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Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings. Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter (IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System (SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method. 相似文献
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Recently, unmanned aerial vehicles (UAVs) acting as relay platforms have attracted considerable attention due to the advantages of extending coverage and improving connectivity for long-range communications. Specifically, in the scenario where the access point (AP) is mobile, a UAV needs to find an efficient path to guarantee the connectivity of the relay link. Motivated by this fact, this paper proposes an optimal design for beamforming (BF) and UAV path planning. First of all, we study a dual-hop amplify-and-forward (AF) wireless relay network, in which a UAV is used as relay between a mobile AP and a fixed base station (BS). In the network, both of the AP and the BS are equipped with multiple antennas, whereas the UAV has a single antenna. Then, we obtain the output signal~to-noise ratio (SNR) of the dual-hop relay network. Based on the criterion of maximizing the output SNR, we develop an optimal design to obtain the solution of the optimal BF weight vector and the UAV heading angle. Next, we derive the closed-form outage probability (OP) expression to investigate the performance of the dual-hop relay network conveniently. Finally, computer simulations show that the proposed approach can obtain nearly optimal flying path and OP performance, indicating the effectiveness of the proposed algorithm. Furthermore, we find that increasing the antenna number at the BS or the maximal heading angle can significantly improve the performance of the considered relay network. 相似文献
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高速飞行器热结构工作时变模态参数辨识 总被引:1,自引:0,他引:1
高速飞行器由于其很高的飞行速度而无可避免地受到气动加热作用的影响,进而引起结构特性的时变。采用理论或有限元方法(FEM)进行数值分析,难以获取反映结构在飞行(工作)状态下的真实模态参数。通过辨识获取高速飞行器热环境下的时变结构模态参数是一项十分具有挑战性的任务。针对此问题,引入参数化时频域的最大似然方法,对气动加热作用下的高速飞行器升力面结构的时变模态参数进行了辨识。通过模拟真实飞行状态的数值算例研究,说明参数化时频域的最大似然方法能够很好地辨识出低信噪比(SNR)情况下的模态频率和模态振型,验证了参数化时频域最大似然方法适用于具有显著时变特征的高速飞行器热结构的时变结构模态参数辨识,可为将来相关的工程研究和应用提供良好的理论支持。 相似文献
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本文采用近似的激波关系、球锥体压力分布、平衡气体状态方程、边界层厚度计算公式及转捩准则等,按照流管法计算了4种再入飞行器的外流转捩雷诺数和转捩距离,并给出了高硅氧、碳石英、碳碳球锥模型的转捩雷诺数范围,对再入飞行器和模型的计算结果作了分析和比较。 相似文献
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《中国航空学报》2020,33(12):3423-3436
In practical combat scenario, the cooperative intercept strategies are often carefully designed, and it is challenging for the hypersonic vehicles to achieve successful evasion. Based on the analysis, it can be found that if several Successive Pursuers come from the Same Direction (SPSD) and flight with a proper spacing, the evasion difficulty may increase greatly. To address this problem, we focus on the evasion guidance strategy design for the Air-breathing Hypersonic Vehicles (AHVs) under the SPSD combat scenario. In order to avoid the induced influence on the scramjet, altitude and speed of the vehicle, the lateral maneuver and evasion are employed. To guarantee the remnant maneuver ability, the concept of specified miss distance is introduced and utilized to generate the guidance command for the AHV. In the framework of constrained optimal control, the analytical expression of the evasion command is derived, and the constraints of the overload can be ensured to be never violated. In fact, by analyzing the spacing of the pursers, it can be classified whether the cooperative pursuit is formed. For the coordination-unformed multiple pursers, the evasion can be achieved lightly by the proposed strategy. If the coordination is formed, the proposed method will generate a large reverse direction maneuver, and the successful evasion can be maintained as a result. The performance of the proposed algorithms is tested in numerical simulations. 相似文献
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为研究水下超声速过膨胀燃气射流的流场特性,在压力水筒中开展了大扩张比锥形喷管的固体火箭发动机水下点火实验,并基于雷诺时均Navier-Stokes(RANS)方法和流体体积(VOF)模型进行数值求解,分析了过膨胀燃气射流与水介质的相互作用过程。研究表明:超声速过膨胀燃气建立射流通道后,射流核心区长度随喷管落压比的减少而减少;射流核心区剧烈振荡,表现为高频的膨胀和收缩,振荡频率随喷管落压比的减小而增加,范围为100~200 Hz;射流边界不断振荡,并伴随波系结构变化,当过膨胀程度较大时,激波进入喷管使其发生流动分离现象,流动分离点周期性往复移动;分离区内压力脉动没有显著的特征频率,主要集中在100~600 Hz的宽频带,锥形喷管水下流动分离的简易判据为喷管出口压力不低于环境背压的0.44倍。 相似文献
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为弥补水下运载器(AUV,Autonomous Underwater Vehicle)中传统舵面控制机构的低速控制的不足,改善其操纵性能,引入单框架控制力矩陀螺(SGCMG,Single Gimbal Control Moment Gyro)作为控制机构进行姿态稳定与控制.把AUV简化为刚体,加入SGCMG,考虑水下环境的特点,建立基于SGCMG的AUV动力学模型,并仿真分析AUV的动力学、姿态运动、SGCMG的框架运动以及环境之间的相互作用.仿真结果说明:基于SGCMG控制的AUV的姿态机动快速、准确,低速性能理想,为操纵律设计及姿态控制算法研究提供基础. 相似文献