Modeling and Nonlinear Computed Torque Control of Ship-mounted Mobile Satellite Communication System  

作　　者：Jun Jiang 1 Bin Yao 2,3 Jian Guo 1 Qing-Wei Chen 1 1 School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China 2 School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA 3 State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China 

出　　处：《International Journal of Automation and computing》2012年第5期459-466,共8页国际自动化与计算杂志（英文版）

基　　金：supported by National Natural Science Foundation of China (Nos. 61074023 and 60975075);Natural Science Foundation of Jiangsu Province of China (No. BK2008404);Science and Technology Pillar Program of Jiangsu Province of China (No. BE2009160);Innovation Project of Graduate Students of Jiangsu Province of China (No. CXZZ 0254)

摘　　要：A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.A mobile satellite communication system (MSCS) is a device installed on a moving carrier for mobile satellite communication. It can eliminate disturbance and maintain continuous satellite communication when the carrier is moving. Because of many advantages of mobile satellite communication, the MSCSs are becoming more and more popular in modern mobile communication. In this paper, a typical ship-mounted MSCS is studied. The dynamic model of the system is derived using the generalized Lagrange method both in the joint space and in the workspace. Based on the dynamic model, a nonlinear computed torque controller with trajectory planning is designed to track an aimed satellite with a satisfied transient response. Simulation results in two different situations are presented to show the tracking performance of the controller.

关 键 词：Mobile satellite communication system (MSCS) dynamic modeling computed torque control tracking control ship-mounted 

分 类 号：TN927.23[电子电信—通信与信息系统]