Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task

A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA), which combines the central force optimization (CFO) algorithm with the genetic algorithm (GA). Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time sys-tems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP) algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time per-formance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.     

航空装备成本监控策略探讨

围绕航空装备研制过程,结合航空装备行业特点,针对航空装备研制成本监控中存在的问题,探讨了成本监控应对策略。科学开展成本监控,进一步优化装备采购成本,可提高军费使用效益。     

Collective trajectory planning for satellite swarm using inter-satellite electromagnetic force

The inter-satellite electromagnetic force presents several significant advantages that help to expand its space applications to the multi-satellite missions gradually. For a satellite swarm, whether the electromagnetic force is applied to enable collective maneuver and how to provide a better performance and broader applications for such swarm highlight an important issue. Considering the trajectory planning problem of satellite swarm using inter-satellite electromagnetic force, a behavior-based collective planning scheme is developed by designing the desired velocity of each satellite as the sum of several different behavioral contributions, which are used to represent the internal and external interactions of the swarm. Therefore, the desired configuration is associated with the equilibrium points of the pre-designed kinematical field. Furthermore, the trajectory planning problem could be translated to a parameter optimization problem considering the swarm dynamics with inter-satellite electromagnetic force. Then based on the analysis of the applicability and advantages triggered by integrating the inter-satellite electromagnetic force into such behavior-based planning scheme, the collective trajectory planning problem with sole electromagnetic force actuation and hybrid actuation with thruster are studied respectively. Numerical simulations are carried out to verify the validity of the proposed algorithm, and the satellite swarm performance enhanced by inter-satellite electromagnetic force is discussed at last.     

无线电陆空通话英语特点与教学策略

英语作为世界范围内使用最广泛的语言,在各国的航空活动中得到了普遍应用。民航无线电陆空通话英语（简称陆空通话）是按照国际民航组织（ICAO）《无线电通话手册》和《中国民用航空无线电通话手册》为依据而制定的,它是一门特殊的行业英语,是半人造语言。无线电陆空通话英语的语音具有高度清晰性,词汇具有专业性和单一意旨性,句子具有祈使性和省略性的特点。针对这些特点,提出了相应的教学策略：即语境教学法与听说教学法的融合。     

瞬态热传导问题的隐式EBE并行算法

结合有限元法,研究了ＥＢＥ策略在热传导问题并行计算方面的应用,给出了瞬态热传导问题的隐式ＥＢＥ并行算法。根据所用ＣＰＵ个数并行计算单元刚度矩阵,而总刚度矩阵Ｋ不需要组装,仅在“单元级”上进行各种计算。就模型实验规模１０２４阶而言,机器存存储量比传统算法降低了４０％左右,在拥有共享内存的并行计算机Ｃｈａｌｌｅｎｇｅ上的数值实验表明,问题的规模越大,并行效率越高,所给算法非常有效。     

基于压缩感知的信源个数与信号参数估计算法

信源个数与信号参数估计是盲信号处理的关键环节,对后续信号的侦察处理意义重大。针对当前盲信号信源个数与信源参数估计研究割裂的问题,提出了一种联合估计算法。通过分析信号的稀疏系数在不同测量矩阵相同稀疏字典下位置相同的特点,提高了信源个数和信号参数的估计精度,实现算法的自适应控制;通过数理分析确定了多级搜索策略的最优级次,大大降低了稀疏字典的原子数目。仿真结果表明：算法在一定信噪比下能够实现信源个数和信号参数的有效估计;信源个数和信号参数的估计精度随着压缩比的降低而逐渐提高,随着信噪比的提高而逐步增强;噪声对信源个数和信号参数估计精度的影响很大,尤其是低信噪比下;第2个信源载波频率和调频斜率的估计误差明显高于第1个信源参数的估计误差。     

直接力与推力矢量复合控制技术研究

随着飞行器控制技术的发展,直接力、推力矢量等控制执行技术在飞行器控制领域得到广泛应用。直接力与推力矢量都具有对飞行器姿态控制效率高、精度好等优点,但推力矢量对姿态控制的响应速度不如直接力响应快,而直接力长时间开启会消耗大量燃料。结合直接力与推力矢量的控制特点,设计了直接力与推力矢量复合控制策略。以某飞行器为研究对象,建立了飞行器的动力学与运动学模型以及直接力与推力矢量模型,提出了直接力/矢量推力复合控制技术的分配策略。经仿真验证表明,复合控制方法及控制分配策略使控制系统具有较快的响应速度和控制精度。     

Distributed coordinated control scheme of UAV swarm based on heterogeneous roles

This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV) swarm to achieve formation control. First, the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC). Then, the effect of heterogeneous roles including leader, coordinator and follower is discussed, and the role-based cost functions are developed to improve the performance of coordinated control for...     

静止卫星倾角控制的最优策略

本文以倾角矢量作为无奇点轨道要素,建立静止卫星轨道倾角控制的工程实用数学模型,进而导出南北定点捕获和南北位置保持两种情况下统一的倾角控制燃料最优策略。本文结果适用于南北位置保持精度为0.05°至0.1°的任务,并且已经应用于我国实用通信广播卫星的飞行控制。     

航天飞行器制导方法综述

介绍了临界极值的概念 ,在分析反馈策略的基础上 ,给出了一种次优反馈控制律。提出并讨论了 3种数学方法 :次优反馈策略、重复纠正法和连续重复纠正法。其中前两种方法已在航天飞行器的制导系统中得到了验证