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.     

全机静力试验控制软件的协调自动控制加载方法

本文介绍了在全机静力试验利用计算机自动控制进行协调加载时,控制软件如何控制飞机姿态;试验加载载荷分配的方法;在各个试验阶段加载分别采取什么样控制方法及在试验过程中人工干予措施等。     

直11型机可靠性初步评估

本文根据直11型机外场故障信息对直11型机的故障进行了分析,建立了直11型机的可靠性增长模型,对该机的可靠性进行了初步评估。     

无人平台SLAM技术研究进展

作为一种定位与感知方法,同时定位与建图(SLAM)是实现无人平台导航制导与控制的关键技术。阐述了SLAM技术的发展历史、研究现状与应用场景,分析并介绍了SLAM原理及其算法实现。此外,总结了若干SLAM领域的研究热点,并对SLAM技术的发展趋势进行了展望。     

Robust adaptive compensation control for unmanned autonomous helicopter with input saturation and actuator faults

This paper studies a robust adaptive compensation Fault Tolerant Control(FTC) for the medium-scale Unmanned Autonomous Helicopter(UAH) in the presence of external disturbances,actuator faults and input saturation.To improve the disturbance rejection capacity of the UAH system in actuator healthy case, an adaptive control method is adopted to cope with the external disturbances and a nominal controller is proposed to stabilize the system.Meanwhile, compensation control inputs are designed to reduce the negative effects derived from actuator faults and input saturation.Based on the backstepping control and inner-outer loop control technologies, a robust adaptive FTC scheme is developed to guarantee the tracking errors convergence.Under the presented FTC controller, the uniform ultimate boundedness of all closed-loop signals is ensured via Lyapunov stability analysis.Simulation results demonstrate the effectiveness of the proposed control algorithm.     

均等通信时滞下多UAV协同编队控制

多无人机(UAV)系统编队控制中,时滞是无法回避的问题,研究时滞对多UAV编队形成和系统稳定性的影响,具有重要理论价值。重点研究均等通信时滞下多UAV协同编队控制问题,并获得系统的稳定性条件。首先,设计具有均等通信时滞的协同编队控制律,得到多UAV编队系统的闭环时滞状态方程;在恒定均等时滞下,考虑到系统模型不确定性,基于线性矩阵不等式(LMI)理论得到系统的时滞依赖稳定性条件;最后,进行仿真实验,结果表明多UAV编队系统是稳定的,期望的编队队形能够形成并保持。     

Developing an engineering-statistical model for estimating aerodynamic coeffcients of helicopter fuselage

The design of the geometric shape of a helicopter fuselage poses a serious challenge for designers. The most important parameter in determining the shape of the helicopter fuselage is its aerodynamic coefficients. These coefficients are determined using two methods:wind tunnel test and computational fluid dynamics (CFD) simulation. The first method is expensive, time-consuming and limited. In addition, estimates in regions away from data can be poor. The second method, due to the limitations of numerical solution, the number of nodes and the used solution, is often inaccurate. In this paper, with the aim of accelerating the design process and achieving results with reasonable engineering accuracy, an engineering-statistical model which is useful for estimating the aerodynamic coefficients was developed, which mitigated the drawbacks of these two methods. First, by combining CFD simulation and regression techniques, an engineering model was pre-sented for the estimation of aerodynamic coefficients. Then, by using the data from a wind tunnel test and implementation of statistical adjustment, the engineering model was modified and an engineering-statistical model was obtained. By spending less time and cost, the final model provided the aerodynamic coefficients of a helicopter fuselage at the desired angles of attack with reasonable accuracy. Finally, three numerical examples were provided to illustrate the application of the pro-posed model. Comparative results demonstrate the effectiveness of the engineering-statistical model in estimating the aerodynamic coefficients of a helicopter fuselage.     

液态成型复合材料在直升机上的应用

自20世纪60年代以来,高性能树脂基复合材料在直升机结构中的应用获得了迅速发展,传统的预浸料-热压罐成型复合材料在直升机结构上已取得了大量应用,对结构减重、性能提升起到了显著作用。但是,随着复合材料技术的发展以及直升机对低成本、整体成型技术的强烈需求,低成本液态成型复合材料逐渐在直升机上获得应用,其应用水平及应用效果也不断提升。以RTM、VARI两种典型的液态成型技术为主综述了液态成型复合材料在直升机上的应用,并对新型的液态成型工艺进行了介绍,以期能为直升机设计人员和复合材料工艺人员提供选材及工艺方案方面的技术支撑。     

一种针对运动目标的飞行器航迹搜索算法

鉴于目前大部份的航迹规划方法研究都局限于静止目标，提出了一种针对运动目标的飞行器航迹规划方法。该算法借鉴自学习实时A*搜索的思想，将飞行器的运动与航迹搜索结合在一起，可以对目标的每一步移动实时作出反映。通过在限定的时间内扩大寻优范围，该算法不但可以满足实时在线应用的要求，而且可以有效地避免不可行区域，并使生成的航迹更加优化。实验结果表明，本文算法能有效地处理各种航迹约束，实时地生成满意的三维航迹。     

变论域模糊控制在无人飞行器马赫数控制中的应用研究

针对无人飞行器的控制要求,提出了一种增量式变论域模糊智能控制算法。该算法具有调节裕度大、鲁棒性强的特点,适用于非线性控制系统,解决了无人飞行器巡航马赫数缓慢升高不能稳定跟踪目标值的问题。通过模拟飞行轨迹的半实物仿真试验,验证了模糊智能控制算法的控制效果,试验结果表明,通过采用模糊控制方法大大提高飞行马赫数控制的动态性能,满足无人飞行器控制系统设计要求,取得了较好的控制效果。 