基于动态补偿的多电机控制算法

多电机协调控制达到转速一致是电机控制中的一个关键难题，外加负载变动和电机参数变化时会引起电机性能的下降，达不到良好的控制效果。为使电机间保持转速同步，建立了永磁同步电机d-q坐标系下的矢量控制数学模型，基于转速跟随控制，提出一种基于单神经元PID的变增益速度补偿器进行偏差耦合控制。在MATLAB/Simulink建立了3台永磁同步电机的仿真模型。仿真结果表明，与传统PID固定增益速度补偿器算法相比，单神经元PID的变增益速度补偿器具有更强的鲁棒性以及更快的收敛性。     

Study of the rheological properties of water and Martian soil simulant mixtures for engineering applications on the red planet

The rheological properties of mixtures of water and the Martian soil simulant JSC-Mars-1A are investigated by preparing and testing samples at various solids concentrations. The results indicate that the dispersion is viscoelastic and, at small timescales (～0.1?s), reacts to sudden strain as an elastic solid. At longer timescales the dispersion behaves like a Bingham fluid and exhibits a yield stress. Hysteresis loops show that rapid step-changes (2?s duration) of shear-rate result in thixotropic behaviour, but slower changes (>10?s duration) can result in rheopexy. These observations are explained with the breakdown and recovery of the packing structure under stress. The rheological information is used to generate practical tools, such as the system curve and the Moody chart that can be used for designing piping systems, and calculating pump sizes and pressure requirements.     

结合跳点引导的无人机随机搜索避撞决策方法

针对无人机在城市空域环境和密集交通流下的避撞决策问题，提出马尔科夫决策过程（MDP）和蒙特卡洛树搜索（MCTS）算法对该问题进行建模求解。蒙特卡洛树搜索算法在求解过程中为保证实时性而使其搜索深度受限，容易陷入局部最优，导致在含有静态障碍的场景中无法实现避撞的同时保证全局航迹最优。因此结合跳点搜索算法在全局规划上的优势，建立离散路径点引导无人机并改进奖励函数来权衡飞行路线，在进行动态避撞的同时实现对静态障碍的全局避撞。经过多个实验场景仿真，其结果表明改进后的算法均能在不同场景中获得更好的性能表现。特别是在凹形限飞区空域仿真模型中，改进后的算法相对于原始的蒙特卡洛树搜索算法，其冲突概率降低了36%并且飞行时间缩短47.8%。     

Real-time clock comparison and monitoring with multi-GNSS precise point positioning: GPS,GLONASS and Galileo

The precise point positioning (PPP) technique is widely used in time and frequency applications. Because of the real-time service (RTS) project of the International GNSS Service, we can use the PPP technique for real-time clock comparison and monitoring. As a participant in the RTS, the Centre National d’Etudes Spatiales (CNES) implements the PPPWIZARD (Precise Point Positioning with Integer and Zero-difference Ambiguity Resolution Demonstrator) project to validate carrier phase ambiguity resolution. Unlike the Integer-PPP (IPPP) of the CNES, fixing ambiguities in the post-processing mode, the PPPWIZARD operates in the real-time mode, which is also called real-time IPPP (RT-IPPP). This paper focuses on applying the RT-IPPP for real-time clock comparison and monitoring. We review the principle of real-time clock comparison and monitoring, and introduce the methodology of the RT-IPPP technique. The observations of GPS, GLONASS and Galileo were processed for the experiments. Five processing modes were provided in the experiment to analyze the benefits of ambiguity resolution and multi-GNSS. In the clock comparison experiment, the average reduction ratios of standard deviations with respect to the G PPP mode range from 9.7% to 35.0%. In the clock monitoring experiment, G PPP mode can detect clock jumps whose magnitudes are larger than 0.9 ns. The RT-IPPP technique with GRE PPP AR (G) mode allows for the detection of any clock jumps larger than 0.6 ns. For frequency monitoring, G PPP mode allows detection of frequency changes larger than 1.1 × 10⁻¹⁴. When the RT-IPPP technique is applied, monitoring with GRE PPP AR (G) mode can detect frequency changes larger than 6.1 × 10⁻¹⁵.     

Assessment of between-floor structural and topological properties on cognitive map development in multilevel built environments

The present study investigated cognitive map development in multilevel built environments. Three experiments were conducted in complex virtual buildings to examine the effects of five between-floor structural factors that may impede the accuracy of humans’ ability to build multilevel cognitive maps. Results from Experiments 1 and 2 (of three experiments) revealed that difficulties in developing multilevel cognitive maps are not solely caused by the z-axis offset, as is suggested in the literature, but are due to the factorial combination of a between-floor overlap and a z-axis offset. Results from Experiment 2 showed that this process becomes substantially more difficult when the reference directions between different floors have an angular offset from each other. Finally, results from Experiment 3 demonstrated that confusing between-floor heading shifts in aligned buildings did not make it reliably harder to build multilevel cognitive maps. The implications of these findings are discussed in terms of theories of mental representations in multilayered three-dimensional spaces, as well as for architectural design.     

Comparison of GPS derived TEC with the TEC predicted by IRI 2012 model in the southern Equatorial Ionization Anomaly crest within the Eastern Africa region

We have compared the TEC obtained from the IRI-2012 model with the GPS derived TEC data recorded within southern crest of the EIA in the Eastern Africa region using the monthly means of the 5 international quiet days for equinoxes and solstices months for the period of 2012 – 2013. GPS-derived TEC data have been obtained from the Africa array and IGS network of ground based dual-frequency GPS receivers from four stations (Kigali (1.95°S, 30.09°E; Geom. Lat. 11.63°S), Malindi (2.99°S, 40.19°E; Geom. Lat. 12.42°S), Mbarara (0.60°S, 30.74°E; Geom. Lat. 10.22°S) and Nairobi (1.22°S, 36.89°E; Geom. Lat. 10.69°S)) located within the EIA crest in this region. All the three options for topside Ne of IRI-2012 model and ABT-2009 for bottomside thickness have been used to compute the IRI TEC. Also URSI coefficients were considered in this study. These results are compared with the TEC estimated from GPS measurements. Correlation Coefficients between the two sets of data, the Root-Mean Square Errors (RMSE) of the IRI-TEC from the GPS-TEC, and the percentage RMSE of the IRI-TEC from the GPS-TEC have been computed. Our general results show that IRI-2012 model with all three options overestimates the GPS-TEC for all seasons and at all stations, and IRI-2001 overestimates GPS-TEC more compared with other options. IRI-Neq and IRI-01-corr are closely matching in most of the time. The observation also shows that, GPS TEC are underestimated by TEC from IRI model during noon hours, especially during equinoctial months. Further, GPS-TEC values and IRI-TEC values using all the three topside Ne options show very good correlation (above 0.8). On the other hand, the TEC using IRI-Neq and IRI-01- corr had smaller deviations from the GPS-TEC compared to the IRI-2001.     

DME询问信号捕获的设计与实现

捕获询问信号是DME地面设备的一个重要功能组成部分。现役的地面设备中大多使用的捕获单元为分离器件电路设计，其电路复杂，控制难度大，改进与维护成本高。针对这些问题，本文设计采用ADC结合FPGA作为主要功能器件，并通过软件算法完成数字滤波、脉冲峰值提取和半幅点计算，实现询问信号的识别与捕获。不仅大幅减少元器件的使用，缩小设备体积，还可提高扩展性与可靠性。结合机柜验证测试，结果符合设计要求。     

Bayesian coronal seismology

In contrast to the situation in a laboratory, the study of the solar atmosphere has to be pursued without direct access to the physical conditions of interest. Information is therefore incomplete and uncertain and inference methods need to be employed to diagnose the physical conditions and processes. One of such methods, solar atmospheric seismology, makes use of observed and theoretically predicted properties of waves to infer plasma and magnetic field properties. A recent development in solar atmospheric seismology consists in the use of inversion and model comparison methods based on Bayesian analysis. In this paper, the philosophy and methodology of Bayesian analysis are first explained. Then, we provide an account of what has been achieved so far from the application of these techniques to solar atmospheric seismology and a prospect of possible future extensions.     

Reconfigurable fault-tolerant control for supersonic missiles with actuator failures under actuation redundancy

Aircraft undergoing actuator failures into under-actuation have been seldom studied in literature. Aiming at addressing actuator failures of Total Loss of Effectiveness (TLOE) as well as Partial Loss of Effectiveness (PLOE) resulting in different system actuations, reconfigurable Fault-Tolerant Control (FTC) is proposed for supersonic wingless missiles under actuation redundancy. The under-actuated system of TLOE failure patterns is solved by transformation to cascade systems through a ‘shape variable’. Meanwhile, actuator TLOE faults of different unknown failure patterns from proper actuation to under-actuation are accommodated by a reconfigurable adaptive law on a multiple-model basis. The backstepping technique with the Extended State Observer (ESO) method adopted as a basic strategy is applied to an established symmetric coupled missile system with actuator PLOE faults, modeling errors, and external disturbances. Additionally, the nonlinear saturation characteristics of actuators are settled by an auxiliary system with the Nussbaum function technique. The stability of the control system is analyzed and proven through Lyapunov theory. Numerical simulations are implemented in the presences of aerodynamic uncertainties, gust disturbance, and actuator failures. Results demonstrate the effectiveness of the proposed method with satisfactory tracking performance and actuator fault tolerance capacity.     

A novel framework for liquid propellant engine’s cooling system design by sensitivity analysis based on RSM and multi-objective optimization using PSO

One of the challenges of combustion chamber and nozzle design in a Liquid Propellant Engine (LPE) is to predict the behavior and performance of the cooling system. Therefore, while designing, the optimization of the cooling system is always of great importance. This paper presents the multi-objective optimization of the LPE’s cooling system. To this end, a novel framework has been developed, resulting from the application of the Response Surface Method (RSM) and the correlation coefficients matrix, sensitivity analysis and the The Particle Swarm Optimization (PSO). based on this method, the input variables, constraints, objective functions, and their surfaces were identified. In terms of multi-optimization algorithms, RSM and PSO are utilized to get global optimum. In conclusion, the methodology capability is to optimize the LPE’s cooling system, 6 percentage increase in total heat transfer and 7 bar decrease cooling system pressure loss, which resulted in a 1.2-seconds increase in the specific impulse of the engine.