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Fast level-flight to hover mode transition and altitude control in tiltrotor’s landing operation

Chinese Journal of Aeronautics 2021年第1期34卷 181-193页

作者： Ningjun LIU Zhihao CAI Yingxun WANG Jiang ZHAO Institute of Unmanned System Beihang UniversityBeijing 100083China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China

An attempt is made to implement a faster level-flight to hover mode transition in tiltrotor’s landing process for the purpose of shortening its landing time. A three-stage tiltrotor landing maneuver is designed, and corresponding control modules and algorithms are created based on the analysis of the flight dynamics and the required actions of tiltrotor’s landing operation. As the altitude control is vital for tiltrotor’s near-ground landing, an Extended State Observer(ESO) control module of the Active Disturbance Rejection Control(ADRC) is designed to reduce altitude fluctuations in the fast mode transition, which makes the designed maneuver workable at very low altitudes. Simulations are conducted to verify the effectiveness of the designed maneuver and the validity of ESO control in various flight conditions. Flight test results that finally prove the effectiveness of the desired fast transition maneuver are reported.

关键词： Tiltrotor Transition Flight control VTOL UAV ADRC

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Research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press 4

Research on Robot Path Planning Algorithm for Filter Plate C...

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4th International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Xu, Jie Cui, Long Zhao, Yongguo Tian, Xincheng Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Institute of Automation Qilu University of Technology Shandong Academy of Sciences Jinan China

ISBN: (纸本)9798331541729

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value. © 2024 IEEE.

关键词： Robot programming

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Research on Fault Diagnosis Technology of Inertial Navigation systems on Aircraft 15

Research on Fault Diagnosis Technology of Inertial Navigatio...

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15th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Beijing 2024

作者： Ren, Zikun Xu, Yong Duan, Shixuan Wang, Lizhi School of Automation Science and Electrical Engineering Beihang University Beijing China Institute of Unmanned System Beihang University Beijing China China Aero-Polytechnology Establishment Beijing China School of Reliability and Systems Engineering Beihang University Beijing China

ISBN: (纸本)9798350354010

Inertial navigation systems play a crucial role in the aviation industry, and their safe operation is of paramount importance to the entire flight mission. The research on fault diagnosis of inertial navigation systems is becoming increasingly significant. This paper conducts an in-depth study on the fault diagnosis of strapdown inertial navigation systems in fault-tolerant integrated navigation systems. The paper thoroughly analyzes the fault modes and effects of strapdown inertial navigation systems, determines the system's composition structure, identifies possible fault causes and mitigation solutions, and proposes a fault diagnosis process. It conducts an in-depth analysis of the fault manifestations of relevant components and determines the forms of fault manifestations. Based on the fault manifestations, data collection and preprocessing are performed using simulation equipment and relevant datasets to obtain operational data of the inertial navigation system under various working conditions. This paper builds a model for diagnosing component faults in inertial navigation systems using deep learning methods. In terms of selecting the deep learning model, this paper constructs a Transformer model for fault diagnosis classification. After building the model, through validation and analysis of experimental data, this paper demonstrates the effectiveness and feasibility of the model used in fault diagnosis of strapdown inertial navigation systems, proving that the constructed model can diagnose faults in inertial navigation systems. Finally, the study is summarized, and future research directions in this field are discussed. © 2024 IEEE.

关键词： Inertial navigation systems

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Motion Capture and Gait Analysis of Ants with Leg Injuries 42

Motion Capture and Gait Analysis of Ants with Leg Injuries

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Yuanhao Meng, Chang Zhong, Shutong Wang, Zhijing Zhao, Feng Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Gait analysis

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Line Feature Based Visual Servo Control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Yunfei Bian, Xinyu Sun, Yize Zhang, Zongyu Huang, Hai Yang, Xu National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350384185

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features. © 2024 IEEE.

关键词： Visual servoing

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Study on Improvement of Receiving Grid DC transmission feeding location Selection Method Using Principal Component Analysis 7

Study on Improvement of Receiving Grid DC transmission feedi...

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7th IEEE Advanced Information Technology, Electronic and automation Control Conference, IAEAC 2024

作者： Zhong, Qidi Ma, Yulong Wang, Shuai Shi, Lei Bai, Siyou Li, Zihan Peng, Xiaotao State Grid Economic and Technological Research Institute Beijing China State Grid Ningxia Electric Power Company Yichuan China Wuhan University Hubei Key Laboratory of Power Equipment & System Security for Integrated Energy School of Electrical Engineering and Automation Wuhan China Wuhan University School of Electrical Engineering and Automation Wuhan China

ISBN: (纸本)9798350339161

Multiple DC transmission feeding in receiving power grid brings huge risk to the stable operation of the power grid. It is of great significance to plan the DC feeding point economically and reasonably under the premise of ensuring the stable operation of the receiving end power grid. The article first calculates the multi-infeed interaction influence factor of the AC/DC receiving end system, divides the receiving end power grid into various regions, and then uses the principal component analysis method to calculate the characteristic root of the MIIF matrix, determines the corresponding characteristic vector with the largest characteristic root, and analyzes the nodes The voltage is disturbed by the voltage changes of other nodes, and the best DC feeding point in each region is selected to determine the optimal DC feeding point plan of the receiving end power grid. The calculation of the feeding point is selected through the traditional method and only the cluster analysis. The comparison of examples shows that the principal component analysis method can quickly and concisely determine the DC feeding point of the complex receiving end power grid. © 2024 IEEE.

关键词： Principal component analysis

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Flight Parameter Prediction and Fault Propagation based on Machine Learning and Symbolic Directed Graph 6

Flight Parameter Prediction and Fault Propagation based on M...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Li, Wenzhuo Guo, Kun Cheng, Yuehua Hu, Hengsong Xu, Cheng Yu, Ziquan Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Institute of Mechanical and Electrical Engineering Beijing China

ISBN: (纸本)9798350316155

Fault influence and propagation analysis of flight vehicle systems is an important element of flight vehicle health management and also an important problem to be solved. A fault influence model based on data-driven is established, including a prediction model of flight parameters under fault, a dynamic influence path, and an influence degree model. Based on the historical experimental data, a long and short-term memory neural network (LSTM) model is proposed to predict the time-series data of each flight parameter of the flight vehicle under fault;based on the prediction results, a symbolic directed graph (SDG) is used to describe the fault of the flight vehicle system, and then introduce the concept of a compatible path with time-series characteristics to describe the dynamic propagation process of the fault. The case shows that the method proposed in this paper enables qualitative and quantitative analysis of the fault influence, and can reasonably describe the fault propagation path and influence characteristics. © 2023 IEEE.

关键词： Directed graphs

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Tailstock VTOL UAV system Modeling and Transition Mode Control Algorithm Design 8

Tailstock VTOL UAV System Modeling and Transition Mode Contr...

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8th Annual International Conference on Network and Information systems for Computers, ICNISC 2022

作者： Ren, Qianzhang Gong, Huajun Zhao, Qibing Wan, Ru Huang, Bin Wang, Xinhua Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing China China Shipbuilding and Ocean Engineering Research Institute College of Automation Ship Aviation Support System Shanghai China

ISBN: (纸本)9781665453516

Tailseat VTOL unmanned aerial vehicle (UAV) has been widely concerned because it has the advantages of rotorcraft VTOL and fixed-wing aircraft high-speed cruise at the same time. However, the transition process of mode switching is difficult to control and risky. Aiming at this point, this paper firstly carries out aerodynamic modeling of UAV based on Newton-Euler method, and then puts forward corresponding transition strategy based on the principle of transition corridor to simplify the transition process. Finally, according to the nonlinear and strong coupling characteristics of the transition process and the requirements of the project, a 'three-stage' control method is proposed, and the effectiveness of the control algorithm is verified by digital simulation. © 2022 IEEE.

关键词： Fixed wings

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A Joint Optimization Policy of Tail Assignment and Maintenance Scheme for Civil Aircraft Fleet 14

A Joint Optimization Policy of Tail Assignment and Maintenan...

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14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Ding, Yutong Zhang, Kaigan Wang, Yu Xu, Yuhui Zhu, Ying Xia, Tangbin Xi, Lifeng Seidelmann, Joachim State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University SJTU-Fraunhofer Center Shanghai China Fraunhofer Institute for Manufacturing Engineering and Automation Stuttgart Germany

ISBN: (纸本)9798350301359

This study aims to improve the collaborative administration of operations and maintenance for civil aircraft fleet. To overcome the challenge of simultaneously considering the flight path and maintenance requirement, a modified connection network framework is developed by innovatively introducing the maintenance opportunity node. Based on the network construction, an integer programming model is formulated for the collaborative optimization of tail assignment and maintenance scheduling. To tackle the large scale of this problem, a problem decomposition-based two-stage solution process is presented, which is composed of the maintenance opportunity-oriented tail assignment optimization and the reasonable maintenance task allocation procedure. Compared to the traditional manually scheduled letter check mode, our work could efficiently output the cost-effective joint scheme of tail assignment and maintenance task allocation for airlines. © 2023 IEEE.

关键词： aircraft fleet airline network modeling constuctive heuristic maintenance scheduling tail assignment

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