适于多自由度自适应机械人的可自现冗余的控制结构

多自由度机器人在未知或动态环境中的动作控制一般都采取混联方案。这种方案由数个自适应控制器构成,而发现这些服务于子任务的子控制器是否存在冗余是非常重要的。本文提出一种能够自动地发现自身冗余的子自适应控制器,并给出了初步的仿真结果,以证明该方案的有效性。     

纯磁控微小卫星姿态控制研究

针对微小卫星速率阻尼、姿态捕获及三轴稳定的不同姿态控制模式,设计了采用纯磁控的控制律.首先以轨道坐标系为参考建立卫星模型,然后在卫星能量分析和Lyapunov稳定方法基础上,应用B-dot控制进行速率阻尼,给出了全局稳定能量控制来进行姿态捕获和三轴稳定控制的新方法,同时根据线性化的卫星模型,设计了常系数LQG控制律.仿真结果表明,B-dot可以有效地进行速率阻尼,能量控制策略适用于大角度姿态捕获和三轴稳定,稳定控制时LQG与能量控制相比具有更高的精度,但稳定度略差.      

基于 FPGA的终端一体化 1553B总线协议测试系统

MIL-STD-1553B(以下简称“1553B”)总线在飞机的航电系统中作用重要。为了摆脱对国外 1553B协议芯片的依赖,研究设计了 1款基于 FPGA的终端一体化 1553B总线协议测试系统。系统采用模块化的设计方法,使用 Verilog语言进行代码编写,设计实现了 4路 1553B总线,每路实现了 BC、RT、BM终端一体化,完整地实现了 1553B协议的功能,并且实现了 10种类型的故障注入。通过上位机测试对该系统进行了板级验证,测试结果表明:本设计实现了预期功能,相对于功能单一的 1553B协议芯片,该系统极大提高了应用场景的灵活性和可靠性。     

Feedback control of boundary layer Tollmien-Schlichting waves using a simple model-based controller

The attenuation of spatially evolving instability Tollmien-Schlichting (T-S) waves in the boundary layer of a flat plate with zero pressure gradients using an active feedback control scheme is theoretically and numerically investigated. The boundary layer is excited artificially by various perturbations to create a three-dimensional field of instability waves. Arrays of actuators and sensors are distributed locally at the wall surface and connected together via a feedback controller. The key elements of this feedback control are the determination of the dynamic model of the flat plate boundary layer between the actuators and the sensors, and the design of the model-based feedback controller. The dynamic model is established based on the linear stability calculation which simulates the three-dimensional input-output behaviour of the boundary layer. To simplify the control problem, an uncoupled control mode of the dynamic model is made to capture only those dynamics that have greatest influences on the input-output behaviour. A Proportional-Integral-Derivative (PID) controller, i.e. a lead-lag compensator, combining with a standard Smith predictor is designed based on the system stability criterion and the specifications using frequency-response methods. Good performance of the feedback control with the uncoupled control mode is demonstrated by the large reduction of the three-dimensional disturbances in the boundary layer. This simple feedback control is realistic and competitive in a practical implementation of T-S wave cancellation using a limited number of localised sensors and actuators.     

直流力矩电机PWM驱动卡的设计

针对某型直流力矩电机研制了基于PWM控制方式的驱动卡,对驱动系统的组成与电路结构进行了详细介绍,重点讨论了HIP4080A芯片的应用及其外围电路。试验表明,该驱动卡能有效改善系统的低速平稳性,有利于实现高性能的速率转台。     

高速大容量存储系统的研究和设计

航空电子系统的飞速发展对机载存储设备提出了大容量、高带宽、可扩展的新要求,具有高带宽存储访问速度的大容量存储组件,已逐渐成为新一代航电系统不可缺少的部分.在立足于提高大容量存储器存储访问速度的基础研究上,提出了提高存储访问速度的流水线技术及FPGA实现的NAND Flash控制器技术,同时对方案进行了可行性分析,对设计进行了功能仿真验证.     

PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

A proportional integral derivative （PID） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.     

航空发动机三冗余数字控制器软件设计

所设计的控制器由3个完全相同的控制通道构成,每个控制通道的硬件系统由2片TI公司的TMS320F2812DSP及其外围电路组成,其中的1片主要用于控制律计算、控制量输出,同时兼顾部分数据采集,另1片用于余度数据管理、数据采集以及部分控制量输出;软件系统是在TI公司的集成开发环境CCS2.1平台上用C 代码编写的。2套DSP软件程序由时序逻辑及任务调度、数据采集、通信、余度数据管理、控制律计算、结果输出和过程数据保存等模块,经优化组合而成。该系统较单冗余和双冗余系统具有更高的可靠性。     

基于DSP和FPGA的静电悬浮加速度计控制器设计

针对静电悬浮加速度计高稳定悬浮控制和极微小加速度信号处理需求，设计了一种基于数字信号处理（digital signal processor,DSP)和现场可编程门阵列（field programmable gate array,FPGA)的加速度计控制器。该控制器采用DSP作为主控芯片，FPGA为辅助控制芯片。基于加速度计的工作特性，设计了一种加速度计工作模式切换控制策略，可根据加速度计当前工作状态，自动或者手动切换工作模式。基于加速度计的工作原理和测量需求，设计开发了基于FPGA的比例、积分、微分(proportional integral derivative,PID)控制算法和有限冲击响应(finite impulse response,FIR)滤波算法。为验证该控制器的控制性能，开展了地面高压悬浮实验。结果表明，该控制器及控制算法可以快速准确地实现加速度计稳定悬浮控制和模式切换，并且可以实现软件在轨重构和控制参数在轨更新，为后续重力场探测、空间引力波探测以及自主导航等提供了工程参考依据。     

Distributed fixed-time attitude coordinated control for multiple spacecraft with actuator saturation

This paper investigates the distributed fixed-time attitude coordinated control problem for multiple spacecraft subject to actuator saturation under the directed topology. First, a distributed fixed-time observer is presented for each follower spacecraft to estimate the leader spacecraft’s states. Compared with the commonly used fixed-time observer, the settling time of the proposed fixed-time observer can be easily adjusted by some free design parameters. Next, a distributed fixed-time control ...