基于扩展卡尔曼滤波的永磁同步电机无电流传感器预测控制

针对永磁同步电机(PMSM)因过电压、过电流及误操作等容易造成电流传感器故障,影响PMSM的控制精度的问题,提出一种基于扩展卡尔曼滤波的PMSM无电流传感器预测控制算法。对于PMSM,通常需要两个电流传感器来采集定子电流信息,所提方法通过扩展卡尔曼滤波估计定子电流代替电流传感器。通过基于扩展卡尔曼滤波的PMSM无电流传感器预测控制算法与常规有电流传感器在线变速和变载仿真对比得到,所提方法具有和有电流传感器相同的控制性能。参数鲁棒性仿真表明,所提方法具有较强的参数鲁棒性,能够满足实际控制需要。     

Rapid and robust initialization for monocular visual inertial navigation within multi-state Kalman filter

Sensor-fusion based navigation attracts significant attentions for its robustness and accuracy in various applications. To achieve a versatile and efficient state estimation both indoor and outdoor, this paper presents an improved monocular visual inertial navigation architecture within the Multi-State Constraint Kalman Filter (MSCKF). In addition, to alleviate the initialization demands by appending enough stable poses in MSCKF, a rapid and robust Initialization MSCKF (I-MSCKF) navigation method is proposed in the paper. Based on the trifocal tensor and sigma-point filter, the initialization of the integrated navigation can be accomplished within three consecutive visual frames. Thus, the proposed I-MSCKF method can improve the navigation performance when suffered from shocks at the initial stage. Moreover, the sigma-point filter is applied at initial stage to improve the accuracy for state estimation. The state vector generated at initial stage from the proposed method is consistent with MSCKF, and thus a seamless transition can be achieved between the initialization and the subsequent navigation in I-MSCKF. Finally, the experimental results show that the proposed I-MSCKF method can improve the robustness and accuracy for monocular visual inertial navigations.     

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。     

修正容积卡尔曼滤波数据域直接定位算法

为解决数据域直接定位（DPD）算法面临的计算压力,提高算法效率,提出一种基于修正的容积卡尔曼滤波（MCKF）的DPD算法。首先,融合各观测信号波达方向信息,利用子空间数据融合方法建立一种基于间接观测量的DPD滤波模型;然后,根据模型特点设计MCKF算法进行求解,解决间接观测量带来的噪声累积问题;最后,对算法计算量进行分析和对比,说明计算效率的提升。仿真结果表明,所提算法与基于最大似然遍历搜索和遗传算法的DPD算法相比,在相同的估计性能下,计算量下降明显,时效性显著提升,增加了算法实用价值。     

基于整机试车的涡轮叶片高低循环复合疲劳试验技术

针对航空发动机涡轮叶片同时承受高循环载荷和低循环载荷的特征,以小推力涡喷发动机为研究对象,搭建了基于引电器的涡轮叶片动应力测量系统,利用数值模拟和试验测试结合的方法,实现了高度为30mm的涡轮叶片在40000r/min转速、950℃环境温度条件下的动应力测量,并以此为基础发展了整机高低循环复合疲劳试验方法,开展了高压涡轮叶片高低复合疲劳整机试验。研究结果表明,该型发动机转速在34920r/min时,叶片高循环振动应力达到112.7MPa,带来了涡轮叶片的高循环疲劳损伤且是引起涡轮叶片产生裂纹的主要因素,低循环疲劳载荷是导致裂纹扩展的主要因素,两者综合作用会显著影响涡轮叶片寿命。      

Adaptive robust cubature Kalman filtering for satellite attitude estimation

This paper is concerned with the adaptive robust cubature Kalman filtering problem for the case that the dynamics model error and the measurement model error exist simultaneously in the satellite attitude estimation system. By using Hubel-based robust filtering methodology to correct the measurement covariance formulation of cubature Kalman filter, the proposed filtering algorithm could effectively suppress the measurement model error. To further enhance this effect and reduce the impact of the dynamics model error, two different adaptively robust filtering algorithms, one with the optimal adaptive factor based on the estimated covariance matrix of the predicted residuals and the other with multiple fading factors based on strong tracking algorithm, are developed and applied for the satellite attitude estimation. The quaternion is employed to represent the global attitude parameter, and three-dimensional generalized Rodrigues parameters are introduced to define the local attitude error. A multiplicative quaternion error is derived from the local attitude error to maintain quaternion normalization constraint in the filter. Simulation results indicate that the proposed novel algorithm could exhibit higher accuracy and faster convergence compared with the multiplicative extended Kalman filter, the unscented quaternion estimator, and the adaptive robust unscented Kalman filter.     

Rare observation of daytime whistlers at very low latitude (L = 1.08)

The source region and propagation mechanism of low latitude whistlers (Geomag. lat. <30°) have puzzled scientific community for last many decades. In view of recent reports, there is consensus on the source region of low latitude whistlers in the vicinity of the conjugate point. But the plausible conditions of ionospheric medium through which they travel are still uncertain. In addition to that, the whistlers in daytime are never observed at geomagnetic latitudes less than 20°. Here, for the first time, we present a rare observations of whistlers during sunlit hours from a very low-latitude station Allahabad (Geomag. Lat: 16.79°N, L = 1.08) in India on 04 February 2011. More than 90 whistlers are recorded during 1200–1300 UT during which the whole propagation path from lightning source region to whistler observation site is under sunlit. The favorable factors that facilitated the whistlers prior to the sunset are investigated in terms of source lightning characteristics, geomagnetic and background ionospheric medium conditions. The whistler activity period was found to be geomagnetically quiet. However, a significant suppression in ionospheric total electron content (TEC) compared to its quiet day average is found. This shows that background ionospheric conditions may play a key role in low latitude whistler propagation. This study reveals that whistlers can occur under sunlit hours at latitudes as low as L = 1.08 when the source lightning and ionospheric medium characteristics are optimally favorable.     

电负性气体等离子体推力器研究进展

目前广泛应用的电推力器中,大多采用加速单一正离子的方式来获得推力和相应比冲。该加速方式需要增设中和器,对喷射出的正离子进行中和以保持羽流电中性,否则将导致航天器自充电,对其通信和电子器件造成损害,并减弱加速场。为了简化系统结构,延长推力器寿命,提出了一种能够交替加速正、负离子来获得推力的电负性气体等离子体推力器。分析了该推力器的工作原理和加速过程,指明了包括电负性气体种类选取、电子过滤装置设计要求、如何施加周期性栅极偏置电压加速正、负离子以及合理诊断离子数密度等关键技术,为后续研究工作提供了参考。