Time delay compensation in lateral-directional flight control systems at high angles of attack

The previous studies of time delay compensation in flight control systems are all based on the conventional aerodynamic derivative model and conducted in longitudinal motions at low angles of attack. In this investigation, the effects of time delay on the lateral-directional stability augmentation system in high-α regime are discussed based on the $\dot{\beta }$ model, which is proposed in our previous work and proved as a more accurate aerodynamic model to reveal the lateral-directional unsteady aerodynamic characteristics at high angles of attack. Both the $\dot{\beta }$ model and the quasi-steady model are used for simulating the effects of time delay on the flying qualities in high-α maneuvers. The comparison between the simulation results shows that the flying qualities are much more sensitive to the mismatch of feedback gains than the state errors caused by time delay. Then a typical adaptive controller based on the conventional dynamic derivative model and a gain-prediction compensator based on $\dot{\beta }$ model are designed to address the time delay in different maneuvers. The simulation results show that the gain-prediction compensator is much simpler and more efficient at high angles of attack. Finally, the gain-prediction compensator is combined with a linearized $\dot{\beta }$ model reference adaptive controller to compensate the adverse effects of very large time delay, which exhibits excellent performance when addressing the extreme conditions at high angles of attack.     

受限航路空域自主航迹规划与冲突管理技术

为了解决在基于航迹运行的空中交通管理自动化系统中人机意识同步的问题，以航路运行为对象，开展了面向受限空域的自主四维航迹（4DT）冲突探测与解脱（CD&R）技术研究。基于自由航线空域（FRA）环境，提出基于栅格的空域离散化处理与计算方法；在此基础上，提出受限空域自主航迹运行两阶段方法：阶段1运用可视图（VG）法和Dijkstra算法，实现了满足限制区约束的航空器期望航迹快速规划；阶段2提出航迹可达时空域模型及其图形化表达方法，并基于连续飞行动力学推导出了不同情况下的航空器位置更新模型，并采用局部冲突探测与解脱方法，以飞行距离最短为目标，实现航空器自主路径与速度联动规划，从而支撑空地、人机认知同步的无冲突四维航迹生成；最后，以中国西部典型空域为运行场景开展仿真实验，验证了所提方法的计算高效性和模型有效性，并对栅格尺寸和探测距离这2个关键参数进行了灵敏度分析。结果表明，所提方法能够支撑复杂空域高密度运行环境自主航迹运行，为推动自主空中交通系统发展提供了新思路和新方法。     

基于EM‑EKF的深空光学自主导航系统光轴偏差补偿算法

在深空探测任务中,光学自主导航的精度受导航敏感器件安装精度的影响较大。提出了一种基于期望最大化-扩展卡尔曼滤波(EM-EKF)的光学自主导航系统光轴偏差补偿算法。算法基于条件概率的思想,预先设定状态变量和观测量的统计特性参数,通过不断地最大化条件期望,得到出现概率最大的状态变量估值和光轴偏差参数估值。该算法可分为4步:EKF、固定区间平滑、求解条件期望和期望最大化,不断迭代即可得到光轴偏差估计值。以火星探测近火段为例进行仿真验证,经光轴偏差补偿后,导航精度由100 km提升至20 km以内。     

变攻角下被动射流旋涡对高速扩压叶栅性能的影响

对被动射流旋涡(PJV)控制高速扩压叶栅内的流动分离控制展开数值研究,并探究其在变工况条件下的适应特性。结果表明,PJV在设计攻角下可使叶栅总压损失系数降低5.2%,变攻角条件下的损失降低幅度最高可达7.8%,表明其具有较高的控制效率和良好的变工况适应特性。随着攻角的增大,吸力面分离位置提前,射流出口与分离区间的距离减小,PJV能够更为有效地促进附面层内低能流体与主流间的动量交换,使得壁面涡结构得到重新组织,并进一步影响通道涡、集中脱落涡等涡系结构的发展,从而推迟流动分离、减小损失。在综合考虑变攻角流场特性的前提下,应使PJV的作用位置位于分离区上游不远处,所研究的最佳射流位置位于叶片前缘上游40%轴向弦长处。      

基于空间两点的视觉自主着陆导引算法设计

为提高无人机着陆效率，从着陆速度向量场和导引律设计两方面研究改进。首先，基于椭圆设计速度向量场，实现飞行路程更短、机动性能要求更低的着陆轨迹。然后，基于像素坐标系与机体坐标系的关系，设计无人机的航迹方位角指令；以椭圆切线方向为参考，结合合作矢量特征，设计航迹倾斜角指令；利用图像信息，设计速度大小指令。最后，理论比较了传统轨迹与提出轨迹对方向机动性性能的要求，给出了轨迹参数与无人机方向机动性性能的关系。利用Simulink搭建系统仿真平台，计算满足要求的合作矢量特征。结果表明，无人机以曲线轨迹准确软着陆到目标，满足实际运用的需要。      

轴流压气机插板式进气畸变数值仿真

以航空发动机稳定性评价体系中常用的插板实验为背景,分别进行低速、高亚声速、跨声速轴流压气机与插板畸变发生器的耦合数值仿真,研究插板畸变条件下压气机的流场特性以及不同类型压气机在插板畸变影响下的失速起始机制。研究发现:转子进口截面的周向流动是影响低速压气机稳定边界的主要因素；插板角涡对转子叶顶泄漏涡的扰动是影响高亚声速压气机稳定边界的重要原因；畸变气流影响下的叶片通道内激波强度和位置的变化是影响跨声速压气机稳定边界的关键因素。      

Effects of yaw-roll coupling ratio on lateral-directional aerodynamic characteristics

Experimental investigation of large amplitude yaw-roll coupled oscillations was conducted in a low-speed wind tunnel using an aircraft configuration model. A special test rig was designed and constructed to provide different coupled motions from low to high angles of attack.A parameter ‘‘coupling ratio" was introduced to indicate the extent of yaw-roll coupling. At each pitch angle, seven coupling ratios were designed to study the yaw-roll coupling effects on the lateraldirectional aerodynamic characteristics systematically. At high angles of attack, the damping characteristics of yawing and rolling moments drastically varied with coupling ratios. In the coupled motions with the rotation taking place about the wind axis, the lateral-directional aerodynamic moments exhibited unsteady characteristics and were different from the ‘‘quasi-steady" results of the rotary balance tests. The calculated results of the traditional aerodynamic derivative method were also compared with the experimental data. At low and very high angles of attack, the aerodynamic derivative method was applicative. However, within a wide range of angles of attack, the calculated results of aerodynamic derivative method were inconsistent with the experimental data, due to the drastic changes of damping characteristics of lateral-directional aerodynamic moments with yaw-roll coupling ratios.     

基于星体边缘和轨道投影的光学自主导航算法

针对光学导航中存在的通过星体（球体）图像部分边缘点拟合椭圆参数计算轨道参数产生中间误差的问题，提出利用边缘点映射轨道参数的直接投影模型，避免拟合椭圆参数的方法。在小孔成像模型基础上，建立了边缘点与轨道参数的直接投影数学模型，对其映射过程进行了理论推导，利用列文伯格-马夸尔特迭代算法进行求解轨道参数。用实际探测器以及镜头参数进行数值仿真验证，结果表明：该方法在相同边缘点的条件下，轨道精度可以达到5‰。与传统方法相比，这种方法避免了椭圆的拟合过程，减少了引入中间误差过程。     

尖侧缘机身布局的俯仰力矩特性及扰流板控制

针对尖侧缘机身布局在大迎角下存在的正俯仰力矩（抬头力矩）问题，通过风洞试验，首先研究了俯仰力矩的迎角分区特性及流动演化规律：线性增长区（迎角为0°~15°），俯仰力矩线性增加，全机从附着流到形成进气道前缘涡和机翼涡；非线性增长区（迎角为17.5°~32.5°），俯仰力矩非线性增加，机头涡出现，机头涡和进气道前缘涡逐渐增强，机翼涡增强后破裂；衰减区（迎角为35°~65°），俯仰力矩逐渐减小，机头涡增强后破裂，进气道前缘涡破裂发展，机翼涡完全破裂。其次，发现了机身前体是产生正俯仰力矩的主要来源，机头涡是导致大迎角下正俯仰力矩的主控流动。当迎角为40°时，前体各截面正俯仰力矩在进气道前缘处达到最大，主要是由于该处机头涡诱导产生了较强的法向力。最后，提出了大迎角机身扰流板控制技术，产生了较好的控制效果。当迎角为40°时，扰流板可使正俯仰力矩减少62%，其原因是扰流板降低了机头涡涡量及其诱导产生的法向力，减少了机身前体对正俯仰力矩的贡献。该控制技术的缺点是扰流板会带来一些升力损失和附加阻力。基于尖侧缘机身参考宽度的雷诺数为2.59×10⁵。     

A comprehensive survey on the methods of angle of attack measurement and estimation in UAVs

Angle of Attack (AOA) is a crucial parameter which directly affects the aerodynamic forces of an aircraft. The measurement of AOA is required to ensure a safe flight within its designed flight envelop. This paper intends to summarise a comprehensive survey on the measurement techniques and estimation methods for AOA, specifically in Unmanned Aerial Vehicle (UAV) applications. In the case of UAVs, weight constraint plays a major role as far as sensor suites are concerned. This results in selecting a suitable estimation method to extract AOA using the available data from the autopilot. The most feasible and widely employed AOA measurement technique is by using the Multi-Hole Probes (MHPs). The MHP measures the AOA regarding the pressure variations between the ports. Due to the importance of MHP in AOA measurement, the calibration methods for the MHP are also included in this paper. This paper discusses the AOA measurement using virtual AOA sensors, their importance and the operation.