Virtual target guidance-based distributed model predictive control for formation control of multiple UAVs

The paper proposes a Virtual Target Guidance (VTG)-based distributed Model Predictive Control (MPC) scheme for formation control of multiple Unmanned Aerial Vehicles (UAVs). First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem (FHOCP) can be solved by swarm intelligent optimization algorithm. Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance. Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function. Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.     

ATC3000航空地图制作软件及其关键技术分析

针对ATC3000空管自动化系统的运行要求以及飞行管制区现场实际工作的需要,介绍了ATC3000航空地图制作软件的关键技术。文中分析了该软件的结构以及在Windows系统中使用Delphi开发的具体实现技术。     

Robust control for an unmanned helicopter with constrained flapping dynamics

In this paper, a neural network based adaptive prescribed performance control scheme is proposed for the altitude and attitude tracking system of the unmanned helicopter in the presence of state and output constraints. For handling the state constraints, the barrier Lyapunov function and the saturation function are employed. And, the prescribed performance method is used to deal with the flapping angle constraints for the unmanned helicopter. It is proved that the proposed control approach can ensure that all the signals of the resulting closed-loop system are bounded, and the tracking errors are within the prescribed performance bounds for all time. The numerical simulation is given to illustrate the performance of the proposed scheme.     

Period selection for integrated controller tasks in cyber-physical systems

Performance optimization of cyber-physical systems(CPS)calls for co-design strategies that handle the issues in both computing domain and physical domain.Periods of controller tasks integrated into a uniprocessor system are related to both control performance and real-time schedulability analysis simultaneously.System performance improvement can be achieved by optimizing the periods of controller tasks.This paper extends an existing model to select task periods in real-time for CPS with fixed priority controller tasks scheduled by rate-monotonic algorithm.When all the tasks can be integrated,the analytic solution of the problem is derived by using the method of Lagrange multipliers and gradient descent method is evaluated to be suitable online.To further deal with the condition that the system is overloaded,an integrated method is proposed to select periods of tasks online by selecting a subset of tasks first and then optimizing the periods for them.Experimental results demonstrate that our method yields near-optimal result with a short running time.     

智能化交流磁化电流控制器设计中的若干问题

本文对设计智能化交流磁化电流控制器过程中所必须解决的非正弦交流磁化电流的测量、退磁速率的线性化等问题进行了讨论，详细分析了磁化回路中电流与触发角及负载功率因数角之间的关系，并在此基础上提出相应的解决方案，同时叙述了以单片机技术为核心的交流磁化电流控制器的组成及工作原理。对进一步提高我国磁粉探伤设备的技术水平具有一定的促进意义。     

载人火星探测进展及其EDL过程GNC关键技术

随着火星探测技术的不断发展和探测任务的不断推进，载人火星探测在未来将会成为火星探测的重要手段。首先，回顾了无人火星探测任务的发展历程，对比分析了部分无人火星探测器进入、下降与着陆（EDL）过程的参数。然后，结合无人火星探测、载人月球探测和载人航天再入过程，梳理了载人火星探测的特点及需求，系统地总结了前苏联/俄罗斯和美国的载人火星探测研究进展以及技术储备。接着，归纳了载人火星探测的体系构成、集结方式和主要的技术挑战。最后，概括了载人火星EDL过程面临的难题，重点阐述了EDL的导航、制导与控制（GNC）关键技术。     

差压铸造控制系统的研究

采用高响应数字化气动元件——组合式数字阀，研制开发差压铸造液面加压控制系统，研究系统控制算法及控制精度影响因素。结果表明：采用PCM控制算法控制数字阀的开度及开启时间提高了系统的响应速度和控制精度，在生产中有效提高了铝合金性能。     

HEDM－CMDB推进剂燃烧性能的理论预测

利用建立不久的双基系平台推进燃烧模型，对几种ＨＥＤＭ加入平台推进剂后的燃烧性能进行了理论计算。结果表明：在所计算的几种ＨＥＤＭ中，ＨＮＨＡＡ最有利于提高燃速；ＣＬ－２０最有利于降低燃速压力指数；ＣＬ－２０作为平台推进剂的高能填料综合性能最好。     

控制增稳系统与机械操纵系统交联仿真研究

首先建立了控制增稳系统（ＣＡＳ）与机械操纵系统（ＭＣＳ）的交联耦合模型，通过对某机飞行操纵系统数学仿真与铁乌台架实测曲线比较，验证了它的正确性；然后对某机中存在的交联振荡进行了分析，通过分析发现了影响振荡的最关键的系统参量为操纵系统后段质量和ＣＡＳ控制权限；最后提出了减缓振荡的办法，找出了产生振荡的根源。