Aeroservoelastic stability analysis for flexible aircraft based on a nonlinear coupled dynamic model

A unified theoretical aeroservoelastic stability analysis framework for flexible aircraft is established in this paper. This linearized state space model for stability analysis is based on nonlinear coupled dynamic equations, in which rigid and elastic motions of aircraft are both considered. The common body coordinate system is utilized as the reference frame in the deduction of dynamic equations, and significant deformations of flexible aircraft are also fully concerned without any excessive assumptions. Therefore, the obtained nonlinear coupled dynamic models can well reflect the special dynamic coupling mechanics of flexible aircraft. For aeroservoelastic stability analysis, the coupled dynamic equations are linearized around the nonlinear equilibrium state and together with a control system model to establish a state space model in the time domain. The methodology in this paper can be easily integrated into the industrial design process and complex structures. Numerical results for a complex flexible aircraft indicate the necessity to consider the nonlinear coupled dynamics and large deformation when dealing with aeroservoelastic stability for flexible aircraft.     

A new online modelling method for aircraft engine state space model

To overcome the drawbacks of current modelling method for aircraft engine state space model, a new method is introduced. The form of state space model is derived by using Talyor series to expand the nonlinear model that is implicit equations and involves many iterations. A partial derivative calculation method for iterations is developed to handle the influence of iterations on parameters. The derivative calculation and the aerothermodynamics calculations are combined in the component level model with fixed number Newton-Raphson (N-R) iterations. Mathematical derivation and simulations show the convergence ability of proposed method. Simulations show that comparing with the linear parameter varying model and centered difference based state space model, much higher accuracy of proposed online modelling method is achieved. The accuracy of the state space model built by proposed method can be maintained when the step amplitudes of inputs are within 2%, and the responses of the state space model can match those of the component level model when each input steps larger amplitudes. In addition, an online verification was carried out to show the capability of modelling at any operating point and that state space model can predict future outputs accurately. Thus, the effectiveness of the proposed method is demonstrated.     

控制面间隙对非线性二元机翼气动弹性响应的影响

采用Theodorsen非定常气动力建立同时含有俯仰立方非线性和控制面间隙非线性二元机翼的运动方程,并以状态空间形式描述。基于状态依赖Riccati方程控制方法,设计了非线性颤振控制律。综合运用Runge-Kutta数值方法与Henon方法,研究了控制面间隙对系统开环/闭环响应的影响。其中Henon方法用以准确快速地确定间隙非线性的转折点,从而可以避免间隙非线性引起的数值不稳定现象。仿真结果显示,俯仰立方非线性可以使间隙非线性系统产生振幅稳定的极限环振荡;控制面间隙对开环响应的影响随着来流速度的升高而减弱;在速度较高的情况下,控制面间隙导致闭环系统响应产生过阻尼现象。     

基于传递函数方法的局部覆盖环状CLD圆柱壳动力学分析

 采用传递函数方法对局部覆盖环状约束层阻尼（CLD）圆柱壳进行了动力学分析。基于Donnell薄壳简化,由Hamilton原理导出了局部覆盖CLD圆柱壳的运动方程和边界条件,通过Laplace变换并引入状态向量后,建立了系统的状态空间方程,利用传递函数方法求解方程得到了系统的固有频率、〖JP2〗损耗因子和频响曲线。算例分析结果验证了该方法的有效性和精确性,且更适于处理黏弹性材料具有频变特性的问题。讨论了CLD覆盖率和黏弹层厚度对系统固有频率和损耗因子的影响,为局部覆盖CLD圆柱壳的优化设计奠定了基础。     

交会对接远程导引轨道控制状态规划与优化算法

对空间交会对接远程导引段轨道控制问题进行了研究。在简单介绍交会对接远程导引轨道控制实时规划模型的基础上,提出了基于近圆偏差方程、序列二次规划算法和目标权重函数等在不同控制目标模式下的状态规划与优化算法。仿真结果表明,该算法收敛速度快,能较好地满足交会对接远程导引段的轨道控制要求,具有一定的工程实用价值。     

键图在液体火箭发动机系统建模中的应用

简要介绍利用键图建立数学模型的原理。针对BYF-03双组元液体推进剂变推力火箭发动机系统,画出该系统的键图,并列出用状态变量表示的数学模型。     

Real-time solution of nonlinear potential flow equations for lifting rotors

Analysis of rotorcraft dynamics requires solution of the rotor induced flow field.Often,the appropriate model to be used for induced flow is nonlinear potential flow theory(which is the basis of vortex-lattice methods).These nonlinear potential flow equations sometimes must be solved in real time––such as for real-time flight simulation,when observers are needed for controllers,or in preliminary design computations.In this paper,the major effects of nonlinearities on induced flow are studied for lifting rotors in low-speed flight and hover.The approach is to use a nonlinear statespace model of the induced flow based on a Galerkin treatment of the potential flow equations.     

Digital tracking filters with high order correlated measurement noise

The existing algorithms for the design of digital filters with colored measurement noise involve a restriction on the dimension of the measurement error model. Kalman filter equations and state space partition are used to formulate an optimal tracking filter without such restrictions. The input to the new filter are two consecutive measurements, and it is initialized by using the first available measurements and the error model correlation matrix. Several examples illustrate the filter formulation and initialization.     

一维可压缩流的有限元状态空间模型

通过引入位置交错的两种有限控制体积单元——状态单元和速度单元,对其分别应用质量、能量守恒方程和动量守恒方程, 建立了一维可压缩流的有限元状态空间模型, 模型单元边界条件的处理方式简单有效, 适用于处理任意的物理边界条件。与分析解的比较表明该模型是精确的     

Multivariate interpolation for fluid-structure-interaction problems using radial basis functions

A multivariate interpolation scheme for coupling fluid (CFD) and structural models (FE) in three-dimensional space is presented using radial basis functions. For the purpose of numerical aeroelastic computations, a selection of applicable functions is chosen: a classical without compact support, and some recently presented smooth compactly supported radial basis functions. The scheme is applied to a typical static aeroelastic problem, the prediction of the equilibrium of an elastic wing model in transonic fluid flow. The resulting coupled field problem containing the fluid and the structural state equations is solved by applying a partitioned solution procedure. The structure is represented by finite elements and the related equations are solved using a commercial FE analysis code. The transonic fluid flow is described by the three-dimensional Euler equations, solved by an upwind scheme procedure.     

非线性气动弹性模型参考自适应控制

 首先将含有前/后缘双控制面二元机翼的动态方程以状态空间形式描述,然后考虑俯仰方向的迟滞非线性模型存在参数不确定性的情况下,利用Lyapunov稳定性理论进行了结构化模型参考自适应控制律设计。仿真结果显示：所设计的控制律能够使开环不稳定的气动弹性系统快速地达到稳定状态。由于最大控制面偏转的存在,来流速度较高时闭环系统仍会发生颤振;根据控制面最大偏转的不同取值,文中给出了闭环临界颤振速度的变化曲线。     

层合双曲率厚壳的状态方程及其半解析法

采用正交曲线坐标导出了角铺设层合双曲率厚壳的状态方程及其半解析法。该方法在α－β曲面内采用通常的有限元离散,而沿壳厚（ｒ）方向采用状态空间法给出解析解,从而计入了剪切效应的影响,且通过状态转移矩阵的建立,保证了层界面之间层间位移和应力的连续,减少了计算中未知量数目。     

高超音速平板前缘干扰数值解

本文采用了文献〔1〕中提出的一个数值求解Navier-Stokes方程的空间二阶精度单步差分格式,数值计算了超音速和高超音速平板前缘干扰问题。通过简单的模型方程对格式进行了描述和分析。用这一方法计算了M_∞=20,Tw/T_0=0.06,Re_(∞L)=4×10~3和M_∞=3,Tw=T_0,Re_(∞L)=10~3的平板前缘干扰问题。计算结果与实验值比较符合的很好,通过这些计算结果可使我们更清楚地了解平板前缘干扰的流动特性。     

无刷直流电动机数学模型

 本文介绍一种基于状态空间法和龙格-库塔算法的无刷直流电动机动态分析法。建立了α-β坐标系的无刷直流电动机的电路方程,阐述了获得该系统的精确解的数字仿真方法,同时给出了直流电抗对脉动转矩的影响,以及换流余角随负载交化的关系等数字仿真结果。     

飞行器控制系统的高精度计算方法

对于连续时间线性二次最优控制问题，在动力学方程和价值泛函的基础上，给出其全状态下的微分方程，进而将精细时程积分法引入上述问题，其优点为，放弃了传统的差分算法，使计算过程既简便又稳定；避免了Ｒｉｃｃａｔｉ代数方程的求解；具有非常高的计算精度。通过对某飞行器控制系统的计算，充分说明了上述特色。     

基于无迹卡尔曼滤波法的串联型电池系统 荷电状态估计研究

以锂离子电池为载体的电源系统为航天器稳定可靠运行提供了一种有效的方式.多个电池单体经串联可扩大电池系统容量,即串联型电池系统.为准确估计串联型锂离子电池系统的荷电状态(State of Charge,SOC),针对扩展卡尔曼滤波(Extended Kalman Filter,EKF)计算复杂、精度不高等问题,结合串联型电池系统空间状态方程,提出基于无迹卡尔曼滤波法(Unscented Kalman Filter,UKF)的串联型电池系统荷电状态估计算法.在恒流和脉冲两种工况下,通过对比分析UKF与EKF算法的仿真结果与实验数据的匹配情况,证明了提出算法的准确性和高鲁棒性.     

惯性参数不确定的自由漂浮空间机器人自适应控制研究

针对自由漂浮空间机器人系统惯性参数不确定问题,提出一种笛卡儿空间内的自适应轨迹跟踪控制方法。采用扩展机械臂模型建立了自由漂浮空间机器人关节空间动力学方程,进而推导笛卡儿空间中的自由漂浮空间机器人动力学方程。在基于逆动力学法的自由漂浮空间机器人自适应控制器设计中,利用标称控制器离线固定控制参数与补偿控制器在线补偿方法,既可以保证惯量矩阵可逆,又可以使控制参数实时估计。采用Lyapunov方法的稳定性分析表明系统是稳定且渐进收敛的。最后,应用该控制方法对两杆平面自由漂浮空间机器人进行了仿真研究。仿真结果显示自由漂浮空间机器人末端执行器在笛卡儿空间具有良好的轨迹跟踪能力。     

Finite-dimensional filters with nonlinear drift. III: Duncan-Mortensen-Zakai equation with arbitrary initial condition for the linear filtering system and the Benes filtering system

We consider the Duncan-Mortensen-Zakai (DMZ) equation for the Kalman-Bucy filtering system and Benes filtering system. We show that this equation can be solved explicitly with an arbitrary initial condition by solving a system of ordinary differential equations and a Kolmogorov-type equation, Let n be the dimension of state space. We show that we need only n sufficient statistics in order to solve the DMZ equation.     

Coupling fluid (CFD) and structural (FE) models using finite interpolation elements

In the field of aeroelasticity, interactions between elastic structures and fluid flow are investigated. Recently, numerical aeroelastic models have been built composing those of the combining fluid dynamics (CFD) and the computational structural dynamics (CSD) domains. Since the fluid and the structural models differ in their formulation and discretization, an interface model has to be introduced that represents the connectivity and physical interaction between the two single domain models. In the following, a scheme for coupling fluid (CFD) and structural models (FE) in space is presented which is based on finite interpolation elements. It is applied to static aeroelastic problems, in order to predict the equilibrium of elastic wing models in transonic fluid flow. The structure is represented by finite elements and the related equations are solved using commercial FE analysis codes. The transonic fluid flow is described by the three-dimensional Euler equations, solved by an upwind scheme procedure. The resulting coupled field problem containing the fluid and the structural state equations, is solved by applying a partitioned solution procedure. In each solution step the interface and boundary conditions are exchanged and updated. Here, a fixed-point iteration scheme is used for the coupled aeroelastic equations.     

小型无人直升机建模与鲁棒飞行控制研究

以某小型无人直升机为对象,采用分体法分析了机体各部分受力情况。根据力与力矩的平衡关系,获得了无人直升机完整的非线性飞行动力学数学模型。基于所建模型,进行了所有飞行状态下无人直升机的配平计算。根据配平结果,获得了悬停时的线性状态空间模型,在考虑风扰动前提下,采用H∞静态输出反馈控制方法对无人直升机内外回路控制器进行了设计。仿真结果表明,所建模型的配平结果与实际直升机特性基本相符,验证了模型的有效性;H∞综合控制方法较好地实现了对扰动下无人直升机状态的控制,表明该算法具有良好的鲁棒性、解耦性及跟踪特性。