Attitude control of apricot during orientation transmission
Keywords:
attitude control, apricot, orientation transmission, torque control, monosymmetric fruitAbstract
The kinetic characteristics of apricots during orientation transmission were studied to provide a basis for improving the structure of the transmission device. Previous studies have generally focused on the development of orientation devices, but few studies have been conducted to analyze the mechanisms of orientation. In order to study the attitude control in the orientation mechanisms, an orthogonal combination test was performed and a rigid kinetic model for a monosymmetric apricot was developed based on Euler’s kinetic equations with the modified Rodrigue parameters (MRPs). Kinetic simulation and analysis based upon the attitude control law were conducted and an attitude control simulation platform was created. The simulation results showed that the orientation transmission system for monosymmetric apricots was globally convergent and tended to stable. The experimental torques also affected the orientation success rates. The calculated average experimental torque value (0.164 N•m) was consistent with the maximum control torque value (0.16478 N•m) when the system was in a stable state in Simulink. The consistency between the simulation result and the calculated control torque validates the correctness of the designed control torques. Keywords: attitude control, apricot, orientation transmission, torque control, monosymmetric fruit DOI: 10.3965/j.ijabe.20160905.2135 Citation: Ding X Y, Wang C Y, Huang C Y, Luo J Q. Attitude control of apricot during orientation transmission. Int J Agric & Biol Eng, 2016; 9(5): 9-16.References
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[22] Yonmook P. Robust and optimal attitude control of spacecraft with disturbances. International Journal of Systems Science, 2015; 46(7): 1222–1233.
[2] Narayanan P, Lefcourt A M, Tasch U, Rostamian R, Abraham Grinblat, Kim M S. Theoretical aspects of orienting fruit using stability properties during rotation. Portland Oregon: ASABE 2006. Paper No.061144. St. Joseph, Mich., ASABE
[3] Narayanan P, Lefcourt A M, Tasch U, Rostamian R, Kim M S. Tests of the ability to orient apples using their inertial properties. 2007. ASABE Paper No.076246. St. Joseph, Mich., ASABE.
[4] Lefcourt A M, Kim M S, Chen Y R. Detection of fecal contamination on apples with nanosecond-scale time-resolved imaging of laser-induced fluorescence. Applied Optics, 2005; 44(7): 1160–1170.
[5] Lefcourt A M, Narayanan P, Tasch U, Rostamian R, Kim M S, Chen Y R. Algorithms for parameterization of dynamics of inertia-based apple orientation. Applied Engineering in Agriculture, 2008; 24(1): 123–129.
[6] Zheng A Q, Cao Y, Zhao Y. Practical textbook of MATLAB. Beijing: Publishing House of Electronics Industry, 2004; 5.
[7] Huang C Y, Wang C Y. Application and research apricots of directional transport process using quaternion. Journal of Agricultural Mechanization Research, 2015; 37(4): 32–34.
[8] Liu Y Z, Hong J Z, Yang H X. Multirigid-body-system dynamics. Beijing: Higher Education Press, 1989: pp. 30-64.
[9] Luo L J, Li Y-S, Li T, Dong Q T. Research and simulation of Lyapunovps exponents. Computer Simulation, 2009; 22(12): 285–288.
[10] Zhang Y H, Yuan W F. Structure and application on Lyapunov function. Journal of Yulin University, 2011; 21(6): 21–23.
[11] Liu Y, Wu B, Cai X S. Stability criteria of nonlinear impulsive differential equations with infinite delays. Acta Mathematicae Applicatae Sinica, 2015; 31(4): 921–934.
[12] Luo J Q, Wang C Y. Dynamic stability of apricots motion in their directional conveying. Journal of Vibration and Shock, 2015; 34(13): 115–120.
[13] Yang B, Zhou J, Guo J G. Study on dynamics modeling of missile with deflectable nose. Acta Aeronautica Et Astronautica Sinica, 2008; 29(4): 909–913.
[14] Chapman S J. MATLAB Programming. Beijing: Science Press, 2007; pp. 30–73.
[15] Ding H. Realization of phase plane for higher order nonlinear control system based on simulink. Journal of Electrical & Electronic Education, 2013; 35(3): 15.
[16] Ismail Z, Varatharajoo R, Ajir R, Rafie A S M. Enhanced attitude control structure for small satellites with reaction wheels. Aircraft Engineering and Aerospace Technology, 2015; 87(6): 546–550.
[17] Ding X Y, Wang C Y, Luo J Q. KMT dynamic strain measurement system application in fruit orientation. Journal of Agricultural Mechanization Research, 2015; 37(6): 146–150.
[18] Huang T G, Wang L, Su J B. Nonlinear disturbance rejection control of unmanned aerial vehicle attitude. Journal of Control Theory & Applications, 2015; 4: 456–463.
[19] Jia R C. Attitude estimation base on gravity/magnetic assisted Euler angle UKF. Journal of Optics and Precision Engineering, 2014; 22(12): 3280–3286.
[20] Mazinan A H. High-precision full quaternion based finite-time cascade attitude control strategy considering a class of overactuated space systems. Human-centric Computing and Information Sciences, 2015; 5(1): 1–14.
[21] Zhao X M, Yang L, Hui F, Shi X, Hao R R, Wang W X. Three-dimensional vehicle attitude estimation using modified invasive weed optimized particle filter. International Journal of Automotive Technology, 2014; 15(7): 1143–1154.
[22] Yonmook P. Robust and optimal attitude control of spacecraft with disturbances. International Journal of Systems Science, 2015; 46(7): 1222–1233.
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Published
2016-09-30
How to Cite
Xiangyan, D., Chunyao, W., Chunyang, H., & Jianqing, L. (2016). Attitude control of apricot during orientation transmission. International Journal of Agricultural and Biological Engineering, 9(5), 9–16. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/2135
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Applied Science, Engineering and Technology
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