Trajectory tracking control of a VTOL unmanned aerial vehicle using offset-free tracking MPC

Designing a stable and robust flight control system for an Unmanned Aerial Vehicle (UAV) is an arduous task. This paper addresses the trajectory tracking control problem of a Ducted Fan UAV (DFUAV) using offset-free Model Predictive Control (MPC) technique in the presence of various uncertainties and external disturbances. The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays, parametric uncertainties, and disturbances. The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed, namely the hover, transition, and cruise mode. The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component. Moreover, different uncertainties such as parametric, time delays in state and input, are introduced in translational and rotational components. From the previous work, the Linear Quadratic Tracker with Integrator (LQTI) is used for comparison to corroborate the performance of the designed controller. Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy. Finally, discussions are provided to demonstrate the effectiveness of the given methodology.     

损失及落后角代理模型在多级轴流压气机特性预测中的应用

为了提高轴流压气机设计能力,进而提高发动机的特性,需要掌握一种能够较好预测轴流压气机的压比、效率等特性的方法。结合运用三元流动理论和传统损失落后角模型计算出的压气机流场数据,利用正则化径向基函数神经网络取代经验公式搭建了一种新的损失及落后角模型,计算了E3十级高压压气机的特性;并分别研究了不进行正则化和进行正则化对损失及落后角预测的影响与其对压气机效率和压比特性预测的影响。结果表明,在多级压气机中,在训练样本区分转静子、区分转速、区分工况条件下,使用正则化的径向基神经网络代理模型在大部分情况下能够较好地预测损失、落后角及多级压气机整体特性,但是对沿叶高分布的损失及落后角预测能力还有待提高。     

Matching design of hydraulic load simulator with aerocraft actuator

 This paper intends to provide theoretical basis for matching design of hydraulic load simulator (HLS) with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of "Standard Actuator" and "Standard HLS". Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.     

改进高斯混合粒子滤波的纯方位目标跟踪算法

针对纯方位跟踪系统非线性较强、传统跟踪滤波方法收敛速度慢且容易发散的问题,提出了一种基于改进高斯混合粒子滤波的纯方位跟踪算法。该算法基于Sigma点卡尔曼滤波(SPKF)和粒子滤波的特点,用有限的高斯混合模型来近似后验状态密度、系统噪声和观测噪声的分布。利用贪心EM算法实现模型的降阶,一定程度上克服了EM算法假定混合成分数为已知、迭代的结果需要依赖初始值、可能收敛到局部最大点和可能收敛到参数空间的边界的缺点,从而改善粒子枯竭的问题。仿真实验结果表明在纯方位跟踪领域,与传统粒子滤波(PF)和基于EM的高斯混合粒子滤波相比,该算法在保持高精度估计能力的同时,具有较强的鲁棒性,是解决非线性系统状态估计问题的一种有效方法。     

民用飞机气动力模型建模方法研究

对民机常用的两种气动力建模方法——全机建模法和分部件组合建模法进行了研究,并对两者的优缺点进行了对比分析,进而对两类方法在大型客机气动力建模中的综合运用提出了建议。     

改进参考模型的涡扇发动机多变量模型参考自适应控制

针对涡扇发动机难以获得精确数学模型和普通模型参考自适应控制不保证动态性能的问题,提出了一种具有改进参考模型的涡扇发动机多变量模型参考自适应控制方法。采用状态反馈形式设计了状态跟踪的多变量自适应控制器,其中对参考模型作了引入跟踪误差反馈的改进,使得高自适应增益下跟踪曲线的超调得到明显的抑制,动态响应得到改善。应用该方法对涡扇发动机非线性部件级模型进行仿真分析,结果表明,控制系统调节时间小于2s,无稳态误差,具有良好的控制品质。     

基于强跟踪UPF的重力梯度辅助定位方法

针对重力梯度辅助定位中,存在重力梯度的强非线性分布及系统模型偏差等问题,将STUPF引入匹配定位过程。该方法根据残差信息实时调节系统状态跟踪能力,有效应对模型偏差对定位的影响。基于真实INS数据的仿真实验结果表明,STUPF可达到较好的定位效果,且与标准PF、GPF算法相比,其在定位的精度、稳定性及运算量上具有一定优势。     

ELID成形磨削实验研究与表面粗糙度预测

为了探究ELID成型磨削中磨削参数和电解参数对表面粗糙度的影响规律,基于未变形切屑厚度模型,考虑砂轮上磨粒出刃高度的随机性以及ELID磨削中氧化膜的影响,建立了针对ELID磨削的表面粗糙度预测模型。单因素实验研究了ELID成形磨削电源参数对表面粗糙度的影响规律,并探讨了电解电流与氧化膜厚度之间的关系。全因子实验以工件转速、砂轮转速和进给切深为影响因素,研究了磨削参数对表面粗糙度的影响规律,并对预测模型进行了验证。结果表明:磨削参数中,其他条件一定时,表面粗糙度随砂轮转速的增大而减小,随工件转速和切深的增大而增大;同时对于粗糙度的预测误差达到了8.75%,预测模型有效可靠。     

一种基于波导结构的大功率合路器设计

文章基于对波导结构的分析,提出了一种大功率合路器的设计。波导结构标准的E面T型结能够对功率进行分配/合成,但其枝节的端口响应及枝节间的隔离使得其无法直接用于功率合成/分配。将溅射薄膜电阻后的陶瓷基片引入T型结中,并对T型结的枝节段进行尺寸优化,得到一个端口匹配且隔离度良好的合路器。基于对波导特性、匹配网络理论的分析,设计了一个覆盖Ka频段的功率合路器。