Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

Passive torque servo system (PTSS) simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control (AFTC) algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno (T-S) fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator (ELS), and the comparative experimental results indicate that AFTC controller is effective for PTSS.     

Influence of Gd2O3 and Yb2O3 Co-doping on Phase Stability,Thermo-physical Properties and Sintering of 8YSZ

The role of multicomponent rare earth oxides in phase stability, thermophysical properties and sintering for ZrO2-based thermal barrier coatings (TBCs) materials is investigated. 8YSZ codoped with 3 mol% Gd2O3 and 3 mol% Yb2O3 (GYb-YSZ) powders are synthesized by solid state reaction for 24 h at various temperatures. As temperature increases, stabilizers are dissolved into zirconia matrix gradually. Synthesized at 1 500 °C, GYb-YSZ is basically composed of cubic phase. GYb-YSZ exhibits excellent phase stability and sinters lower than 8YSZ by nearly three times. The thermal conductivity of GYb-YSZ is much lower than that of 8YSZ, and the thermal expansion coefficient of GYb-YSZ is comparable to that of 8YSZ. The influence of Gd2O3 and Yb2O3 co-doping on phase stability, thermal conductivity and sintering of 8YSZ is discussed.     

Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation

Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.     

Update Chain-based Approach for Checking Route Oscillation of BGP

This paper presents a novel approach for checking route oscillation of border gateway protocol(BGP) quickly,by which the privacy of routing policies of autonomous system(AS) can be respected.Firstly,route update chain tag(RUCT) is constructed to track the forwarding of update report,and local routing library is made to record the changing history of update report.Then route oscillation can be identified by analyzing correlative state of RUCT and local routing library.The characteristic of this approach is that an arbitrary AS can check route oscillation alone only by sharing its network ID,which greatly respects the pri-vacy of routing policies for each AS.This paper shows that both looping in RUCT and consecutive positive-negative report in local record are sufficient conditions for route oscillation.Comparative experiments demonstrate the availability and efficiency of the proposed approach.     

基于碰撞检测的自适应阻抗控制机械臂系统(英文)

针对柔性关节机械臂,本文阐述了机械臂能够像人手一样安全操作的方法。3种方法相结合,以便机械臂能够柔顺的接触操作对象并控制接触力在预设定范围内。首先,提出采用虚拟分解法的笛卡尔阻抗控制用来实现机械臂在笛卡尔空间的柔顺控制。其次,引入自适应关节动态补偿器使得机械臂能够实施更为精确的控制。最后,设计了基于笛卡尔力反馈的实时路径规划,从而使机械臂能够检测碰撞并控制接触力。基于碰撞检测的自适应阻抗控制器能够简化其在机械臂上的实施,保持机械臂对环境的友好操作,并且严格满足系统的全局稳定性。实验在4自由度的卫星在轨自维护机械臂平台得以验证。碰撞检测实验和轨迹跟踪实验结果证明了所提出方法的有效性和可行性。     

RBFs-MSA Hybrid Method for Mesh Deformation

Simulating unsteady flow phenomena involving moving boundaries is a challenging task,one key requirement of which is a reliable and fast algorithm to deform the computational mesh.Radial basis functions(RBFs) interpolation is a very simple and robust method to deform the mesh.However,the number of operations and the requirement of memory storage will be increased rapidly as the number of grid nodes increases,which limits the application of RBFs to three-dimensional(3D) moving mesh.Moving submesh approach(MSA) is an efficient method,but its robustness depends on the method used to deform the background mesh.A hybrid method which combines the benefits of MSA and RBFs interpolation,which is called RBFs-MSA,has been presented.This hybrid method is proved to be robust and efficient via several numerical examples.From the aspect of the quality of deforming meshes,this hybrid method is comparable with the RBFs interpolation;from the aspect of computing efficiency,one test case shows that RBFs-MSA is about two orders of magnitude faster than RBFs interpolation.For these benefits of RBFs-MSA,the new method is suitable for unsteady flow simulation which refers to boundaries movement.     

Multi-resolution Analysis of Density Fluctuation of Coherent Structures About Supersonic Flow over VG

The density field around a vortex generator (VG) in supersonic flow is studied with a nanoparticle-based planar laser scattering (NPLS) method. Based on the calibration, i.e., the density distribution of the supersonic flow around a wedge, the density field of a supersonic VG is measured. According to movement characteristics of coherent structure in VG’s flow fields and the basic concepts of wavelet, the density fluctuating signals and multi-resolution characteristics of density field images are studied. The multi-resolution characteristics of density fluctuation can be analyzed with wavelet transformation of NPLS images. The wavelet approximate coefficients of density fluctuating signals exhibit their characteristics at different scales, and the corresponding detail coefficients show the difference of diverse layer smooth approximation in some way. Based on 2D wavelet decomposition and reconstruction of density field images, the approximate and detail signals at different scales are studied, and the coherent structures at different scales are extracted and analyzed.     

基于案例推理的机场应急预案管理

为提高机场应急处置能力,提出一种新的基于案例推理方法的机场应急救援模型。利用XML技术来表示案例和构造预案库,给出机场应急预案库的分类方法,构建预案特征属性的层次结构。采用两两比较打分法确定航空器紧急事件预案特征属性的权重．运用最邻近算法对已有救援案例进行检索与匹配。实例证明该方法能有效提高机场应急救援效率,检索结果客观合理。     

Three-dimensional analysis of relationship between relative orientation and motion modes

Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coordinate system and the target body coordinate system, a basic model of sensor is stated and the definition of relative angular velocity between the two coordinate systems is introduced firstly. Then, the three-dimensional analytic expressions of relative angular velocity for different motion modes are derived and simplified by analyzing the influences of target centroid motion, rotation around centroid and relative motion. Finally, the relationships of the relative angular velocity directions and values with motion modes are discussed. Simulation results validate the rationality of the theoretical analysis. It is demonstrated that there are significant differences of the relative orientation in different motion modes which include luxuriant information about motion modes. The conclusions are significant for the research of motion mode identification,maneuver detection, maneuvering target tracking and interception using target signatures.