Robust adaptive compensation control for unmanned autonomous helicopter with input saturation and actuator faults

This paper studies a robust adaptive compensation Fault Tolerant Control(FTC) for the medium-scale Unmanned Autonomous Helicopter(UAH) in the presence of external disturbances,actuator faults and input saturation.To improve the disturbance rejection capacity of the UAH system in actuator healthy case, an adaptive control method is adopted to cope with the external disturbances and a nominal controller is proposed to stabilize the system.Meanwhile, compensation control inputs are designed to reduce the negative effects derived from actuator faults and input saturation.Based on the backstepping control and inner-outer loop control technologies, a robust adaptive FTC scheme is developed to guarantee the tracking errors convergence.Under the presented FTC controller, the uniform ultimate boundedness of all closed-loop signals is ensured via Lyapunov stability analysis.Simulation results demonstrate the effectiveness of the proposed control algorithm.     

Variations in the ionospheric scale height parameter at the F2 peak over Grahamstown,South Africa

The Grahamstown, South Africa (33.3°S, 26.5°E) ionospheric field station operates a Lowell digital pulse ionospheric sounder (Digisonde) whose output includes scaled parameters derived from the measured ionogram. One of these output parameters is the ionospheric scale height parameter (H), and this paper presents an analysis of the seasonal, diurnal, and solar activity variations of this parameter over the Grahamstown station. Ionosonde data from three years 2002, 2003, and 2004 were used in this study. The data was subjected to a general trend analysis to remove any outliers and then the monthly median data were used to explore the different variations. The results of this analysis were found to be similar to what has already been presented in the literature for low latitude stations, and are presented as well as the correlation at this mid-latitude station between the H parameter, the IRI shape parameter (B0), and the peak electron density (NmF2).     

多普勒导航雷达测高自校信号的分析

本文详细分析了采用周期自动校准技术的多普勒导航雷达测高装置自校时的信号关系。在数学分析的基础上,作者认为,为保证在高度测量时稳定获取自校信号,应调节馈线的长度(微波相位)。实验证明,分析是正确的。     

Disturbance observer-based robust guidance for Mars atmospheric entry with input saturation

With low-lifting capability taken into account,a robust guidance law for Mars entry vehicles with low lift-to-drag ratios,such as Mars Science Laboratory(MSL),is presented.Consider the nonlinear term in the drag dynamic equation and bounded disturbances as a lumped disturbance,and design a linear disturbance observer(DOB)to estimate it.With the consideration of the control input saturation,an innovative sliding surface and a virtual system are introduced to design the guidance law.Analyses of disturbance observer performance and Lyapunov-based transient performance are also presented.It is shown that the drag tracking error can be adjustable by explicit choices of design parameters.Simulation results confirm the effectiveness of the proposed guidance law.     

Adaptive dynamic surface control of NSVs with input saturation using a disturbance observer

An adaptive dynamic surface control(DSC)scheme is proposed for the multi-input and multi-output(MIMO)attitude motion of near-space vehicles(NSVs)in the presence of external disturbance,system uncertainty and input saturation.The external disturbance and the system uncertainty are efficiently tackled using a Nussbaum disturbance observer(NDO),and the adaptive controller is constructed by combining the dynamic surface control technique to handle the problem of‘‘explosion of complexity’’inherent in the conventional backstepping method.For handling the input saturation,an auxiliary system is designed with the same order as that of the studied MIMO attitude system.Using the error between the saturation input and the desired control input as the input of the designed auxiliary system,a series of signals are generated to compensate for the effect of the saturation in the dynamic surface control design.It is proved that the developed control scheme can guarantee that all signals of the closed-loop control system are semi-globally uniformly bounded.Finally,simulation results illustrate that the proposed control scheme can achieve satisfactory tracking performance under the composite effects of the input saturation and the external disturbance.     

金属间化合物Ho_2Co_(17-x)Si_x的磁性能机制研究

研究了非磁性原子Si替代Co对Ho2 Co17金属间化合物结构和磁性的影响。X射线衍射表明 ,所有Ho2 Co17 xSix(x =0 .5 ,1.0 ,1.5 ,2 .0 ,2 .5 ,3.0 )化合物都为Th2 Ni17型六角结构 ;化合物的晶格常数和单胞体积都随Si含量的增加而呈线性下降。磁性测量表明 ,Ho2 Co17 xSix 化合物的居里温度和饱和磁化强度均随Si含量的增加而呈线性下降。从热磁曲线测量观察到 ,当 0 .5≤x≤ 3.0时Ho2 Co17 xSix 化合物出现由易面到易轴的自旋重取向 ,自旋重取向温度Tsr随Si原子含量的增加先下降 ,而后又上升 ,在x =2 .5处出现最低点。     

涡轮叶栅叶尖间隙流实验研究(英文)

This article describes the effects of some factors on the tip clearance flow in axial linear turbine cascades. The measurements of the total pressure loss coefficient are made at the cascade outlets by using a five-hole probe at exit Mach numbers of 0.10, 0.14 and 0.19. At each exit Mach number, experiments are performed at the tip clearance heights of 1.0%, 1.5%, 2.0%, 2.5% and 3.0% of the blade height. The effects of the non-uniform tip clearance height of each blade in the pitchwise direction are also studied. The results show that at a given tip clearance height, generally, total pressure loss rises with exit Mach numbers proportionally. At a fixed exit Mach number, the total pressure loss augments nearly proportionally as the tip clearance height increases. The increased tip clearance heights in the tip regions of two adjacent blades are to be blame for the larger clearance loss of the center blade. Compared to the effects of the tip clearance height, the effects of the exit Mach number and the pitchwise variation of the tip clearance height on the cascade total pressure loss are so less significant to be omitted.