Trajectory tracking control for underactuated stratospheric airship

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.     

GPS用于导弹轨道测量的研究

根据给定某型号导弹的技术参数，综合考虑了各种因素，对该导弹飞行过程中弹上接收GPS卫星的情况进行了模拟和分析，从而论证了该导弹利用GPS作为外测手段的可行性。     

执行器故障下无人机-无人车异构编队控制

针对存在执行器故障的无人机-无人车异构系统,研究了编队跟踪容错控制问题。首先,异构系统采用有向图的拓扑结构,且并非所有无人机/车都能接收到参考信号,故在充分考虑无人机/车运动学模型存在较大差异的前提下,设计了一种针对两类系统都通用的分布式信号估计器来获取参考信号的信息。然后,基于参考信号估计值,利用鲁棒自适应控制理论,提出了形式统一的分布式容错控制协议。该协议无需获取精准故障信息,就能有效地补偿故障对异构系统性能的影响,确保异构系统在故障情况下仍能按照预先设定的编队构型跟踪上外界参考信号。最后,通过仿真试验验证了所提算法的有效性。     

H1 output tracking control for flight control systems with time-varying delay

For flight control systems with time-varying delay, an H1 output tracking controller is proposed. The controller is designed for the discrete-time state-space model of general aircraft to reduce the ef...     

基于辅助粒子滤波的机动目标跟踪研究

针对机动目标跟踪巾扩展卡尔曼算法（EKF）收敛速度慢、跟踪精度低的问题,基于粒子滤波（PF）和辅助粒子滤波（APF）的基本思想,结合目标先验信息将速度约束条件加入到跟踪过程巾,对辅助粒子滤波算法进行了仿真分析,与扩展卡尔曼进行仿真对比,分析了跟踪性能和误差。仿真结果表明,对机动目标跟踪问题,辅助粒子滤波不仅解决了扩展卡尔曼线性化困难难题,与EKF相比还具有收敛速度快,跟踪精度高的优点。     

弹体自旋条件下姿控发动机控制律设计

针对大气层内带有横向喷流姿控发动机和尾部气动舵的导弹,研究了弹体自旋条件下的姿态控制问题。以导弹的横向加速度为输出,建立了姿态系统数学模型,并对模型进行了分析和简化。考虑了双通道控制和单通道矢量控制两种控制方式,针对姿控发动机的离散工作特点,分别研究了控制律设计问题,实现了横向加速度的快速跟踪。针对喷流干扰效应,给出了喷流放大因子的在线估计算法。最后,进行了数值仿真,仿真结果说明了所提方法的有效性。     

多普勒跟踪测量用于时空引力检验的尝试:(Ⅰ)理论建模

作为多普勒跟踪测量用于时空引力检验的尝试,在多普勒建模过程中加入了对于局部洛仑兹不变性(LLI)以及局部位置不变性(LPI)的检验参数。LLI/LPI是包括广义相对论在内的任何度规引力理论的基石。通过迭代求解多普勒建模过程中所需的光行时解,证明了只有在单程以及三程多普勒测量中可以检验LLI和LPI。鉴于该种测量手段无需额外载荷以及我国测控精度,可以尝试通过单/三程多普勒测量来检验LLI和LPI的科学目标。     

Trajectory Estimation with Multi-range-rate System Based on Sparse Representation and Spline Model Optimization

The classic state methods for trajectory estimation in boost phase with multi-range-rate system include method of point-by-point manner and that of spline-model-based manner. Both are deficient in terms of model-approximation accuracy and systematic error determination thus resulting in the estimation errors well beyond the requirements, especially, concerning the maneuvering trajectory. This article proposes a new high-precision estimation approach based on the residual error analysis. The residual error comprises three components, i. e. systematic error, model truncation error and random error. The approach realizes self-adaptive estimation of systematic errors in measurements following the theory of sparse representation of signals to minimize the low-frequency components of residual errors. By taking median- and high-frequency components as indexes, the spline model-approximation is improved by optimizing node sequence of the spline function and the weight selection for data fusion through iteration. Simulation has validated the performances of the proposed method.     

基于最优FCZPETC的下滑操纵飞行指示信号的综合

分析了飞机进近下滑飞行指示器设计的特点,并基于预见信息在改善飞机的跟随性能、补偿驾驶员的延时作用,应用零相位误差跟踪控制技术,提出了含有预见信息的飞行指示信号综合的新方法.仿真研究了所提出的零相位误差预见补偿器的应用特点,并验证了其改善飞机操纵对下滑轨道跟随性能的有效性.     

短基线动态相对定位中GPS单历元解算整周模糊度方法

针对短基线动态相对定位中快速解算整周模糊度的难题,提出了一种新的方法——GPS单历元解算整周模糊度。文中对相关的观测方程、载波相位的观测精度、真假解的识别等问题进行了详细讨论。试验证明,该方法正确、可靠,解决了快速解算整周模糊度这个难题,克服了传统方法需要进行静态初始化等问题。将该方法应用在车辆、舰船等移动载体上,可以实现真正意义上的实时动态相对定位,具有重要的应用价值。