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.     

培育企业核心竞争能力途径探讨

以互联网为基础的信息时代改变了传统的竞争模式。本文提出以学习型组织的建立、品牌创造、专有核心技术的掌握等方式整合企业资源，是企业培育核心竞争能力的有效途径，指出中国企业在加入WTO临近之时要重新审视自己，培育自己的核心竞争能力，创造持续的竞争优势。     

Rankine涡作用下激波变形和分叉的数值研究

数值模拟了激波和Rankine涡相互作用，重点研究了波涡相互作用引起的激波结构的变化过程。应用非结构化适应网格下的二阶精度Godunov型的PLM格式来求解Elder方程，对一平面激波与不同涡强Rankine涡相互作用下瞬态激波的运动、发展进行了研究。漩涡与激波间相对强度的大小对激波结构的影响明显，弱相互作用诱导激波变形，强相互作用诱导激波变形并产生分叉。计算结果表明，应用非结构化适应网格的PLM格式所得到的数值解较好地反映了瞬态激波结构的有关特征和信息。     

脉冲信号稳幅方法研究

主要介绍了连续波信号稳幅方法及脉冲信号稳幅方法,并根据对反馈控制电路的分析和电路仿真方法,进行了脉冲稳幅电路设计,最后给出了实验数据。     

强激波-附面层干扰下的气流动态畸变研究

本文在一定附面层条件下,着重研究典型的强激波与紊流附面层干扰区下游扩压器出口的气流动态畸变,文中讨论了激波强度、扩压器壁面形状(直壁和曲壁)对动态畸变的影响.讨论了紊流度分布中四个峰值与相同截面上的总压沿高度分布的相互关系.最后对紊流度沿高度分布中的若干典型站的总压信号作功率谱密度和概率密度函数分析     

制图教学新思路

本提出了一个有效的教学方法：机械制图和计算机绘图同步教学，通过同步教学，可以取得良好的教学效果，为学生适应社会发展奠定坚实基础。     

跨音压气机确定应力场分析

采用全三维黏性定常、非定常数值模拟技术,对NASA 67第1级的固有非定常流动进行了研究.首先分析了定常流场和非定常时均流场间的差别以及压气机中典型的转、静干涉现象,然后对通道内确定应力的分布规律和转、静交界面确定应力各项的分布特点进行了较为深入的研究,揭示了现有确定应力模型的一些局限性,可为确定应力建模提供一定的指导作用.     

电子经纬仪一测回水平方向标准偏差两种检定方法比较

一测回水平方向标准偏差是衡量经纬仪测角精度的主要指标之一.本文结合经纬仪计量检定规程的要求,从测量的原理、方法、不确定度分析等方面入手,对电子经纬仪一测回水平方向标准偏差计量检定的两种方法进行了比较.