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Dynamical Modeling and Dynamic Characteristics Analysisof a Coaxial Dual-Rotor System

Journal of Dynamics, Monitoring and Diagnostics 2024年第2期3卷 99-111页

作者： Yubin Yue Hongjun Wang Shenglun Zhang China Academy of Machinery Science and Technology Group Co. Ltd.BeijingChina School of Mechanical and Electrical Engineering Beijing Information Science and Technology UniversityBeijingChina Key Laboratory of Modern Measurement and Control Technology Ministry of EducationBeijing Information Science and Technology UniversityBeijingChina Beijing International Science and Technology Cooperation Base of High-end Equipment Intelligent Perception and Control Beijing Information Science and Technology UniversityBeijingChina

The dual-rotor structure serves as the primary source of vibration in aero-engines. Understanding itsdynamical model and analyzing dynamic characteristics, such as critical speed and unbalanced response, arecrucial for rotor system dynamics. Previous work introduced a coaxial dual-rotor-support scheme for aeroengines,and a physical model featuring a high-speed flexible inner rotor with a substantial length-to-diameter ratiowas designed. Then a finite element (FE) dynamic model based on the Timoshenko beam elements and rigid bodykinematics of the dual-rotor system is modeled, with the Newmark method and Newton–Raphson method used forthe numerical calculation to study the dynamic characteristics of the system. Three different simulation models,including beam-based FE (1D) model, solid-based FE (3D) model, and transfer matrix model, were designed tostudy the characteristics of mode and the critical speed characteristic of the dual-rotor system. The unbalancedresponse of the dual-rotor system was analyzed to study the influence of mass unbalance on the rotor system. Theeffect of different disk unbalance phases and different speed ratios on the dynamic characteristics of the dual-rotorsystem was investigated in detail. The experimental result shows that the beam-based FE model is effective andsuitable for studying the dual-rotor system.

关键词： coaxial dual-rotor system dynamical modeling dynamic characteristics analysis rotor dynamics

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A camera calibration method suitable for complex illumination conditions

A camera calibration method suitable for complex illuminatio...

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Haifeng Fan, Xuan Yang, Pan Liu, Bingyou Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China Research Institute of Harbin Institute of Technology The Wuhu Robot Industry Technology Wuhu China The Dahl Intelligent Control Co. Ltd. Wuhu China

ISBN: (纸本)9781665465335

Images in weak or strong light usually have problems of uneven illumination and low contrast. Obtaining high-quality images is an important guarantee for good camera calibration results. In order to solve the problem of low camera calibration accuracy under complex lighting conditions, an image enhancement method based on Retinex under complex lighting conditions is proposed, and camera calibration is studied. Firstly, the color enhancement and color constancy of the image are realized based on the MSR algorithm. Then, the calibration plate image is processed by Gaussian homomorphic filtering to improve the image contrast and other indicators, and the final calibration plate image is obtained through image segmentation and bilateral filtering combined with Otsu algorithm. Finally, based on Zhang Zhengyou's calibration method, comparative experiments are carried out under weak illumination, uneven illumination and strong illumination conditions. The experimental results show that the algorithm enhances the details of the calibration plate image under complex lighting conditions and improves the accuracy of camera calibration under complex lighting conditions. © 2022 IEEE.

关键词： Calibration

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A Visual SLAM Algorithm Based on Dual Attention Semantic Segmentation

A Visual SLAM Algorithm Based on Dual Attention Semantic Seg...

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Chinese Automation Congress (CAC)

作者： Pengpeng Han Hebao Chen Mengyuan Chen School of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

Aiming at the problem that visual SLAM algorithms have difficulty in rejecting occluded dynamic objects in dynamic environments, proposed a Dual Attention semantic Segmentation algorithm for visual SLAM (DAS-SLAM). The algorithm enhances feature extraction by improving the deep backbone network, and introduces spatial attention mechanism and channel attention mechanism to build the scene semantic dependency of features to accurately identify occluded objects. The region marked by the instance segmentation uses a combination of multi-view geometry and dynamic thresholding to determine the motion state of objects in the region, eliminating the influence of dynamic targets in the scene on SLAM localization accuracy. The results show that the rootmean-square error of the trajectory of the algorithm is reduced by 36% compared with the DS-SLAM algorithm, which effectively improves the accuracy of camera pose estimation and map construction and demonstrates more robustness.

关键词： Visualization Technological innovation Simultaneous localization and mapping Heuristic algorithms Motion segmentation Semantic segmentation Dynamics

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Finite-horizon resilient state estimation for complex networks with integral measurements from partial nodes

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Science China(Information Sciences) 2022年第3期65卷 167-181页

作者： Nan HOU Jiahui LI Hongjian LIU Yuan GE Hongli DONG Artificial Intelligence Energy Research Institute Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of EducationAnhui Polytechnic University School of Electrical Engineering Anhui Polytechnic University

This paper proposes a finite-horizon state estimation method for a kind of complex network that suffers from randomly occurring gain variations. The method involves utilizing integral measurements from a portion of nodes in such complex networks. Integral measurements are carried out to characterize time delays that occur in signal acquisition together with real-time signal processing. Measurements from only partial nodes reflect the fact that signals of several sensors are unacquirable. A Gaussian random variable is utilized to depict the random appearance of gain variations during the practical implementation of estimators. The aim of this paper is to construct finite-horizon resilient estimators for complex networks in view of integral measurements from a portion of nodes that fulfill the specified H∞ performance demand involving a specified disturbance attenuation level. Necessary and sufficient conditions are put forward to ensure that such ideal estimators exist by employing stochastic analysis as well as using the completing squares method. The gain parameters of the finite-horizon estimators are expressed by adopting the Moore-Penrose pseudoinverse and acquired through solving the solutions to a group of coupled backward recursive Riccati difference equations with constraint conditions. A confirmatory instance is carried out that demonstrates the feasibility of the newly developed estimation algorithm.

关键词： complex networks finite-horizon H∞ partial-nodes-based state estimation gain variations backward recursive Riccati difference equations integral measurements

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Serve control of galvo system based on improved extended state observer

Serve control of galvo system based on improved extended sta...

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第34届中国控制与决策会议

作者： Rui Zhao Bingyou Liu Chao Wang Zhenben Wu College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education

In order to improve the robustness and tracking accuracy of the galvanometer(galvo) system,a sliding mode control strategy based on an improved extended state observer(ESO) is ***,combining the sliding mode variable structure control theory,a new type of optimal control function is designed to replace the nonlinear function in the traditional ESO,and the structure of the traditional ESO is *** the same time,fuzzy control is used to track and compensate the time-varying total disturbance in real *** improves the observation accuracy of the observer and simplifies the parameter tuning ***,through simulation and comparison,the proposed control scheme is *** results show that the control strategy effectively improves the tracking accuracy of thegalvo system and has better anti-interference *** is the paper style requirement for the Chinese control and Decision *** writers of papers should and must provide normalized electronic documents in order for readers to search and read papers conveniently.

关键词： Galvo system Improved extended state observer(ESO) Sliding mode control

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Predefined Performance Tracking control Design for a VTOL Aircraft System

Predefined Performance Tracking Control Design for a VTOL Ai...

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Robotics, intelligent control and Artificial Intelligence (RICAI), International Conference on

作者： Xiongfeng Deng Binzi Xu Liang Tao Key Laboratory of Electric Drive and Control of Anhui Higher Education Institutes Anhui Polytechnic University Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Anhui Polytechnic University Wuhu China

This work discusses the predefined performance tracking control issue of a vertical take-off and landing (VTOL) aircraft system. By using the designed control performance function, the constrained error signal of the aircraft system can be switched into an equivalent unconstrained signal. Moreover, fuzzy logic systems are introduced to cope with the aircraft system's unknown nonlinear dynamics. And then, adaptive fuzzy sliding control laws are designed by combining the fuzzy control method with the sliding mode control technique. Based on the designed control law, it is not only ensured that the outputs of the VTOL aircraft system can track the desired trajectories, but also that the tracking errors are constrained within a predefined range. Finally, the availability of proposed control method is testified through simulation example.

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Research on particle swarm optimized image alignment algorithm based on improved SURF features

Research on particle swarm optimized image alignment algorit...

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Chinese Automation Congress (CAC)

作者： Xiaoxiao Liu Mengyuan Chen Tao Xu Han Pengpeng School of Electrical Engineering Anhui Polytechnic University Wuhu China Key Laboratory of Advanced Perception and Intelligent Control for High-end Equipment

Image feature extraction and matching is an essential work in computer image processing. This technique aligns two or more images of the same scene obtained by different sensors under different or the same imaging conditions to determine the relationship between them. Based on the SURF algorithm, this paper adopts the local two-dimensional entropy to improve the uniqueness of the extracted feature points. Then the Euclidean distance in the traditional algorithm is changed to the Manhattan distance, and the distance evaluation function is introduced for pre-processing. Finally, the particle swarm algorithm is applied to optimize the feature point matching process. Through theoretical analysis and experimental contrast, the improved SURF algorithm has significantly improved both matching speed and accuracy, demonstrating the algorithm's reliability and effectiveness.

关键词： Image sensors Automation Lighting Euclidean distance Reliability theory Feature extraction Robustness

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Dense 3D Reconstruction SLAM Algorithm Based on Improved keyframe Selection 37

Dense 3D Reconstruction SLAM Algorithm Based on Improved Key...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Tao, Xu Yao, Manyu Yuan, Xuechao Chen, Mengyuan Zhang, Yukun Liu, Xiaoxiao Anhui Polytechnic University School of Electrical Engineering Wuhu China Wuhu Googol Automation Technology Co. Ltd. Wuhu China Anhui Polytechnic University School of Electrical Engineering Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Wuhu China

ISBN: (纸本)9781665465366

Aiming at the problems of SLAM algorithm such as low location accuracy and easy loss of tracking, we propose a dense 3D reconstruction SLAM algorithm based on improved keyframe selection. The algorithm introduces an inferior keyframe elimination method, eliminates the selected inferior keyframes, and uses a bidirectional indexing keyframe strategy to supplement new high-quality keyframes to express the current scene, thus improving the localization accuracy of the algorithm. At the same time, we add the dense mapping thread to the traditional SLAM algorithm, and pass the selected keyframes into the dense mapping thread to build a dense map that can accurately describe the location information of objects in the scene through 3D point cloud stitching. The algorithm proposed in this paper is tested with the publicly available TUM dataset, and the test results show that the algorithm has a 13.3% reduction in absolute trajectory error compared with the ORB-SLAM2 algorithm, which shows good mapping capability. © 2022 IEEE.

关键词： Mapping

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control strategy for the rotor position angle of permanent magnet synchronous motor based on error extended state observer

Control strategy for the rotor position angle of permanent m...

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Chinese control and Decision Conference, CCDC

作者： Lixiang Ma Susu Yu Bingyou Liu Anhui Institute of Information Technology Wuhu China College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Wuhu China

In order to solve the problems of strong coupling, variable parameters and nonlinearity of permanent magnet synchronous motor (PMSM), an expanded state observer based on error is proposed in this paper to achieve fast response, accurate tracking and strong anti-disturbance control performance of the rotor position and angle of PMSM. Firstly, a new nonlinear function is designed to replace the nonlinear function of the extended state observer (ESO) in the traditional active disturbance rejection controller (ADRC). Secondly, based on the improved nonlinear function, the structure of ESO is improved according to the error principle. Finally, the position and Angle control system based on PMSM is simulated. Simulation results show that the ADRC based on error ESO has better response speed, tracking accuracy and anti-disturbance performance than the traditional ADRC.

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A novel active inverse memristor emulator with improved low frequency feature

A novel active inverse memristor emulator with improved low ...

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2021 China Automation Congress, CAC 2021

作者： Song, Xingwen Dai, Guangzhen Zhao, Zhenyu Han, Mingjun High-end Equipment Advanced Perception and Intelligent Control Ministry of Education Heavy Laboratory School of Electrical Engineering Anhui Polytechnic University WuHu241000 China

ISBN: (纸本)9781665426473

Based on several active elements, a modified inverse memristor emulator is proposed, which presents better performance than the previous emulators. The published inverse memristor emulators with active blocks show that lobes' size of pinched hysteresis loops (PHLs) shrinks early with decreasing the applied frequency, while the new one can show good cyclic hysteresis phenomenon when low frequency signal is applied. Obviously, the lobes' area of the improved inverse memristor emulator widens faster than the existed active models with increasing frequency in the low frequency range. And the circuit model just only includes two second generation current conveyor (CCII), one analog voltage multiplier and six passive elements. The improved emulator is demonstrated by implementing LTspice simulations and verified by experiments. A comparison between the proposed model and the representative current-controlled one highlights the superiority of the former in the lower frequency range. © 2021 IEEE

关键词： Memristors

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