Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

污水处理装置在冶金行业中的应用

对污水处理装置的技术参数、技术要求及设计方案的选择、工作原理做了进一步的阐述。对工业循环冷却水的处理有实际指导意义。     

新建他激反激变换器方程及其解析解

引用文 [1 ]的思路 ,寻找他激反激变换器的运行状态特征参量 (磁通密度增量、剩余磁通密度和占空比 )与构成这一变换器的基本物理参量之间的函数关系。首先阐明由于频率给定 ,他激反激变换器稳态运行时会出现无剩磁工况和有剩磁工况两种。而后确定这两种工况下 ,磁路等效储能空间单位体积每个周期的传输能量 (命名为“磁能传输密度”)。在这基础上 ,分别建立和解出他激反激变换器在不同工况下稳定运行时应满足的方程。最后根据所得的解析解阐明这种变换器的特性。本文和文 [1 ],以磁路分析为基础建立了一种新的反激变换器理论。     

Investigation of the differential rotation of the large-scale magnetic elements for the solar activity cycles 20 and 21

The differential rotation of the patterns of the large-scale solar magnetic field during solar activity cycles 20 and 21 is investigated. Compact magnetic elements with the polarity of the general solar magnetic field have larger speed of rotation than the elements with the opposite polarity. The surface of the Sun was divided by 10°-zones. In all of them the average rotation rate of the magnetic elements with negative polarity is little higher than that of the magnetic elements with positive polarity, except for 50°-zone of the south hemisphere and at the 10° latitude of the north hemisphere.

The rates of differential rotation for large-scale magnetic elements with negative and positive polarities have similar behavior for both cycles of the solar activity.

The rotation rate varies at polarity reversal of the circumpolar magnetic fields. For the cycle No 20 in 1969–1970 the threefold reversal took place in the northern hemisphere and variations of rotation rate can be noticed for magnetic elements both with positive and negative polarity for each 10°-zone in the same hemisphere.     

Reconstructed 3-d magnetic field structure and hard X-ray two ribbons for 2000 Bastille-day event

The Bastille-day event in 2000 produced energetic 3B/X5.6 flare with a halo CME, which had great geo-effects consequently. This event has been studied extensively and it is considered that it follows the two-ribbon flare model. The flare/CME event was triggered by an erupting filament and TRACE observations showed formation of giant arcade structures during the flare process. Hard X-ray (HXR) two ribbons revealed for the first time in this flare event (Masuda et al., 2001). The reconstruction of 3-D coronal magnetic fields revealed a magnetic flux rope structure, for the first time, from extrapolation of observed photospheric vector magnetogram data and the flux rope structure was co-spatial with portion of the filament and a UV bright lane (Yan et al., 2001a, 2001b). Here we review some recent work related to the flux rope structure and the HXR two ribbons by comparing their locations and the flux temporal profiles during the flare process so as to understand the energy release and particle accelerations. It is proposed that the rope instability may have triggered the flare event, and reconnection may occur during this process. The drifting pulsation structure in the decimetric frequency range is considered to manifest the rope ejection, or the initial phase of the coronal mass ejection. The HXR two ribbons were distributed along the flux rope and the rope foot points coincide with HXR sources. The energy dissipation from IPS observations occurred within about 100 R _⋅ is consistent with the estimate for the flux rope system. This revised version was published online in August 2006 with corrections to the Cover Date.     

一个简单有效的磁记录纠错系统

介绍一种简单有效的纠错编码方法 ,用于资源卫星高密度数字磁记录器 ,使误码率由 10 -6降低到 10 -11,同时介绍它的基本工作原理、实现方案及试验结果。     

线性有源网络拓扑分析的k-连接组法

本文提出了Coates图k-连接组的概念,建立了求解线性有源网络不定导纳矩阵一般k阶余因式的k-连接组拓扑公式,得到了线性有源网络拓扑分析的一种新方法——k-连接组法。与正(负)根有向树法相比,这种方法需找的子图和结果中的冗余项都比较少。     

中国地区MAGSAT卫星标量和矢量磁异常图

使用MAGSAT卫星资料,编绘中国及邻近地区的卫星磁异常图(10°N—60°N,70°E—140°E)。为了提取地壳异常场,必须从观测资料中消除主磁场、磁层场,感应场和电离层场。本文选用GSFC(12/83)地磁场模型,消除主磁场,磁层场和感应场。为了进一步消除电离层场的影响,改善相邻轨道磁异常的一致性,用纬度的二次多项式拟合每一条轨道的初始地壳异常,并从初始地壳磁异常值减去这一拟合值,从而获得最后的地壳异常值(△X,△Y,△Z,△F)。把研究地区分成1°×1°的网格,将每个网格内的磁异常进行平均,以获得网格中心点的异常值。根据这些网点值绘制中国及邻近地区的卫星标量和矢量磁异常图。等值线间隔为2nT。为了检验卫星磁异常图的可靠性,将卫星资料分成黎明组、黄昏组和联合组,分别进行处理和绘制卫星磁异常图。结果表明:根据上述资料绘制的卫星磁异常图有很好的一致性。中国地区的卫星磁异常值位于—10nT—10nT。卫星磁异常与区域构造特征有较好的一致性;塔里木地台、扬子地台和中朝地台是正磁异常区,西藏高原是负磁异常区。卫星磁异常反映出下地壳磁化强度的横向不均匀性。     

强场脉冲充磁退磁装置

介绍了充电电容器通过磁路瞬时放电产生强磁场的原理 ,选择回路参数可实现高矫顽力类永磁材料的充磁或者退磁 ,介绍了所研制的脉冲充磁退磁装置的性能。     

定常对称背涡流态下细长体绕流结构的演变

应用数值计算的方法模拟了细长体截面绕流结构的演变过程.指出随着细长体背涡的发展,导致截面流场的拓扑结构发生变化,会出现一种临界流动状态.并用微分方程的定性理论分析了此时流场中出现的一种高阶奇点.这种高阶奇点的指数为-3/2,它是结构不稳定的,稍有扰动就会产生分叉,使流场的拓扑结构发生变化.得出了定常对称背涡流态下细长体的空间绕流结构图.