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AIAA Guidance, Navigation, and Control Conference 2012 2012年

作者： Lombaerts, T.J.J. Looye, G.H.N. Institute of Robotics and Mechatronics Department of System Dynamics and Control German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany AIAA United States

ISBN: (纸本)9781600869389

This paper describes the design of an autoflight controller, based upon nonlinear model- based control laws. These control laws include the previously developed concept of Pseudo Control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied on a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2012 by Thomas Lombaerts and Gertjan Looye, German Aerospace Center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Control theory

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Dynamic modeling and hardware-in-the-loop simulation design for railway vehicle with active lateral suspension system

Dynamic modeling and hardware-in-the-loop simulation design ...

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The sixth Asian Conference on Multibody dynamics(ACMD 2012)

作者： Moon K.Kwak Dong-Ho Yang Jae-Ha Lee Won-Hee You Dept.of Mech. Robotics and Energy Eng.Dongguk University Vehicle Dynamics and Propulsion System Research Dept.Korea Railroad Research Institute

In the field of railway technology,there have been consistent requirements on riding comfort and running *** conventional suspension system is no longer effective in fulfilling customers' *** engine mount or active suspension system introduced into automobiles have been applied to elevator active vibration control and railway *** so-called ALS(active lateral suspension) for train has been exploited by many research institutes for commercial *** ALS hardware consists of either active or semi-active *** mechatronics system for the ALS consists of sensors,actuators and controller.

关键词： Dynamic modeling and hardware-in-the-loop simulation design for railway vehicle with active lateral suspension system simulation

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New Generalized ESPRIT for Direction Estimation and Its Mathematical Link to RARE Method

New Generalized ESPRIT for Direction Estimation and Its Math...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Guangmin Wang Jingmin Xin Jiayi Wu Jiasong Wang Nangning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

The generalized ESPRIT （GESPRIT） method extends the conventional ESPRIT estimator to estimate the directions-of-arrival （DOAs） of multiple incident signals by using the array with more general geometrical configurations, where the translational invariance structure is not required. Unfor-tunately, the GESPRIT has serious ambiguous DOA estimates in some scenarios, and its performance degrades severely at low signal-to-noise ration （SNR） and with a small number of snapshots. Although a polynomial version of a new GESPRIT （NGESPRIT） method was given, but its derivation and estimation performance are unavailable in published literature. In this paper, in order to overcome the ambiguity of the GESPRIT and improve the estimation performance, the NGESPRIT method is derived explicitly. Moreover, the equivalence between the proposed NGESPRIT method and the rank reduction （RARE） method is clarified, while the former is more computationally efficient than the latter. Finally the effectiveness of the NGESPRIT method is substantiated through numerical examples.

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Low Complexity Subspace-Based Two-Dimensional Direction-of-Arrivals Tracking of Multiple Targets

Low Complexity Subspace-Based Two-Dimensional Direction-of-A...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Changnong Liu Guangmin Wang Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

This paper deals with the problem of tracking the two-dimensional (2-D) direction-of-arrivals (DOAs) (i.e., azimuth and elevation angles) of multiple moving targets with crossover points on their trajectories, and we propose an new computationally efficient subspace-based 2-D DOA tracking algorithm for the L-shaped sensor array structured by two uniform linear arrays (ULAs). First, a new computationally efficient cross-correlation based 2-D DOA estimation with automatic pairmatching (CODEC) batch method is developed for noncoherent narrowband signals, where the computationally expensive procedures of eigendecomposition in subspace estimation and pair-matching of the estimated azimuth and elevation angles are avoided. Then a new 2-D DOA tracking algorithm is proposed, the association of the estimated azimuth and elevation angles at two successive time instants is accomplished by employing a dynamic mode and the Luenberger state observer. The simulation results show that the proposed tracking algorithm has good adaptability and tracking capability.

关键词： direction estimation, eigendecomposition, pair-matching, uniform linear array, state observer

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Two-Dimensional Direction Tracking of Coherent Signals with Two Parallel Uniform Linear Arrays

Two-Dimensional Direction Tracking of Coherent Signals with ...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Jiayi Wu Jingmin Xin Guangmin Wang Jiasong Wang Nangning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

In some practical applications, the two-dimensional (2-D) direction-of-arrivals (DOAs) of incident signals should be estimated adaptively or the time-varying 2-D DOAs should be tracked promptly from the noisy array data, and multipath propagation is usually encountered due to various reflections, where the incident signals are caused to be coherent (i.e., fully correlated). In this paper, we propose a new computationally efficient subspace-based adaptive algorithm for 2-D DOA tracking of multiple coherent incident signals by using two parallel uniform linear arrays (ULAs). In the proposed algorithm, the computationally expensive eigendecomposition and the pair-matching of estimated 2-D DOAs are avoided, and the association of estimated 2-D DOAs at two successive time instants is accomplished by employing the Luenberger observer and dynamic model of direction trajectories. The effectiveness of the proposed algorithm are verified through numerical examples.

关键词： Two-dimensional direction-of-arrival estimation adaptive filtering algorithm pair-matching Luenberger observer

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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Sensor Array and Multichannel Signal Processing Workshop

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xian Jiaotong University Xi'an China State Key Laboratory of Astronautic Dynamics Xi'an China Department of System Design Engineering Keio University Yokohama Japan

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors.

关键词： Arrays Covariance matrix Signal to noise ratio Estimation Additive noise Narrowband Decorrelation

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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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Modeling and control design of switched reluctance machines using modelica

Modeling and control design of switched reluctance machines ...

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IASTED International Conference on Applied Simulation and Modelling, ASM 2011

作者： Ji, Yang Bals, Johann Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

ISBN: (纸本)9780889868939

Compared with traditional electric machines, switched reluctance machines exhibit a significant improvement on production, robustness and efficiency. However, some inherent drawbacks of those kinds of machines such as noise and high torque ripple at low speed have to be well managed. In the last years, some dedicated control strategies to overcome the high torque ripple of switched reluctance machines have been proposed, where an accurate mathematical model is often necessary. In this paper, a novel Mod-elica library for physical modeling of switched reluctance machines is addressed. Both linear and nonlinear models of switched reluctance machines are regarded. By using physical modeling approach with Modelica language, the maximal reusability, flexibility and range of modelling can be ensured. Furthermore, fundamental control units both for current based controller design and direct torque controller design are also incorporated into the library. The Modelica switched reluctance machine library allows quick virtual prototyping and simulation of a switched reluctance machine with various relevant controller. One application example with a 16 stator 12 rotor poles 4 phase switched reluctance machine is presented to illustrate the use of the developed Modelica switched reluctance machine library.

关键词： Reusability

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Physical modeling of switched reluctance motors using modelica

Physical modeling of switched reluctance motors using modeli...

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作者： Ji, Y. Bals, J. Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

ISBN: (纸本)9789881925121

This paper presents a novel Modelica library for physical modeling of switched reluctance machines. In order to deal with the nonlinear characteristics of switched reluctance drives, an analytical approximation function is applied when building a motor model. Furthermore, the look-up table based approach derived by the finite element method for computing the nonlinear model is also considered. Compared with other modeling approaches, physical modeling using the object-oriented modeling language-Modelica often exhibits a significant progress regarding model reusability, flexibility and range of modeling. One application example with a 16 stator 12 rotor poles 4 phase witched reluctance machine is presented to illustrate the use of the developed Modelica switched reluctance machine library.

关键词： Reusability

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Design and flight testing of manual flight control laws

Design and flight testing of manual flight control laws

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AIAA Guidance, Navigation and Control Conference 2011

作者： Lombaerts, T.J.J. Looye, G.H.N. German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869525

This paper describes the design of a manual flight controller, based upon nonlinear model-based control laws. These control laws include the previously developed concept of Pseudo Control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied in the body angular rate control loops of a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2011 by Thomas Lombaerts and Gertjan Looye, German Aerospace Center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Control theory

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