linear momentum is wrong. In this paper, an identification based on the conservation of angular momentum and dynamics is presented. Compared with the classic momentum-based method, this method can get a more accurate identification result.
The purpose of this paper is to obtain the environmental factor, which has the greatest effect on the corrosion rate of Q235 carbon steel under thin electrolyte layer, and…
The purpose of this paper is to obtain the environmental factor, which has the greatest effect on the corrosion rate of Q235 carbon steel under thin electrolyte layer, and to analyze the effect of this factor on the corrosion morphology, corrosion products and polarization process of Q235 carbon steel.
An electrochemical device, which can be used under thin electrolyte layer is designed to measure the corrosion current in different environments. Response surface methodology (RSM) is introduced to analyze the effect of environmental factors on corrosion rate. Scanning electron microscope (SEM) and X-ray diffraction (XRD) technique are used to analyze the results. The Tafel slopes of anode and cathode in different humidity and solution are calculated by least square method.
The three environmental factors are ranked according to importance, namely, humidity, temperature and chloride ion deposition rate. In a high humidity environment, the relative content of α-FeOOH in the corrosion product is high and the relative content of β-FeOOH is low. The higher the humidity, the lower the degree of anodic blockage, whereas the degree of cathodic blockage is independent of humidity. The above experiments confirm the effectiveness and efficiency of the device, indicating it can be used for the screening of corrosive environmental factors.
In this paper, an electrochemical device under thin film is designed, which can simulate atmospheric corrosion well. Subsequent SEM and XRD confirmed the reliability of the data measured by this device. The introduction of a scientific RSM can overcome the limitations of orthogonal experiments and more specifically and intuitively analyze the effects of environmental factors on corrosion rates.