Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion simulators is proposed. Compared with other three-order models of hydraulic rotary actuators, the proposed controller based on first-order nonlinear model is more easily applied in practice, whose control law is relatively simple. It not only does not need high-order derivative of desired command,but also does not require the feedback signals of velocity, acceleration and jerk of hydraulic rotary actuators. Another advantage is that it does not rely on any information of friction, inertia force and external disturbing force/torque, which are always difficult to resolve in flight motion simulators. Due to the special composite vane seals of rectangular cross-section and goalpost shape used in hydraulic rotary actuators, the leakage model is more complicated than that of traditional linear hydraulic cylinders. Adaptive multi-input single-output(MISO) fuzzy compensators are introduced to estimate nonlinear uncertain functions about leakage and bulk modulus. Meanwhile, the decomposition of the uncertainties is used to reduce the total number of fuzzy rules. Different from other adaptive fuzzy compensators, a discontinuous projection mapping is employed to guarantee the estimation process to be bounded. Furthermore, with a sufficient number of fuzzy rules, the controller theoretically can guarantee asymptotic tracking performance in the presence of the above uncertainties, which is very important for high-accuracy tracking control of flight motion simulators.Comparative experimental results demonstrate the effectiveness of the proposed algorithm, which can guarantee transient performance and better final accurate tracking in the presence of uncertain nonlinearities and parametric uncertainties.     

Fuzzy adaptive robust control for space robot considering the effect of the gravity

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.     

超低空空投航迹倾角自适应跟踪控制

针对超低空空投下滑阶段考虑执行器输入死区、不确定性大气扰动以及模型存在未知非线性等因素干扰轨迹精确跟踪等问题,提出了一种自适应神经网络动态面跟踪控制方法.建立了含执行器输入死区的超低空空投载机纵向非线性模型,采用神经网络逼近模型中未知非线性函数,引入非线性鲁棒补偿项消除了执行器死区建模误差和外界扰动.应用Lyapunov稳定性理论证明了闭环系统所有信号均是有界收敛的.仿真验证表明,所提方法既保证了轨迹跟踪的精确性,又具有强鲁棒性.     

宾馆火灾风险评估初探

在分析宾馆火灾发生原因的基础上,建立了宾馆火灾危险性、火灾损失评估因素集,并运用模糊评价法对宾馆的火灾安全进行风险性和损失评价,通过评价得出建筑物所属的安全等级,从而为宾馆实施安全管理提供方向和依据。该方法的建立可用于保险公司对投保建筑的鉴别与筛选,同时也可使管理者根据该评估方法及时采取防火安全措施,以降低火灾危险性,减少火灾损失。     

几种MEMS分立式微变形镜的设计与性能比较

采用形状函数法描述变形镜校正时的曲面,从适配误差、Strehl比、加工工艺性三个方面比较了4种不同单元排列方式的微变形镜。结果表明方形排列的微变形镜设计简单,需驱动电压较低,但波前校正性能较差;圆形微变形镜性能最优,但设计复杂,需驱动电压最高。     

多模型方法在飞控系统故障重构控制中的应用

基于多模态控制方法，将多模型选择模态的方法用于飞机发生故障时的重构控制：设计多个不同状态的模型及其控制器，模型采用固定模型和自适应模型，相应控制器按模型匹配方法设计，理想模型依飞行品质要求设计。依据转换标准判断当前飞机状态与哪一个模型最接近并转换到相应控制器上。自适应模型及其控制器是采用基于梯度的参数调节方法设计和实现的。最后以某机为例进行了仿真验证，结果表明该方法是有效的。     

基于Euler方程的三维自适应笛卡尔网格应用研究

本文采用非结构自适应笛卡尔网格和有限体积法求解了三维Euler方程。在网格生成过程中，采用了基于模型几何数据、模型表面曲率和流场特征为基础的网格自适应生成及加密方法，采用模型特征恢复技术保证了计算模型与原始外形的一致。在计算中，将以中心差分为基础的Jameson有限体积法在三维笛卡尔网格中进行了推广。本文中对导弹、歼击机等复杂问题进行了数值实验，计算结果与风洞实验结果符合良好，并在工程实际中成功应用。     

直升机结构响应的多输入多输出混合控制

对一种综合了自适应前馈与反馈控制的混合控制策略进行了拓展和研究，并将它应用于双频谐振激励下直升机舱座位处多目标点振动的控制仿真。在混合控制策略的实现中，提出了多输入多输出系统的以提高模态阻尼为目标的反馈控制器(AOEF)的型式和设计方法，以及针对闭环控制通道的FXLMS算法。在直升机有限元模型上用2个作动器控制4排座椅处的振动，仿真表明混合控制策略为直升机多通道的振动控制带来了性能上的显提高。     

自适应PID控制系统仿真

针对常规PID控制器不能满足非线性、时变系统的控制要求的问题,本文将自适应控制思想与PID控制器相结合,合成一种自适应PID控制解决方案,并设计了一个自适应PID控制器。该方案运用专家控制策略,自动整定PID参数。仿真结论表明,在系统参数不确定或者发生变化时,该控制器的控制效果明显优于常规PID控制器。     

飞行器智能结构系统研究进展与关键问题

 飞行器智能结构是由传感器、驱动器、控制元件和基体结构组成的集成系统,它具有承载、检测、判断与动作等功能,可显著提升飞行器的性能。根据国内外飞行器智能结构系统研究的最新进展,论述了飞行器结构动力响应主动控制、智能机翼、旋翼以及飞行载荷谱监测与结构损伤诊断等的基本原理与技术问题;指出了飞行器智能结构系统研究在埋入式功能元件、复杂非线性多场耦合系统的动力学建模与控制以及智能结构系统中的损伤和失效问题等方面所面临的关键技术问题和挑战。