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.     

密集编队气动耦合效应分析

简要介绍密集编队飞行时长机旋涡对僚机产生的气动耦合效应，以比奥特－萨瓦尔特定律为基础，初步分析由上洗及侧洗引起的升力、阻力和侧力变化，导出了编队稳定性导数的计算公式，计算及应用举例表明：模型化编队飞行时的气动耦合效应是有实际应用价值的。     

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.     

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     

某飞机系列风洞试验研究

介绍了某飞机在气动中心4m×3m风洞进行的系列风洞试验研究情况。研究目的是获得在不同布局状态下飞机的低速气动性能。研究结果表明:改变机翼边条可有效地改善飞机的纵向稳定性;将两侧进气改为腹部进气,大大降低了飞机的航向稳定性;采用机头边条措施可使飞机的航向稳定性有较大提高;进行通气模型的风洞试验,其结果与不通气时的结果差异不大。     

后掠翼下炸弹气动特性试验研究

为获得某后掠翼飞机机翼下不同外挂形式的单独炸弹/炸弹组合体气动特性,在气动中心高速所1.2m×1.2m风洞中进行了试验研究。在M=0.60～0.95,α=-4°～14°,β=-6°～6°条件下,采用7台外挂天平对炸弹/炸弹组合体模型进行了测量。结果表明:飞机后掠翼和机身带来的侧洗流动使炸弹在零侧滑时存在较大的横向气动载荷;各炸弹不仅受到飞机的侧洗和下洗影响,而且各弹之间的相互干扰也非常严重。     

小升阻比载人飞船返回舱的外形设计

载人飞船返回舱的外形设计要满足稳定性、操纵性、配平升阻比、最大过载、最大热流、最大总加热量、机动能力、着陆精度和容积系数等要求。小升阻比返回舱的形状以球冠倒锥形为最优。文中简要地介绍了返回舱外形的选择方法，对球冠钝度、倒锥角、大头拐角相对曲率半径、长细比和最大横截面直径等主要参数的选择作了研究，得出了定性与定量的分析结果。     

摩托车空气动力学研究进展

世界摩托车工业已得到很大的发展。随着近几年来中国摩托车产量的迅速上升,加速摩托车的研究是目前摩托车发展的一种趋势。这种研究无论是对提高产品的性能,还是节能降耗部具有重要的意义。摩托车的气动特性是其设计的重要依据。目前德国,日本等国已经利用道路试验、风洞模拟进行这种研究,并促进了产品的开发,但国内的这种研究还有待进一步完善。