Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design

This paper presents an integrated fuzzy controller design approach to synchronize a dis-similar redundant actuation system of a hydraulic actuator (HA) and an electro-hydrostatic actu-ator (EHA) with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller (FFTC) for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller (FPTC) and acts as a decoupled controller, improving posi-tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.     

六自由度压电隔振平台面向控制的模态分析与动力学建模

六自由度压电隔振平台各通道之间存在的强耦合性以及压电作动器固有的迟滞非线性都对系统动力学建模提出了挑战。为此，基于模态分析技术对六自由度压电隔振平台开展面向控制的非线性动力学建模研究。在充分考虑压电作动器的迟滞非线性后，采用模态坐标变换方法建立了隔振平台Hammerstein非线性动力学模型，包含了输入端的静态迟滞非线性子系统、解耦的模态方程组以及模态正/反变换矩阵。通过实验测量方法辨识得到模态方程中的参数，采用MPI模型辨识得到静态迟滞非线性子系统，并经过逆补偿控制实验验证了迟滞模型的正确性。基于迟滞逆补偿策略辨识得到模态反变换矩阵。最终建立了平台的动力学模型，为后续的控制奠定了良好的基础。      

ORB-SLAM系统优化框架分析概述

首先阐述了ORB-SLAM系统的核心思想和基本框架,介绍了SLAM系统中光束平差法的应用实现,然后针对视觉里程计部分不同的关键帧位姿优化过程分别进行了详细阐述,并利用KITTI数据集的不同序列的实验结果进行比较研究,给出了核心的光束平差法在ORB-SLAM中的具体工作方式及性能分析,最后讨论和分析了ORB-SLAM的优势和不足。     

Particle swarm optimization applied to hypersonic reentry trajectories

This paper presents the novel use of the particle swarm optimization(PSO)to generate the end-to-end trajectory for hypersonic reentry vehicles in a quite simple formulation.The velocitydependent bank angle profile is developed to reduce the search space of unknown parameters based on the constrained PSO algorithm.The path constraints are enforced by setting the fitness function to be infinite on condition that the particles violate the maximum allowable values.The PSO algorithm also provides a much easier means to satisfy the terminal conditions by adding penalty terms to the fitness function.Furthermore,the approximate reentry landing footprint is fast constructed by incorporating an interpolation model into the standardized bank angle profiles.Numerical simulations demonstrate that the PSO method is a feasible and flexible tool to generate the end-to-end trajectory and landing footprint for hypersonic reentry vehicles.     

Remaining useful life estimation for deteriorating systems with time-varying operational conditions and condition-specific failure zones

Dynamic time-varying operational conditions pose great challenge to the estimation of system remaining useful life (RUL) for the deteriorating systems. This paper presents a method based on probabilistic and stochastic approaches to estimate system RUL for periodically moni-tored degradation processes with dynamic time-varying operational conditions and condition-specific failure zones. The method assumes that the degradation rate is influenced by specific oper-ational condition and moreover, the transition between different operational conditions plays the most important role in affecting the degradation process. These operational conditions are assumed to evolve as a discrete-time Markov chain (DTMC). The failure thresholds are also determined by specific operational conditions and described as different failure zones. The 2008 PHM Conference Challenge Data is utilized to illustrate our method, which contains mass sensory signals related to the degradation process of a commercial turbofan engine. The RUL estimation method using the sensor measurements of a single sensor was first developed, and then multiple vital sensors were selected through a particular optimization procedure in order to increase the prediction accuracy. The effectiveness and advantages of the proposed method are presented in a comparison with exist-ing methods for the same dataset.     

Nonlinear dynamic modeling of a helicopter planetary gear train for carrier plate crack fault diagnosis

Planetary gear train plays a significant role in a helicopter operation and its health is of great importance for the flight safety of the helicopter. This paper investigates the effects of a planet carrier plate crack on the dynamic characteristics of a planetary gear train, and thus finds an effec-tive method to diagnose crack fault. A dynamic model is developed to analyze the torsional vibra-tion of a planetary gear train with a cracked planet carrier plate. The model takes into consideration nonlinear factors such as the time-varying meshing stiffness, gear backlash and viscous damping. Investigation of the deformation of the cracked carrier plate under static stress is performed in order to simulate the dynamic effects of the planet carrier crack on the angular displacement of car-rier posts. Validation shows good accuracy of the developed dynamic model in predicting dynamic characteristics of a planetary gear train. Fault features extracted from predictions of the model reveal the correspondence between vibration characteristic and the conditions (length and position) of a planet carrier crack clearly.     

多飞行器再入段时间协同弹道规划方法

提出了一种多飞行器再入段时间协同弹道规划方法。首先,在纵向平面内规划满足航程与终端约束的纵向标称轨迹。随后,在采用轨迹跟踪律跟踪纵向标称轨迹的同时,运用考虑初始横侧向状态的多边界航向偏差角走廊策略控制飞行器的横侧向机动,以满足到达时间约束与终端约束,进而实现单枚飞行器到达时间约束下的轨迹规划。在此基础上,完成了飞行器的到达时间分布与飞行能力分析,给出了最小与最大到达时间的分析计算方法,并根据多飞行器协同再入的任务需求完成了协同飞行时间决策。最后,多飞行器协同再入与扰动条件下的仿真结果表明,该方法能够规划出满足到达时间与终端约束的协同再入轨迹,具备良好的计算精度与鲁棒性。     

Drag derived altitude aided navigation method

The navigation problem of the lifting reentry vehicles has attracted much research interest in the past decade.This paper researches the navigation in the blackout zone during the reentry phase of the aircraft,when the communication signals are attenuated and even interrupted by the blackout zone.However,when calculating altitude,a pure classic inertial navigation algorithm appears imprecise and divergent.In order to obtain a more precise aircraft altitude,this paper applies an integrated navigation method based on inertial navigation algorithms,which uses drag derived altitude to aid the inertial navigation during the blackout zone.This method can overcome the shortcomings of the inertial navigation system and improve the navigation accuracy.To further improve the navigation accuracy,the applicable condition and the main error factors,such as the atmospheric coefficient error and drag coefficient error are analyzed in detail.Then the damping circuit design of the navigation control system and the damping coefficients determination is introduced.The feasibility of the method is verified by the typical reentry trajectory simulation,and the influence of the iterative times on the accuracy is analyzed.Simulation results show that iterative three times achieves the best effect.     

执行器故障下的运载火箭非奇异终端滑模容错控制

针对存在未知外部干扰和执行器卡死故障的运载火箭，提出了一种基于非奇异终端滑模面的姿态跟踪控制算法。首先，建立了考虑干扰和执行器卡死故障的运载火箭姿态控制系统多输入多输出系统模型；然后定义了运载火箭姿态跟踪系统模型，针对定义的模型，设计了一种非奇异终端滑模面，使得系统在执行器故障情况下仍能较为精确地跟踪参考信号。基于李雅普诺夫函数证明了运载火箭姿态跟踪控制系统的稳定性和有限时间收敛特性。数值仿真检验了本文基于非奇异终端滑模运载火箭姿态跟踪控制算法的有效性。     

飞行器集群协同制导控制方法及应用研究

分析了目前多飞行器协同作战的发展现状与趋势，指出了多飞行器以编队形式进行协调与配合，可以有效提高突防概率与作战效能。针对飞行器集群协同制导控制技术，分析梳理了相关的技术难点。然后，分别对协同任务规划与动态目标分配方法和多飞行器编队协同控制方法、多约束条件下的分布式协同制导方法的国内外研究现状进行了介绍。最后对飞行器集群协同制导控制技术进行了总结，并对未来的发展方向进行了展望。