A Unified Approach to Model-Reference Adaptive Systems Part I: Theory

A unified approach to model-reference adaptive control systems is presented. A linearized error equation for each adaptive system is derived about some operating point and converted into the standard form for plotting root loci. The contribution made here is to convert the selection of an adaptive technique and the choosing of adaptive coefficients for some desired system performance from a "mystical art" to standard control techniquess.     

Pointing Accuracy and Dynamic Range in a Steered Beam Adaptive Array

The performance of a steered beam adaptive array as a function of the beam pointing error is examined. The purpose is to determine how close the steered beam has to be to the actual desired signal arrival angle for good performance. It is shown that the beam pointing error that can be tolerated is essentially a question of dynamic range. The greater the desired signal dynamic range that must be accommodated by the array, the more accurate the beam pointing angle must be.     

Prediction of Adaptive Array Performance

A direct relationship between the conventional properties of an array and the array performance in an adaptive mode is given. Expressions are provided to obtain the output signal-to-interference-plus-noise ratio (SINR) of an adaptive array in terms of its conventinal pattern and the locations of the desired signal and jammers. These expressions permit one to evaluate the performance of an adaptive array without an exhaustive search for all possible scenarios and parametric values to ascertain that the required performance levels be met. In fact, one can predict the jammer locations for which the array will provide its best and worst performance by observing the conventional pattern. Several examples are provided to demonstrate the relationship between the conventional pattern and the adaptive array performance. The examples include both linear and planar arrays.     

基于自适应方法的多无人机编队队形控制

针对"长机-僚机"近距编队队形因风场扰动而不能保持期望队形的问题,首先,提出了一种自适应队形保持控制的方法,该方法可用于抵消因风场不确定性对无人机的横侧向和前行方向所产生的距离误差,同时能够保持无人机编队稳定飞行。其次,由于风场的不确定性会引起"长机-僚机"之间的动力学发生变化,因此设计了一种基于"长机-僚机"相对运动模型的自适应控制律用以估计风场在3个方向的大小,进而控制无人机之间的相对运动以消除风场不确定性所产生的距离误差并保持速度的一致性,最终实现保持期望的队形。再次,通过构建合理的李雅普诺夫函数,证明无人机编队在风场干扰下能够保持编队稳定飞行,同时"长机-僚机"之间相对横向、横侧向以及纵向的距离误差均接近零。最后,通过仿真验证：所提出的自适应控制方法具有良好的鲁棒性,这为工程实践提供理论依据。     

航空发动机主供油计量活门故障主动容错控制器设计

针对航空发动机主供油计量活门执行机构发生故障时,系统的输出将会发生跳变,不能很好地跟踪系统期望输出的现象,采用模型参考自适应方法设计了主动容错控制器来解决这一问题.首先针对执行机构故障问题进行了数学描述.其次,选取系统的标称模型为参考模型,以输出误差最小化为优化目标,基于李雅普诺夫稳定性原理,寻找合适的自适应调节律,设计了自适应容错控制器.最后,针对发动机某一工况点进行了不同故障情况下的数值仿真.仿真结果表明:在主供油计量活门发生跳变故障和卡死故障时,自适应容错控制器可以通过参数自动调节,使得系统的输出能够很好地跟踪模型的输出,跟踪误差最终逼近于零.      

The Effect of Random Steering Vector Errors in the Applebaum Adaptive Array

The effect of random errors in the steering vector of an Applebaum adaptive array is examined. Each component of the steering vector is assumed to have a random error component uncorrelated between elements. The array output signal-to-interferenceplus-noise ratio (SINR) is computed as a function of the error variance. It is shown that the array output SINR becomes more sensitive to steering vector errors as more elements are added to the array and as the received desired signal power becomes larger. The variance of the steering vector error that may be tolerated depends on the required desired signal dynamic range. The larger the dynamic range that must be accommodated, the smaller the error variance must be.     

Convergence Rate of the Extended SMI Algorithm for Narrowband Adaptive Arrays

An extended sample matrix inversion (SMI) algorithm can be used for minimizing the mse (mean-squared error) between the output of an N-element adaptive array and a desired reference signal. This algorithm is shown to yield mse within 3 dB of minimum (on the average) after (2N - 1) observations of the antenna element outputs.     

Experimental study in adaptive tracking control

The authors describe an experimental study of adaptive pointing and tracking control for flexible spacecraft conducted on a complex ground experiment facility. The algorithm used is based on a multivariable direct model reference adaptive control law. Several experimental validation studies performed using this algorithm for vibration damping and robust regulation are extended by addressing the pointing and tracking problem. As is consistent with an adaptive control framework, the plant is assumed to be poorly known to the extent that only system level knowledge of its dynamics is available. Explicit bounds on the steady-state pointing error are derived as functions of the adaptive controller design parameters. It is shown that good tracking performance can be achieved in an experimental setting by adjusting adaptive controller design weightings according to the guidelines indicated by the analytical expressions for the error     

基于空时自适应处理的GPS宽带干扰抑制技术

分析研究了GPS宽带干扰抑制的各种空时自适应处理算法,提出了期望信号协方差矩阵的计算方法,该方法使得最大信干噪比方法和最小均方误差方法可以实现。仿真结果表明：和无干扰的GPS接收机相比,基于空时自适应的干扰抑制技术不会引起很大的定位误差。     

升降舵辅助操纵的自转旋翼机自适应姿态控制

针对常规自转旋翼机俯仰操纵方式存在的问题,提出了一种升降舵辅助操纵的自转旋翼机布局。采用解析叶素积分方法建立了自转旋翼气动模型,通过与风洞试验数据及数值叶素积分法的对比验证了其合理性。提出了基于神经网络动态逆的自转旋翼机姿态控制方法,采用动态逆技术设计了基本控制器,采用在线神经网络自适应补偿建模误差、外界干扰和设计模型误差导致的不确定逆误差。提出了基于动态控制分配技术的升降舵-旋翼纵向周期变距分配方法,以协调二者在控制效率和带宽方面的差异。仿真结果表明,提出的升降舵辅助操纵方式可以有效地降低旋翼机桨盘的调整频率和幅值;提出的姿态控制方法具有良好的控制性能和鲁棒性;动态控制分配器能够合理地协调升降舵和旋翼纵向周期变距。     

基于改进Gappy POD方法的压气机叶栅气动外形反设计方法

针对压气机叶栅气动高效反设计,建立了基于Gappy proper orthogonal demcomposition(Gappy POD)的气动外形反设计框架.通过Kriging代理模型优化获得某型压气机叶栅的气动优化结果,并以此作为反设计目标基础.为进一步提高基本Gappy POD反设计的效率及精度,发展了基于自适应...     

基于多入多出平衡流形展开模型的涡扇发动机反馈线性化滑模控制

针对涡扇发动机内部状态大范围变化条件下,单点线性控制器控制效果不佳而线性变参数控制器求解困难的问题,提出了一种基于多入多出平衡流形展开模型的涡扇发动机反馈线性化滑模变结构控制。首先,采用多入多出平衡流形展开模型辨识技术,获得仿射型的涡扇发动机数学模型。随后,利用反馈线性化将平衡流形展开模型解耦,经过坐标变换获得可用于控制系统设计的线性结果,考虑了具有误差项和饱和函数的指数趋近滑模控制律来提高控制系统的鲁棒性,完成了基于平衡流形展开模型的多变量涡扇发动机反馈线性化滑模控制器设计。最后,在非线性部件级模型上开展了控制器验证。在平衡流形展开模型设计工况,增益控制和滑模控制的控制效果表明,基于平衡流形展开模型的反馈线性化方法能够获得涡扇发动机良好的控制效果。同时,在平衡流形展开模型稳定但精度无法保证的非设计飞行工况,反馈线性化滑模控制器能够进一步抑制不确定性的影响,保证转子转速和发动机压比的跟踪控制效果。     

使用变速控制力矩陀螺的航天器鲁棒自适应姿态跟踪控制

 研究以变速控制力矩陀螺群（VSCMGs）为执行机构的航天器姿态跟踪问题。采用四元数描述姿态, 在姿态误差的描述中引入了现时姿态与期望姿态之间的方向余弦矩阵。考虑执行机构模型参数不确定和有外干扰的情况, 姿态误差动力学方程为多输入多输出(MIMO)的非线性系统。基于Lyapunov理论设计了鲁棒自适应控制器, 运用光滑投影算法避免了估计参数陷入奇异。仿真结果表明, 设计的鲁棒自适应控制律明显地缩小了姿态跟踪误差, 很好地解决了外部环境干扰和执行机构由于安装误差或机械磨损造成的轴承方向未对准的问题。     

一种鲁棒混合自适应控制器

 目前,国内外关于对象具有干扰或未建模动态时的混合自适应控制,仍处于探索阶段。由于连续对象混合控制系统在某些方面优于全连续或全离散系统,因而引起了国内外学者的重视。 本文提出一种新的适用于受扰对象的混合自适应律,并且从理论上证明了由这种控制律所构成的自适应控制器具有鲁棒稳定性。     

The Performance of an LMS Adaptive Array with Frequency Hopped Signals

The performance of an LMS adaptive array with a frequency hopped, spread spectrum desired signal and a CW interference signal is examined. It is shown that frequency hopping has several effects on an adaptive array. It causes the array to modulate both the amplitude and the phase of the received signal. Also, it causes the array output SINR (signal-to-interference-plus-noise ratio) to vary with time and thus increases the bit error probability for the received signal. Typical curves of the desired signal modulation and the time-varying SINR at the array output are presented. It is shown how the array performance depends on hopping frequency, frequency jump size, interference frequency, signal arrival angles, and signal powers.     

自适应桁架结构振动控制中主动构件的最优配置

主动构件的最优配置对于自适应桁架结构的设计和振动控制十分重要。为了确定主动构件在自适应桁架结构中的配置,通过引入闭环模态耗散能因子概念,来评价主动构件在结构振动阻尼控制中引入的结构模态主动阻尼的相对大小,由此建立主动构件配置多目标优化问题,并通过一平面自适应桁架结构优化数值计算,说明了该优化配置方法的正确性和有效性     

Transition control of a tail-sitter unmanned aerial vehicle with L1 neural network adaptive control

The main task of this work is to design a control system for a small tail-sitter Unmanned Aerial Vehicle(UAV) during the transition process. Although reasonable control performance can be obtained through a well-tuned single PID or cascade PID control architecture under nominal conditions, large or fast time-varying disturbances and a wide range of changes in the equilibrium point bring nonlinear characteristics to the transition control during the transition process, which leads to control prec...     

柔性航天器振动主动抑制及姿态控制

针对柔性航天器柔性附件振动主动抑制及姿态高精度快速稳定问题，研究了一种输入成形器（IS）-自适应有限时间干扰观测器（FDO）-有限时间积分滑模控制器综合的设计方法。首先，基于柔性模态的频率及阻尼信息，获得能够有效抑制柔性振动的输入成形器形式，并与系统参考输入进行卷积，得到期望参考输入；其次，基于航天器动力学模型，设计一种新型的自适应有限时间干扰观测器，避免了综合干扰上界必须已知的约束，且保证干扰估计误差有限时间收敛至零，实现对干扰及残余振动影响的快速精确估计；最后，基于观测器的估计值，设计多变量有限时间积分滑模控制器，保证对期望参考输入的高精度快速跟踪控制，并进行严格的稳定性证明。仿真结果表明，该综合设计策略能够保证柔性附件振动抑制75%，姿态稳定度达到10^-4数量级。     

自适应阻抗控制在广义主动加载中的应用

 以并联六自由度机构为对象,研究了阻抗控制在广义主动加载中的应用。推导了并联六自由度机构广义力、单缸力和单缸位移之间的阻抗控制数学模型,并分析了稳态误差影响因素;设计了符合现有实验条件的模型参考自适应阻抗控制器(MRAC),该控制器仅通过广义力反馈、单缸力反馈即可实现控制参数的在线修正,并由六自由度机构单缸位移反馈构成闭环控制系统。比较自适应阻抗力控制器和经典力控制器进行了广义主动加载仿真,结果表明所设计的控制器提高了系统动态响应能力,对环境刚度变化鲁棒性强,可以实现实验室条件下广义力的精确稳定跟踪。