Application of improved active disturbance rejection control algorithm in tilt quad rotor

The Tilt Quad Rotor (TQR) has complex dynamics characteristics, especially in conversion mode. It is difficult to build the dynamic model of the TQR and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of TQR, this paper carries out the design of the controller based on improved Active Disturbance Rejection Control (ADRC). According to the characteristics of flight in conversion mode, Tracking Differentiator (TD) with explicit model is used to solve the problem of multiple integrals when the system is high-order system. Extended State Observer (ESO) with Radial Basis Function (RBF) neural network is used to estimate and compensate for internal and external uncertainties, and the adaptive sliding mode control in Nonlinear State Error Feedback (NLSEF) is used to improve the response speed of the controller and reduce the parameters which should be tuned. Through the flight control simulation of the TQR, the validity and rationality of the control system are verified.     

Aerodynamic performance enhancement for flapping airfoils by co-flow jet

Introducing active flow control into the design of flapping wing is an effective way to enhance its aerodynamic performance. In this paper, a novel active flow control technology called Co-Flow Jet (CFJ) is applied to flapping airfoils. The effect of CFJ on aerodynamic performance of flapping airfoils at low Reynolds number is numerically investigated using Unsteady Reynolds Averaged Navier-Stokes (URANS) simulation with Spalart-Allmaras (SA) turbulence model. Numerical methods are validated by a NACA6415-based CFJ airfoil case and a S809 pitching airfoil case. Then NACA6415 baseline airfoil and NACA6415-based CFJ airfoil with jet-off and jet-on are simulated in flapping motion, with Reynolds number 70,000 and reduced frequency 0.2. As a result, CFJ airfoils with jet-on generally have better lift and thrust characteristics than baseline airfoils and jet-off airfoil when C_μ is greater than 0.04, which results from the CFJ effect of reducing flow separation by injecting high-energy fluid into boundary layer. Besides, typical kinematic and geometric parameters, including the reduced frequency and the positions of the suction and injection slot, are systematically studied to figure out their influence on aerodynamic performance of the CFJ airfoil. And a variable C_μ jet control strategy is proposed to further improve effective propulsive efficiency. Compared with using constant C_μ, an increase of effective propulsive efficiency by 22.6% has been achieved by using prescribed variable C_μ for NACA6415-based CFJ airfoil at frequency 0.2. This study may provide some guidance to performance enhancement for Flapping wing Micro Air Vehicles (FMAV).     

支线飞机综合飞行仿真平台设计

针对支线飞机机械操纵系统的特点,设计了由模块化的功能单元组成的综合飞行仿真平台,可以实现机械操纵系统数字仿真,在支线飞机的设计与制造中有着重要的应用价值,此平台通过改进还可用于支线飞机的试飞科目训练,从而降低试飞风险并缩短研制周期。     

机器人喷涂在F-35的应用

介绍了机器人飞机精整系统（RAFS）的硬件设计，阐述了优化喷涂参数和机器人程序以实现涂层厚度控制的过程，给出了使用RAFS在生产型飞机上实施喷涂的结果。     

直流电机网络控制系统仿真

对直流电机网络闭环控制系统进行仿真分析,根据电机网络闭环控制系统原理建立仿真模型。对具有数据丢包的直流电机网络伺服控制系统输出响应特性进行仿真,比较系统分别采用PI控制及增益,可调PI控制方式时的输出特性。结果表明,相比常规PI控制增益可调PI控制方法在网络环境下具有更好的控制特性。该研究为网络伺服控制技术提供可靠的参考依据。     

煤矿监测监控系统数据集成模式

从煤矿监测监控系统的实际出发,分析国内外煤矿监测监控系统的发展现状和局限性,论述用高新技术改造我国传统煤矿监测监控系统的可行性和必要性,然后从监测监控系统的结构角度,分析煤矿监控系统现阶段的发展主流和未来的发展趋势,并最终提出相应的信息数据集成技术方案。     

Transonic buffet control research with two types of shock control bump based on RAE2822 airfoil

Current research shows that the traditional shock control bump (SCB) can weaken the intensity of shock and better the transonic buffet performance.The author finds that when SCB is placed downstream of the shock,it can decrease the adverse pressure gradient.This may prevent the shock foot separation bubble to merge with the trailing edge separation and finally improve the buffet performance.Based on RAE2822 airfoil,two types of SCB are designed according to the two different mechanisms.By using Reynolds-averaged Navier-Stokes (RANS) and unsteady Reynolds-averaged Navier-Stokes (URANS) methods to analyze the properties of RAE2822 airfoil with and without SCB,the results show that the downstream SCB can better the buffet performance under a wide range of freestream Mach number and the steady aerodynamics characteristic is similar to that of RAE2822 airfoil.The traditional SCB can only weaken the intensity of the shock under the design condition.Under the off-design conditions,the SCB does not do much to or even worsen the buffet performance.Indeed,the use of backward bump can flatten the leeward side of the airfoil,and this is similar to the mechanism that supercritical airfoil can weaken the recompression of shock wave.     

总线通讯实验系统中矢量字的处理方法

研究了在1553B总线通讯实验系统远程终端（RT）仿真中矢量字的处理方法。设计了矢量字的手动单个设置、自动更新和使能RT中断更新三种处理方法。详细分析了各种方法中数据传输的执行过程。由于实验系统中能够灵活地设置矢量字,因此可以实现对采用更新机制传输消息的通讯过程的仿真。     

基于线性规划的多操纵面重构控制研究

为实现多操纵面飞机的重构控制,提高飞机飞行的安全性能,提出了一种基于线性规划的多操纵面重构控制策略.针对操纵面卡死、松浮、损伤等典型故障情况,推导了相应的重构分配器,通过基于线性规划的直接分配方法来实现在操纵面故障下的重构控制.仿真结果表明,该控制策略能有效处理典型操纵面故障,发生故障时仍能快速跟踪控制指令,保证较好的...     

Multi-state autonomous drilling for lunar exploration

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media (i.e., lunar soil and lunar rock), this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo-rithm, lunar drilling process was categorized into three drilling states:the interface detection, initi-ation of drilling parameters for recognition and drilling medium recognition. Support vector machine (SVM) and continuous wavelet transform were employed for the online recognition of dril-ling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detect-ing drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.