带扰动观测器的永磁同步电机非线性预测跟踪控制

针对永磁同步电机系统转速跟踪控制问题,基于非线性预测控制方法设计控制系统,使该系统满足高性能控制要求。并将负载转矩作为未知扰动来考虑,利用扰动观测器得到其估计值,从而提高系统鲁棒性。仿真实验结果表明,本文方法能够快速准确地实现转速跟踪,并提高系统对负载转矩扰动的鲁棒性。     

Seismo ionospheric anomalies in Turkey associated with Mw ≥ 6.0 earthquakes detected by GPS stations and GIM TEC

Earthquake (EQ) anomalies in the form of enhancement and depletion in ionospheric Total Electron Content (TEC) from Global Positioning System (GPS) may considerably alarm about short and long term precursors of the impending main shock. In this paper, TEC anomalies are investigated from permanent GPS ground-stations in Turkey associated to M_w ≥ 6.0 EQs occurred in 2011–2012. Temporal and spatial analyses of TEC at 2 h sampling have shown significant evidences about EQ induced ionospheric anomalies during 10–14 h of UT (Universal Time) within 5 days before M_w 6.0 Greece, and M_w 7.1, Turkish EQ. Spatial analyses have manifested arrival of TEC anomalies at UT = 10 h to epicenter of both EQs, which linger above epicenter during UT = 12–14 h and left seismogenic zone after UT = 14 h before every EQ during K_p < 3 and Dst = 0 nT. Meanwhile, a geomagnetic storm (Dst < -100 nT) induce perturbation two days after the M_w 7.1 Turkish EQ, showing no relation with epicenter during spatial analysis. It also shows that TEC can be useful to distinguish geomagnetic storm variations to successfully detect EQ precursors. These anomalies during quiet storm (K_p < 3; Dst = 0 nT) conditions may be effective to link the lithosphere and ionosphere in severe seismic zones to detect EQ precursors before future EQs. Interpretation of TEC anomalies and it enhancements over EQ epicenters during UT = 12–14 h for both EQs have shown that EQs anomalies only occurred in particular time. Whereas, geomagnetic storm effect occurred during whole abnormal day over the Earth.     

一种基于串级线性自抗扰控制的四旋翼无人机控制方法

提出了一种基于串级线性自抗扰控制器的四旋翼无人机控制方法。根据建立的紊流模型形成了干扰风,在干扰风的环境下建立了四旋翼的运动学模型,并设计了一个串级的线性自抗扰控制器,其中外环采用位置控制,内环采用姿态控制。对比了该控制器与非线性自抗扰控制器和经典PID控制器在无风干扰和有风干扰下无人机的定点悬停的性能。仿真试验结果表明,无论是在无风干扰下还是在有风干扰下,该控制器的性能均好于非线性自抗扰控制器和PID控制器,具有较好的鲁棒性,能够运用到各种类型的旋翼无人机的工程控制中。     

重力扰动对高精度惯性导航初始对准 的影响与补偿

初始对准时, 通常是基于地球参考椭球, 用正常重力公式计算重力矢量, 而实际情况下地球内部质量分布不均匀,实际重力包含正常重力和重力扰动。重力扰动 包括参考椭球面切线方向的分量（垂线偏差）和法线方向分量（重力异常）。研究重力 扰动下的初始对准,导出了重力扰动下水平姿态误差角与垂线偏差大小等值。重力扰动 下初始对准的方法是利用EGM2008 地球重力场模型计算出对准点的重力扰动并从加速度 计中剔除掉。仿真分析表明,补偿重力扰动后可提高初始对准精度。     

Research of Compound Controller for Flight Simulator with Disturbance Observer

A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller (ZPETC), when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer (DOB) is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.     

地线设计在PCB电磁兼容性中的作用

简介了电磁兼容性(EMC)的基本概念,并结合某项目实际应用,说明地线设计的一点改变即可在PCB电磁兼容方面起到重要作用.     

Geomagnetic activity indicators for geomagnetically induced current studies in South Africa

Intense geomagnetic activity is known to give rise to large geomagnetically induced currents (GICs) in power transmission grids. Recordings of geomagnetic activity provide an efficient and economical way for power transmission system operators to assess GIC risks in retrospective studies. This study investigates local geomagnetic indicators (i.e., hourly peak value, hourly range indicator and hourly standard deviation) in order to determine their usefulness for understanding the drivers of GICs in the South African power network. Results show that the GICs have a higher correlation with the geomagnetic indicators derived from the East–West component of the horizontal geomagnetic field, than the indicators derived from the North–South component of the horizontal field. This directional dependence corresponds very well with the North–South orientation of the power lines feeding the power transformers at the South African Grassridge electrical substation GIC site. It therefore follows that, the geoelectric field driving the GICs at Grassridge is North–South oriented. Further, it is shown that the hourly range indicator has a higher correlation with the GICs than the hourly standard deviation for this particular network configuration.     

Empirical model of the TEC response to the geomagnetic activity over the North American region

The paper presents an empirical model of the total electron content (TEC) response to the geomagnetic activity described by the K_p-index. The model is built on the basis of TEC measurements covering the region of North America (50°W–150°W, 10°N–60°N) for the period of time between October 2004 and December 2009. By using a 2D (latitude-time) cross-correlation analysis it is found that the ionospheric response to the geomagnetic activity over the considered geographic region and at low solar activity revealed both positive and negative phases of response. The both phases of the ionospheric response have different duration and time delay with respect to the geomagnetic storm. It was found that these two parameters of the ionospheric response depend on the season and geographical latitude. The presence of two phases, positive and negative, of the ionospheric response imposed the implementation of two different time delay constants in order to properly describe the two different delayed reactions. The seasonal dependence of the TEC response to geomagnetic storms is characterized by predominantly positive response in winter with a short (usually ∼5–6 h) time delay as well as mainly negative response in summer with a long (larger than 15 h) time delay. While the TEC response in March and October is more close to the winter one the response in April and September is similar to the summer one.     

基于自抗扰控制的机翼受损飞机姿态控制器设计

飞机结构受损会导致飞机质量、重心和气动特性发生突变、对称性破坏以及较强的运动耦合,严重影响飞行安全.以机翼受损飞机为研究对象,采用质量微元法建立重心偏移飞机的动力学模型,分析其动态特性,并设计了基于自抗扰控制的姿态控制器.仿真结果表明,自抗扰控制器表现出良好的控制性能,针对突然受损情况设计的控制器具有较强的鲁棒性,能实时补偿结构受损引起的干扰力矩,快速准确地跟踪控制指令.     

微型导弹蒙特卡洛打靶仿真研究

导弹在实际作战飞行中,由于环境因素和系统误差的影响,其姿态和弹道的参数与理想弹道的参数存在偏差.对一种微型导弹在飞行中受到的多种随机干扰因素进行分析,给出了各种干扰因素的处理方法,建立了导弹六自由度弹道蒙特卡洛打靶仿真模型.通过蒙特卡洛计算机打靶仿真,对导弹的命中精度进行研究,验证了仿真模型的准确性和仿真方法的有效性.