关于鲁棒Kx观测器设计的几个问题

对于具有结构不确定性的线性系统,本文研究了与Kx观测器设计有关的几个问题。文中建立了观测器应满足的条件,并对控制器设计时的分离原理和闭环系统的鲁棒性进行了讨论。     

空间机器人地面实验系统的一种鲁棒自适应控制方法

基于李亚普诺夫稳定性直接方法, 针对具有参数及模型不确定性的空间机器人地面实验系统, 提出了一种新的鲁棒自适应控制器。该控制器由三部分组成: 线性PD反馈项, 补偿动力学的自适应控制项, 补偿建模不确定性的鲁棒控制项。控制策略能有效地克服未建模的摩擦力和外部扰动以及吊丝配重系统未补偿掉的重力影响, 并且能保证全局最终一致有界。仿真表明了算法的可行性和有效性     

Adaptive mesh refinement computation of acoustic radiation from an engine intake

A block-structured adaptive mesh refinement (AMR) method was applied to the computational problem of acoustic radiation from an aeroengine intake. The aim is to improve the computational and storage efficiency in aeroengine noise prediction through reduction of computational cells. A parallel implementation of the adaptive mesh refinement algorithm was achieved using message passing interface. It combined a range of 2nd- and 4th-order spatial stencils, a 4th-order low-dissipation and low-dispersion Runge–Kutta scheme for time integration and several different interpolation methods. Both the parallel AMR algorithms and numerical issues were introduced briefly in this work. To solve the problem of acoustic radiation from an aeroengine intake, the code was extended to support body-fitted grid structures. The problem of acoustic radiation was solved with linearised Euler equations. The AMR results were compared with the previous results computed on a uniformly fine mesh to demonstrate the accuracy and the efficiency of the current AMR strategy. As the computational load of the whole adaptively refined mesh has to be balanced between nodes on-line, the parallel performance of the existing code deteriorates along with the increase of processors due to the expensive inter-nodes memory communication costs. The potential solution was suggested in the end.     

基于博弈模型的航空型号异地协同知识共享激励研究

在航空型号异地协同研发的过程中需要参研单位进行知识共享,针对知识共享过程中产生的问题,构建知识共享博弈模型并对其进行分析,提出了对采取共享策略的参研单位给予奖励,在博弈模型中引入激励因素,并分析了激励对参研单位知识共享行为的影响。     

Adaptive predefined-time control for liquid-filled flexible spacecraft attitude stabilization during orbit maneuver

A predefined-time attitude stabilization for complex structure spacecraft with liquid sloshing and flexible vibration is investigated under input saturation during orbital maneuver. First, the attitude dynamics model of liquid-filled flexible spacecraft is constructed. Meanwhile, the influence of solar panel vibration and liquid sloshing is treated as a disturbance in the controller design. Next, an adaptive predefined-time control scheme is proposed by applying sliding mode control theory. A predefined-time convergent sliding surface and reaching law are designed to ensure the predefined-time fast convergence rate. Furthermore, a novel adaptive algorithm is developed to handle the disturbances from liquid sloshing and flexible vibration, ensuring that the system converges to a small neighborhood of the equilibrium. Additionally, a new auxiliary system is constructed to deal with the effects of input saturation. At last, one simulation case is performed to verify the feasibility and advantages of the proposed algorithm.     

Adaptive neural network control of nonlinear systems with unknown dynamics

In this study, an adaptive neural network control approach is proposed to achieve accurate and robust control of nonlinear systems with unknown dynamics, wherein the neural network is innovatively used to learn the inverse problem of system dynamics with guaranteed convergence. This study focuses on the following three contributions. First, the considered system is transformed into a multi-integrator system using an input–output linearization technique, and an extended state observation technique is used to identify the transformed states. Second, an iterative control learning algorithm is proposed to achieve the neural network training, and stability analysis is given to prove that the network’s predictions converge to ideal control inputs with guaranteed convergence. Third, an adaptive neural network controller is developed by combining the trained network and a proportional-integral controller, and the long-standing challenge of model-based methods for control determination of unknown dynamics is resolved. Simulation results of a virtual control mission and an aerospace altitude tracking mission are provided to substantiate the effectiveness of the proposed techniques and illustrate the adaptability and robustness of the proposed controller.     

Modeling and control of a novel electro-hydrostatic actuator with adaptive pump displacement

The variable pump displacement and variable motor speed electro-hydrostatic actuator (EHA), one of the three types of EHAs, has advantages such as short response time, flexible speed regulation, and high efficiency. However, the nonlinearity of its double-input single-output system poses a great challenge for system control. This study proposes a novel EHA with adaptive pump displacement and variable motor speed (EHA-APVM). A closed-loop position is realized using a servomotor. Moreover, the displacement varies with the system pressure; thus, the EHA-APVM is a single-input and single-output system. Firstly, the working principles of the EHA-APVM and the pump used in the system are introduced. Secondly, a nonlinear mathematical model of the proposed EHA-APVM control system is established, and a feedback back-stepping (FBBS) control algorithm is introduced to transform the complex nonlinear system into a linear system on the basis of the back-stepping control theory. Finally, simulation results prove that the EHA-APVM has a quick response and high robustness to variations of the load and the pump displacement. In this work, the size and weight of the motor are significantly reduced because the maximum power requirement is reduced, which is very beneficial for using the actuator in airborne equipment.     

一种基于COTS的SAR分布式目标模拟方法

针对目前合成孔径雷达(SAR)目标模拟器通常只能模拟点目标，且通用化程度和实时性较低的问题，提出了一种基于商用现成品或技术(COTS)的SAR分布式目标模拟方法。利用NI PXI平台构建了一个基于电磁仿真的SAR分布式目标模拟器，由电磁仿真软件模拟获取目标散射特性，并通过高速网口输入硬件设备进行采样及卷积操作得到仿真SAR回波数字信号，经数模转换模块完成对SAR数字信号的调制并输出模拟回波，可以直接用于SAR系统的数据验证。模拟器采用数字式一体化硬件设备，由NI PXIe-5646R和PXIe-5840进行信号的接收和发送，PXIe-7902作为系统核心进行高速实时数据运算。系统以现场可编程门阵列(FPGA)为核心，通过LabVIEW RT (Real Time)和FPGA模块直接进行访问，能实时、高速地采集和处理数据。经过测试，该目标模拟器可以生成分布式目标的射频回波信号，环路验证结果证明了本文提出方法的有效性。另外，本文提出的方法适用于多种雷达信号的模拟，通过设置不同的信号体制或接收外部信号输入，可以实现灵活的SAR目标模拟。     

Spacecraft formation-containment flying control with time-varying translational velocity

This paper investigates the problem of Spacecraft Formation-Containment Flying Control (SFCFC) when the desired translational velocity is time-varying. In SFCFC problem, there are multiple leader spacecraft and multiple follower spacecraft and SFCFC can be divided into leader spacecraft’s formation control and follower spacecraft’s containment control. First, under the condition that only a part of leader spacecraft can have access to the desired time-varying translational velocity, a velocity estimator is designed for each leader spacecraft. Secondly, based on the estimated translational velocity, a distributed formation control algorithm is designed for leader spacecraft to achieve the desired formation and move with the desired translational velocity simultaneously. Then, to ensure all follower spacecraft converge to the convex hull formed by the leader spacecraft, a distributed containment control algorithm is designed for follower spacecraft. Moreover, to reduce the dependence of the designed control algorithms on the graph information and increase system robustness, the control gains are changing adaptively and the parametric uncertainties are handled, respectively. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.     

An adaptive sequential experiment design method for model validation

Efficient experiment design is of great significance for the validation of simulation model with high nonlinearity and large input space. Excessive validation experiment raises the cost while insufficient test increases the risks of accepting an invalid model. In this paper, an adaptive sequential experiment design method combining global exploration criterion and local exploitation criterion is proposed. The exploration criterion utilizes discrepancy metric to improve the space-filling property of the design points while the exploitation criterion employs the leave one out error to discover informative points. To avoid the clustering of samples in the local region, an adaptive weight updating approach is provided to maintain the balance between exploration and exploitation. Besides, the credibility distribution function characterizing the relationship between the input and result credibility is introduced to support the model validation experiment design. Finally, six benchmark problems and an engineering case are applied to examine the performance of the proposed method. The experiments indicate that the proposed method achieves satisfactory performance for function approximation in accuracy and convergence.