MELISSA: a potential experiment for a precursor mission to the Moon.

MELISSA (Micro-Ecological Life Support System Alternative) has been conceived as a micro-organism based ecosystem intended as a tool for developing the technology for a future artificial ecosystem for long term space missions, as for example a lunar base. The driving element of MELISSA is the recovering of edible biomass from waste, CO2, and minerals with the use of sun light as energy source. In this publication, we focus our attention on the potential applications of MELISSA for a precursor mission to the Moon. We begin by a short review of the requirements for bioregenerative Life Support. We recall the concept of MELISSA and the theoretical and technical approaches of the study. We present the main results obtained since the beginning of this activity and taking into account the requirements of a mission to the Moon we propose a preliminary experiment based on the C cycle of the MELISSA loop.     

Robust three-dimensional path-following control for an under-actuated stratospheric airship

This paper proposes a robust three-dimensional (3-D) path-following controller for an under-actuated stratospheric airship in the presence of uncertainties. The resultant control system exhibits an inner-outer loop control structure. In the outer control loop, the path-following error dynamics is constructed in a moving Serret-Frenet frame and a new guidance law with the sideslip and attack angle compensation is designed, which decreases the path-following steady-state error. In the inner control loop, a disturbance observer based backstepping control law is proposed to achieve the desired dynamic behavior on the path. Furthermore, a new velocity tracking control strategy is developed which aligns the resultant velocity tangent to the path. Finally, numerical simulation results are shown to verify the effectiveness of the proposed controller.     

Re-entry trajectory tracking of reusable launch vehicle using artificial delay based robust guidance law

A Reusable Launch Vehicle (RLV), during the re-entry phase of its flight, experiences uncertain environment and extreme turbulence. This calls for an effective control strategy to guide the vehicle efficiently on a trajectory that allows safer landing conditions while providing robustness against external disturbances and system uncertainties. In this regard, a Time-Delayed Control (TDC) strategy has been proposed to track the space vehicle on a predetermined trajectory in the presence of these uncertainties. In the proposed approach, the system vector and the uncertainties are lumped into a single function which is estimated using the input and output data from the previous instant. Theoretical analysis of the control strategy executed using Lyapunov’s method, proves Uniformly Ultimately Bounded (UUB) stability of the closed loop system. The efficacy of the proposed approach has been verified through simulation studies which affirm robust tracking of the optimal trajectory generated through Pseudo-Spectral method (PSM), in the presence of time-varying uncertainties.     

The MELISSA pilot plant facility as as integration test-bed for advanced life support systems.

The different advances in the Micro Ecological Life Support System Alternative project (MELISSA), fostered and coordinated by the European Space Agency, as well as in other associated technologies, are integrated and demonstrated in the MELISSA Pilot Plant laboratory. During the first period of operation, the definition of the different compartments at an individual basis has been achieved, and the complete facility is being re-designed to face a new period of integration of all these compartments. The final objective is to demonstrate the potentiality of biological systems such as MELISSA as life support systems. The facility will also serve as a test bed to study the robustness and stability of the continuous operation of a complex biological system. This includes testing of the associated instrumentation and control for a safe operation, characterization of the chemical and microbial safety of the system, as well as tracking the genetic stability of the microbial strains used. The new period is envisaged as a contribution to the further development of more complete biological life support systems for long-term manned missions, that should be better defined from the knowledge to be gained from this integration phase. This contribution summarizes the current status of the Pilot Plant and the planned steps for the new period.     

The conceptual design of a hybrid life support system based on the evaluation and comparison of terrestrial testbeds.

This report summarizes a trade study of different options of a bioregenerative Life Support System (LSS) and a subsequent conceptual design of a hybrid LSS. The evaluation was based mainly on the terrestrial testbed projects MELISSA (ESA) and BIOS (Russia). In addition, some methods suggested by the Advanced Life Support Project (NASA) were considered. Computer models, including mass flows were established for each of the systems with the goal of closing system loops to the extent possible. In order to cope with the differences in the supported crew size and provided nutrition, all systems were scaled for supporting a crew of six for a 780 day Mars mission (180 days transport to Mars; 600 days surface period) as given in the NASA Design Reference Mission Scenario [Hoffman, S.J., Kaplan, D.L. Human exploration of Mars: the Reference Mission of the NASA Mars Exploratory Study, 1997]. All models were scaled to provide the same daily allowances, as of calories, to the crew. Equivalent System Mass (ESM) analysis was used to compare the investigated system models against each other. Following the comparison of the terrestrial systems, the system specific subsystem options for Food Supply, Solid Waste Processing, Water Management and Atmosphere Revitalization were evaluated in a separate trade study. The best subsystem technologies from the trade study were integrated into an overall design solution based on mass flow relationships. The optimized LSS is mainly a bioregenerative system, complemented by a few physico-chemical elements, with a total ESM of 18,088 kg, which is about 4 times higher than that of a pure physico-chemical LSS, as designed in an earlier study.     

电液负载敏感位置伺服系统自抗扰控制方法

针对电液负载敏感系统中泵阀控制的耦合问题，提出了一种基于自抗扰算法的解耦控制方法。首先，根据系统原理建立了负载敏感系统的状态空间模型。其次，针对阀控和泵控子系统分别设计了位置自抗扰控制器（ADRC）和压力自抗扰控制器，将2个系统间的动态耦合作用以及外部干扰和不确定性视作总扰动进行估计并给予补偿。最后，基于AMESim和MATLAB联合仿真平台进行了仿真分析。结果表明:所提的控制方法能够消除阀控子系统和泵控子系统的强耦合作用，提高系统的控制精度和鲁棒性。另外，在动态性能和节能效率方面与纯阀控和泵控系统进行对比分析，仿真结果表明:基于自抗扰控制的负载敏感系统的动态性能优于泵控系统，系统能效相对于阀控系统也有较大提升。      

软式自主空中加油控制策略仿真

软式自主空中加油（AAR）技术因其对加油设备的改装需求少且可应用于多种加油场景而受到广泛研究,但对于从起飞到加油结束脱离这一整套飞行控制流程的研究较少。针对软式AAR技术中的会合、编队、对接、加油、脱离5个阶段的控制策略进行研究。首先,分别设计了所对应的飞行指令回路控制律及导引律,通过对国内外空中加油试飞经验和试飞流程的研究,建立了“有人-无人”、“无人-无人”2种不同模式下软式AAR各阶段的控制机制,并分析了2个控制策略的差别。其次,以K8飞机和某飞机为加受油平台,建立完善的多模态控制策略,采用传统的PID控制方法,并通过极点配置法得到各模态的反馈增益和前向增益,使加受油机在多模态综合控制下达到期望的速度、角度等。同时,基于试飞经验数据设计软式AAR各阶段的全过程控制律。最后,对所设计控制律进行仿真验证,结果表明:所设计的控制策略合理可行,控制方法具有较强的抗干扰能力和较高的跟踪精度。      

空间飞行器控制软件的动态自适应演化方法

空间飞行器在太空飞行过程中需要满足多任务、多工作模式以及大范围机动的需求,其控制系统在大范围机动飞行条件下存在大量的外界干扰和内部参数不确定,同时飞行器的自适应过程受限于资源,人工干预难度大,并且现有的成熟的动态自适应方法并不一定适合空间飞行器控制软件进行自主控制,所以目前对自主控制系统软件的动态自适应调整方法提出了更...     

中断雷达距离跟踪的战斗机机动控制方法

基于跟踪雷达距离自动跟踪系统特性,提出了战斗机中断雷达距离跟踪的机动轨迹控制策略.推导了跟踪雷达距离自动跟踪系统的系统传递函数,研究了跟踪误差产生机理.以二维平面内导弹攻击为例,分析了导弹与战斗机的二阶相对运动模型.在此基础上,基于闭环反馈控制思想,提出了战斗机中断雷达距离跟踪的控制方法,推导了战斗机的机动轨迹控制律,给出了其解析形式.通过数值仿真,分析了该方法的适用范围,为战斗机飞行员制定决策提供了依据.      

Multi-agent Q-Learning control of spacecraft formation flying reconfiguration trajectories

This paper presents a novel approach based on multi-agent reinforcement learning for spacecraft formation flying reconfiguration tracking problems. In this scheme, spacecrafts learn the control strategy via transfer learning. For this matter, a new generalized discounted value function is introduced for the tracking problems. Due to the digital nature of spacecraft computer systems, local optimal controllers are developed for the spacecrafts in discrete-time. The stability of the controller is proven. Two Q-learning algorithms are proposed, in each of which the optimal control solution is learned on-line without knowledge about the system dynamics. In the first algorithm, each agent learns the optimal control independently. In the second one, each agent shares the learned information with other agents. Next, the collision avoidance capability is provided. The effectiveness of the presented schemes is verified through simulations and compared with each other.     

Simulation of the MELiSSA closed loop system as a tool to define its integration strategy

Inspired by a terrestrial ecosystem, Micro-Ecological Life Support System Alternative (MELiSSA) is a project focused on a closed-loop life support system intended for future long-term manned missions (Moon and Mars bases). Started by the ESA in 1989, this 5-compartment concept has evolved through a mechanistic engineering approach designed to acquire both theoretical and technical knowledge. In its current state of development, the project can now start to demonstrate the MELiSSA loop concept at pilot scale. Thus, an integration strategy for a MELiSSA Pilot Plant (MPP) has been defined, describing the different test phases and connections between compartments. The integration steps are due to be started in 2008 and completed with a complete operational loop in 2015. The ultimate objective is to achieve a closed liquid and gas loop fulfiling 100% of oxygen requirements and at least 20% of food requirements for one-man. Although the integration logic could start with the most advanced processes in terms of knowledge and hardware development, this logic needs to be expanded to encompass a high-level simulation policy. This simulation exercise will make it possible to run effective demonstrations of each independent process, followed by progressive coupling with other processes in operational conditions mirroring as far as possible the final configuration.     

交流直线电机矢量变换控制软换向方法及实现

分析了磁场定向矢量控制原理,研究了将其应用于交流永磁直线电机的方法与实现途径,建立了基于PC和专用AD/DA板的交流永磁直线电机控制实验系统,采用C语言开发了磁场定向矢量控制程序,由初始化程序得到矢量控制所需的初始化参数,实时中断程序对控制电流进行矢量变换,进而实现对交流永磁直线电机驱动的工作台进行运动控制.通过对初始化阶段电机动子位置、恒定控制电流下A相电流以及电机位置、速度控制的实验数据分析,验证了所研究的基于磁场定向的交流直线电机矢量变换控制方法的有效性.      

Trajectory tracking control for underactuated stratospheric airship

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.     

高抗扰高精度无人机着舰纵向飞行控制

针对无人机着舰过程中舰尾流扰动和甲板运动扰动对着舰点散布的影响,对复杂着舰环境下的无人机着舰纵向控制策略、控制结构和控制律参数设计方法进行研究。针对常规控制结构抗扰能力不足的问题,提出了无人机着舰纵向多操纵面平衡态直接力控制(DFC)策略及控制结构。提出了面向着舰点散布的控制律参数优化设计方法,该方法在保证系统满足稳定裕度指标的基础上,综合考虑了舰尾流扰动和甲板运动扰动对着舰点散布的影响,使2种扰动造成的着舰点散布最小。构建控制律参数优化设计问题,通过粒子群优化(PSO)算法进行优化设计,得到高抗扰性能的控制律参数。在控制律参数优化中考虑舰尾流和甲板运动的功率谱密度分布,使设计更具有针对性,减小了控制律设计的保守性,进一步提高控制的抗扰性能。算例设计及仿真验证了多操纵面平衡态DFC控制结构在抵抗舰尾流扰动和甲板运动扰动方面的优异性能,并证明了所提控制律参数设计方法的有效性。     

GPS信号捕获与跟踪策略确定及实现

为了检测GPS(Global Positioning System)信号,设计了码环及载波环捕获与跟踪数字系统.序贯搜索与窄间隔超前-滞后型数字延迟锁相环的采用,保证了码相位的可靠捕获与精确跟踪,四相鉴频器、叉积自动频率跟踪算法及科思塔环载波相位跟踪算法的结合,既保证了载波频率(多普勒频移)的捕获速度,又使环路能有效地跟踪频率/相位变化,获得较好的动态性能与噪声性能.控制算法及参数确定的软化实现使系统具有较好的灵活性.基于扩频相关器与数字信号处理器的数字系统验证了上述方案的正确性及有效性.      

基于间隙度量的鲁棒LPV控制律设计

针对高超声速飞行器飞行包线范围广和模型参数不确定性大的问题,提出了基于间隙度量的鲁棒线性变参数(LPV,Linear Parameter-Varying)控制律设计方法.该方法将间隙度量引入LPV控制器设计中,提出了基于最优间隙度量的凸分解策略,并将其应用于多胞顶点的分解和鲁棒LPV控制器的自增益调参,以降低控制器的保守性;考虑模型的参数不确定性求取多胞LPV系统的顶点模型并设计顶点控制器,以提高顶点边界附近LPV控制器的鲁棒性;以某型高超声速飞行器为对象设计了鲁棒LPV控制器.仿真结果表明:该方法能降低大包线内控制器的保守性,实现高超声速飞行器在整个设计包线内精确的指令跟踪,并且在模型参数存在大的不确定性情况下仍保证系统的鲁棒性能和稳定性.     

面向重心变化的自适应飞行控制系统设计

重心的变化直接影响飞机本身的控制特性,使得控制系统设计更为复杂.针对已有方法模型依赖性强、鲁棒性差的局限性,提出了一种面向重心变化的非线性自适应飞行控制系统设计方法.该方法基于逆动力学理论和重心在线估计系统设计标称控制律,在此基础上引入自适应滑模控制单元来构建自适应补偿控制律,其中滑模控制用于保证控制的鲁棒性和稳定性,而自适应单元则通过对模型不确定性和重心估计误差的估计及补偿提高控制的适应性和控制性能.结合Lyapunov稳定性理论证明了闭环系统的稳定性.仿真结果表明:该方法能有效地实现对系统未知不确定因素的补偿,具有较强的鲁棒性.     

基于不变流形的高超声速飞行器动态面控制

针对存在未知气动参数的吸气式高超声速飞行器纵向运动控制问题,提出一种基于不变流形的自适应动态面控制方法.通过合理假设将高超声速飞行器纵向模型分解为弹道倾角回路和速度回路,分别实现对弹道倾角和速度参考指令的跟踪.弹道倾角回路被表达为严反馈形式进行控制器设计.采用基于不变流形的自适应方法实现了对未知参数的估计.所提出的自适应动态面控制方案能保证未知参数估计误差全局一致稳定和闭环系统全局有界稳定,且估计器和控制器设计不存在耦合,因此参数设计更加容易.仿真结果验证了该控制方法在参数估计方面的显著优势和良好的闭环系统性能.     

大型挠性结构航天器姿态精确指向控制

针对空间大型挠性结构航天器姿态精确指向控制中,执行机构振动和挠性结构变形对载荷指向带来的高频和低频扰动,提出了多环路复合控制策略,在传统姿态控制闭环回路的基础上,引入执行机构隔振回路和载荷指向精确控制回路,实现对执行机构振动的隔离和对载荷指向的精确补偿,并设计了回路的闭环控制方法。数学仿真和部分试验结果表明,该方法能够有效提升载荷指向精度。     

重叠网格中隐式装配策略的改进

作为重叠网格技术的重要组成部分，隐式装配没有显式的“挖洞”过程，仅需在搜索贡献单元的同时通过对比不同单元的品质来分类单元。通过对传统隐式装配过程进行改进，提出了一种更高效的隐式装配策略，减少了贡献单元的搜索次数；同时，提出了一种基于笛卡儿网格映射的局部贡献单元搜索法，提高了网格装配效率。首先，针对每一个子网格，在计算其到自身物面的最短物面距离的同时也计算到其他所有物面的最短物面距离；然后，通过比较同一单元到不同物面的最短物面距离来控制洞边界的位置；最后，仅对插值单元进行局部的贡献单元搜索，避免了针对所有单元进行全局贡献单元搜索的过程。通过3个典型复杂流动算例验证了所提方法的准确性与高效性。