Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

Variation of dayside chorus waves associated with solar wind dynamic pressure based on MMS observations

The whistler-mode chorus waves are one of the most important plasma waves in the Earth’s magnetosphere. Generally, the amplitude of whistler-mode chorus waves prefers to strengthen when the energetic fluxes of anisotropic electrons increase outside the plasmapause. This characteristic is commonly associated with the geomagnetic storms or substorms. However, the relationship between the solar wind dynamic pressure (P_sw) and the long-time variation of chorus waves during the quiet period of the geomagnetic activity still needs more detailed investigations. In this paper, based on MMS observations, we present a chorus event just observed in the inner side of magnetopause without obvious geomagnetic storms or substroms. Interestingly, during this time interval, some P_sw fluctuations were recorded. Both the amplitudes and frequencies of chorus waves changed as a response to the variation in P_sw. It proved that the enhancement of P_sw increases the energetic electrons fluxes, which provides free energies for the chorus amplification. Furthermore, the wave growth rates calculated using linear theory increases and the central frequency of the chorus waves shifts to a higher frequency when the P_sw enhancement is greater, which are also consistent well with the observations. The results provide a direct evidence that the P_sw play an important role in the long-time variation of whistler-mode chorus waves inside the magnetopause.     

Calculation of the transonic dip of airfoils using viscous-inviscid aerodynamic interaction method

A numerical procedure for the calculation of the transonic dip of airfoils in the time domain is presented. A viscous-inviscid aerodynamic interaction method is taken to calculate the unsteady aerodynamic loads. In the present case the integral boundary layer equations are coupled with the Transonic Small Disturbance (TSD) Potential Equation. The coupling between structural motion and aerodynamic loads is carried out using State Space equation. It is solved by State Transition Matrix technique. Results are presented for NACA 64A010 and NLR 7301 airfoils with structural data from Isogai and DLR, respectively. Comparisons show good agreement with other numerical results. Certain deviations of experimental data taken from literature need more insight in the detailed test conditions.     

Global Response of Martian Plasma Environment to an Interplanetary Structure: From Ena and Plasma Observations at Mars

As a part of the global plasma environment study of Mars and its response to the solar wind, we have analyzed a peculiar case of the subsolar energetic neutral atom (ENA) jet observed on June 7, 2004 by the Neutral Particle Detector (NPD) on board the Mars Express satellite. The “subsolar ENA jet” is generated by the interaction between the solar wind and the Martian exosphere, and is one of the most intense sources of ENA flux observed in the vicinity of Mars. On June 7, 2004 (orbit 485 of Mars Express), the NPD observed a very intense subsolar ENA jet, which then abruptly decreased within ∼10 sec followed by quasi-periodic (∼1 min) flux variations. Simultaneously, the plasma sensors detected a solar wind structure, which was most likely an interplanetary shock surface. The abrupt decrease of the ENA flux and the quasi-periodic flux variations can be understood in the framework of the global response of the Martian plasma obstacle to the interplanetary shock. The generation region of the subsolar ENA jet was pushed towards the planet by the interplanetary shock; and therefore, Mars Express went out of the ENA jet region. Associated global vibrations of the Martian plasma obstacle may have been the cause of the quasi-periodic flux variations of the ENA flux at the spacecraft location.     

风挡串流对测力数据的影响及其改进措施

本文研究了风挡串流对三角形机翼飞机模型测力数据的影响。试验结果指出,在风挡具有串流的情况下,正反装模型所获得的纵向测力数据都是错误的,特別是俯仰力矩。为了消除风挡串流对测力数据的影响,应尽力限制串流量,此外建议在测定模型的平均气流偏角和支架干扰量时,上风挡亦带串流,并使其对称于下风挡的串流。经试验证明,这些措施将有助于获得较为可靠的正反装测力数据。     

扩压器-水泵内非稳定流动研究

水泵内部流动实质上是复杂的三维非稳定流动 ,它对水泵性能及结构振动有重要影响。本文介绍了一种求解这种复杂内流动的数值方法。三维雷诺数平均的纳维斯托克斯方程 ( 3-DReynolds-averaged Navier-Stokes,RANS)以及标准 k-ε的方程用于描述水泵内非定常紊流流场。系统特性方程与水泵的 CFD模型相结合以考虑流体在管道中的加速 ;采用任意滑移网格界面模拟叶轮和静止部件之间的相互干涉 ;将整个叶轮作为分析对象 ,以考虑失速情况下流动的周向非对称。这些技术的结合包括了水泵内非稳定流动的物理实质。一台实验数据比较齐全的离心式 -扩压器水泵被用于验证所提出的数值方法     

一种低RCS无人飞行器外形的气动特性实验研究

根据气动布局的基本原理,结合低RCS要求,设计了一种鸭式布局、带边条的翼身融合无人飞行器外形,实验结果表明,该外形不仅具有低RCS特征,而且具有良好的气动特性,升阻比达到8左右。     

基于MATLAB的现代优化算法在飞行器气动外形设计中的应用

本文发展了MATLAB语言环境下的现代优化算法，包括遗传算法、模拟退火算法和基于分支联赛选择的多目标遗传算法，并用来求解高超声速飞行器气动外形参数优化问题。所研究的气动外形为带控制舵飞行器和可变弯体飞行器。在MATLAB环境下，求解了最大化升阻比的单目标优化问题和具体有两个冲突目标（最小化铰链力矩并且最大化平均操纵效率）的多目标优化问题。实际算例表明，在快速有效的气动力分析方法辅助之下，本文所发展的MATLAB现代优化算法可以在飞行器初始设计中发挥作用。本文所提供的现代优化算法是对MATLAB优化工具箱的一个有益的扩展。     

旋成体在无侧滑大攻角下的横向气动力特性

介绍具有尖锥头部细长旋成体（以下简称弹体）在无侧滑下横向气动力随攻角变化特性，其中包括尖锥头部顶角、旋成体长细比、初始滚转角、试验雷诺数诸参数对横向气动特性的影响。还介绍美国ＮＡＳＡ的一篇综合研究报告的部分结果。试验结果表明，在低亚音速下，弹体气动特性对上述诸参数反应极为敏感，有时呈现随机特性。头部加边条、减小长细比或在后体装尾翼，将有助于减弱横向气动力。采用弹体旋转飞行技术，虽然产生Ｍａｇｎｕｓ侧向力，但有效地克服了气动力的随机性。     

多体分离抛撒初条件与分离特征参数

多次风洞自由飞多体分离抛撒实验均证实了被抛撒物运动初条件对抛离成功与否有决定性影响;为此可采取"戴帽"措施;但数值计算结果与此相反,因而需深入开展研究,解决问题。常规形式的风洞测力方法,无法模拟各分离体之间很大的相对速度。分离过程中"特征时间"是很小的,因而风洞实验以及数值计算必须计及非常小的"特征时间"所反映的非定常气动力。多体分离的实践表明,至少在快速分离过程中运动动力学相似是必需的。