自适应UKF在北斗定位算法中的应用

北斗导航系统发展日益成熟,介绍了北斗定位解算与GPS解算的差异,针对扩展Kalman滤波(Extended Kalman Filter,EKF）算法在北斗解算过程中容易引入非线性误差,无迹Kalman滤波(Unscented Kalman Filter,UKF）算法受初值和系统噪声影响较大问题,提出了一种自适应无迹Kalman滤波(Adaptive Unscented Kalman Filter,AUKF）北斗定位解算算法。该算法利用观测残差信息构建自适应渐消矩阵,消除量测噪声异常带来的影响,同时提高了滤波精度。实验表明,与EKF和UKF定位解算算法相比,AUKF算法在定位精度和对系统噪声鲁棒性方面都有所提高,是一种可靠稳定的北斗定位算法。     

机载导弹电路故障诊断优化方法探讨

针对机载导弹电路故障诊断问题 ,提出了在赋模糊权的二部图中求解故障诊断费用最小的诊断顺序的数学模型 ,并给出了该模型的优化算法。根据算法可方便地得出故障诊断顺序的优化决策方案 ,使机载导弹电路故障诊断更为经济和快捷有效     

Modified robust optimal adaptive control for flight environment simulation system with heat transfer uncertainty

To solve the rapid transient control problem of Flight Environment Simulation System (FESS) of Altitude Ground Test Facilities (AGTF) with large heat transfer uncertainty and disturbance, a new adaptive control structure of modified robust optimal adaptive control is presented. The mathematic modeling of FESS is given and the influence of heat transfer is analyzed through energy view. To consider the influence of heat transfer in controller design, we introduce a matched uncertainty that represents heat transfer influence in the linearized system of FESS. Based on this linear system, we deduce the design of modified robust optimal adaptive control law in a general way. Meanwhile, the robust stability of the modified robust optimal adaptive control law is proved through using Lyapunov stability theory. Then, a typical aero-engine test condition with Mach Dash and Zoom-Climb is used to verify the effectiveness of the devised adaptive controller. The simulation results show that the designed controller has servo tracking and disturbance rejection performance under heat transfer uncertainty and disturbance; the relative steady-state and dynamic errors of pressure and temperature are both smaller than 1% and 0.2% respectively. Furthermore, the influence of the modification parameter γ is analyzed through simulation. Finally, comparing with the standard ideal model reference adaptive controller, the modified robust optimal adaptive controller obviously provides better control performance than the ideal model reference adaptive controller does.     

发动机推力测量校准中加载模糊控制

针对火箭发动机推力测量原位校准中计量精度要求高,加载过程中工作系统存在着复杂的变速扰动与大滞后等现象,在论述了模糊控制模型建立方法和加载模糊控制原理的基础上,运用叠加方法建立了四维变量模糊控制模型,实现了加载精确自动控制,并分析了该模型的控制效果。结果表明,所建立的模型及加载模糊控制方法是正确有效的,满足了原位校准精确快速加载的要求。     

基于解耦三轴气浮台非线性模糊变结构的鲁棒控制

根据三轴气浮台非线性动力学模型,研究了一种基于解耦的模糊变结构控制方法。设计的控制器不仅避免了一般变结构控制中的抖振,而且具有实现简单、工程化容易的优点。仿真结果表明,该模糊变结构控制法对模型的不确定性和外来干扰有较佳的跟踪性能,其鲁棒性较优。     

一类MIMO非线性系统的局部化自适应控制

针对一类不确定多输入多输出非线性系统,提出了一种局部化鲁棒自适应控制方法.提出的方法采用了指令滤波反推进行虚拟控制律的迭代设计.使用局部化逼近器对未知函数进行在线逼近.引入谱半径,避免了控制系数矩阵的估计必须非奇异的假设.对于固有逼近误差和外部扰动,采用自适应边界控制进行补偿.在自适应律中引入局部化σ修改,保证了边界参数估计的有界性,同时克服了全局遗忘特性.稳定性分析证明了提出的控制方法能够保证闭环系统的所有信号有界.仿真实例进一步验证了提出方法的有效性.     

级联滤波器并行频域实现的研究

文章介绍了一种用于两个或多个级联滤波器并行频域实现的有效的计算方法,特别是当滤波器阶数很大时,该算法只需计算一个DFT和IDFT,DFT／IDFT的点数远远小于滤波器的阶数;并且滤波器既可以是时不变的,也可以是时变的。     

非线性自适应控制理论在无人直升机飞行控制系统设计中的应用

最近，国内外很多研究结果表明，基于神经网络的直接自适应控制方法，在飞行器控制系统设计中有着诸多优点。其中最重要的是它减少了设计对飞机动态特性高保真建模的依赖。这种设计方法在某无人直升机上得以实际飞行验证。本文主要介绍这种非线性自适应控制系统及其外回路航迹跟踪器的设计问题。     

Station-keeping control for a stratospheric airship platform via fuzzy adaptive backstepping approach

This paper presents a novel approach for station-keeping control of a stratospheric airship platform in the presence of parametric uncertainty and external disturbance. First, conceptual design of the stratospheric airship platform is introduced, including the target mission, configuration, energy sources, propeller and payload. Second, the dynamics model of the airship platform is presented, and the mathematical model of its horizontal motion is derived. Third, a fuzzy adaptive backstepping control approach is proposed to develop the station-keeping control system for the simplified horizontal motion. The backstepping controller is designed assuming that the airship model is accurately known, and a fuzzy adaptive algorithm is used to approximate the uncertainty of the airship model. The stability of the closed-loop control system is proven via the Lyapunov theorem. Finally, simulation results illustrate the effectiveness and robustness of the proposed control approach.     

自适应滑模容错跟踪飞行控制律的设计

当飞行控制系统操纵面发生卡死或控制效率损伤故障时,采用自适应滑模控制方法进行容错跟踪飞行控制律的设计。采用单位向量法进行滑模控制器的设计,利用李雅普诺夫理论和Barbalat引理设计自适应滑模调节规律,同时能够保证闭环系统的渐近稳定性。利用某型飞机线性化模型进行仿真,结果表明,带有自适应调节规律的滑模控制方法不仅适合于正常情况下飞行控制律的设计,而且对操纵面损伤和卡死故障情况具有较强的适应能力,具有很好的跟踪控制效果和强鲁棒性。