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Distributed state estimation for heterogeneous mobile sensor networks with stochastic observation loss

Chinese Journal of Aeronautics 2022年第2期35卷 265-275页

作者： Yingrong YU Jianglong YU Yishi LIU Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang.UniversityBeijing 100191China

The problem of distributed fusion and random observation loss for mobile sensor networks is investigated *** view of the fact that the measured values,sampling frequency and noise of various sensors are different,the observation model of a heterogeneous network is constructed.A binary random variable is introduced to describe the drop of observation component and the topology switching problem caused by complete observation loss is also considered.A cubature information filtering algorithm is adopted to design local filters for each observer to suppress the negative effects of measurement *** derive a consistent and accurate estimation result,a novel weighted average consensus-based filtering approach is put *** the sensor that suffers from observation loss,its local prediction information vector is fused with the information contribution vectors of the neighbors to obtain the local *** the consensus weight matrix is designed for consensus-based distributed collaborative information *** boundness of the estimation errors is proved by employing the stochastic stability *** the end,two numerical examples are offered to assert the validity of the presented method.

关键词： Consistency theorem Heterogeneous sensor networks Information fusion State estimation Stochastic boundedness

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An aircraft brake control algorithm with torque compensation based on RBF neural network

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Chinese Journal of Aeronautics 2024年第1期37卷 438-450页

作者： Ning BAI Xiaochao LIU Juefei LI Zhuangzhuang WANG Pengyuan QI Yaoxing SHANG Zongxia JIAO School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China Key Laboratory of Advanced Aircraft Systems(Beihang University) Ministry of Industry and Information TechnologyBeijing 100091China Research Institute for Frontier Science Beihang UniversityBeijing 100191China Ningbo Institute of Technology of Beihang University Ningbo 315800China Tianmushan Laboratory Xixi Octagon CityYuhang DistrictHangzhou 310023China

The wheel brake system of an aircraft is the key to ensure its safe landing and rejected takeoff.A wheel’s slip state is determined by the brake torque and ground adhesion torque,both of which have a large degree of *** is this nature that brings upon the challenge of obtaining high deceleration rate for aircraft brake *** overcome the disturbances caused by the above uncertainties,a braking control law is designed,which consists of two parts:runway surface recognition and wheel’s slip state *** runway surface recognition,the identification rules balancing safety and braking efficiency are defined,and the actual identification process is realized through recursive least square method with forgetting *** slip state tracking,the LuGre model with parameter adaptation and a brake torque compensation method based on RBF neural network are proposed,and their convergence are *** effectiveness of our control law is verified through simulation and ground *** in the experiments on the ground inertial test bench,compared to the improved pressure-biased-modulation(PBM)anti-skid algorithm,fewer wheel slips occur,and the average deceleration rate is increased by 5.78%,which makes it a control strategy with potential for engineering applications.

关键词： aircraft landing Brakes Disturbance observer Neural networks Runway identification

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EFFECT OF CENTER-OFFSET ARC POLE SHOE SHAPES ON TORQUE RIPPLE AND EDDY-CURRENT LOSS OF CONSEQUENT POLE ROTOR

EFFECT OF CENTER-OFFSET ARC POLE SHOE SHAPES ON TORQUE RIPPL...

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2024 CSAA/IET International Conference on aircraft Utility Systems, AUS 2024

作者： Li, Haien Yan, Liang Liu, Xiaoshuai Xiang, Pengjie He, Xinghua Du, Nannan Xuxu, Yang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

Traditional consequent pole motor has the advantages of less magnetic costs, small magnetic resistance and strong inductance. It is widely studied in the design of the electrical propulsion system. However, it has the problem of uneven distribution of air gap magnetic flux density. It is locally distributed by square waves, causing the high -level harmonic problem, increasing the torque pulse and vortex loss of the motor. This paper show the design principles of the center-offset arc pole. And the limited element simulation of the motor of different eccentric spacing. The results show that compared with the consequent pole, increasing the center-offset distance can reduce the torque ripple and vortex loss. © The Institution of Engineering & technology 2024.

关键词： Magnetic flux

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Consensus-Based Aggregation control and Formation Tracking control for Fixed-Wing UAV Swarm System 7th

Consensus-Based Aggregation Control and Formation Tracking ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Hao, Ze Yu, Jianglong Chen, Yang Hu, Yangxiu Dong, Xiwang Ren, Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Shanghai Academy of Spaceflight Technology Shanghai201109 China

ISBN: (纸本)9789819733279

This paper investigates the problem of aggregation control and robust formation tracking control for the fixed-wing UAV swarm system after aggregation. Firstly, the dynamic models for aggregation control and formation tracking control of the fixed-wing UAV swarm system are established. Secondly, to solve the problem of large initial takeoff position deviation for multiple unmanned aerial vehicles, a consensus-based aggregation control algorithm is designed to converge the UAV swarm system to any position on a hovering circle to provide proper initial conditions for subsequent tasks. Thirdly, in the formation tracking control process, a nonlinear path tracking control algorithm is employed for leader UAV, and a formation tracking control algorithm based on leader-following navigation is designed for follower UAV swarm system. Finally, simulation results demonstrate that the proposed aggregation control algorithm enables rapid convergence of the UAV swarm system’s initial positions, and the designed formation tracking control achieves algorithm achieves fine formation tracking performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Structural non-reciprocity study of optical systems for RFOGs driven by broad-spectrum light sources

Structural non-reciprocity study of optical systems for RFOG...

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2024 International Conference on Optoelectronic Information and Optical Engineering, OIOE 2024

作者： Su, Zhengcheng Yan, Bo Li, Jun Lan, Shiqi National Key Laboratory of Science and Technology on Aircraft Control Flight Automatic Control Research Institute Shaanxi Xi’an710076 China

ISBN: (数字)9781510680470

ISBN: (纸本)9781510680463

Aiming at the structural asymmetry problem caused by the inconsistency of the two optical fibers connecting the Y waveguide and the resonant cavity in the RFOG optical system driven by a broad-spectrum light source, a study on the non-reciprocity of the optical structure of the RFOG driven by a broad-spectrum light source was carried out. A model of the optical system structure non-reciprocity is established, and the effect of the optical system structure non-reciprocity on the gyroscope system in a variable temperature environment is analyzed. The results show that the optical system structure non-reciprocity causes the gyro sweep mode curve to change, but does not affect the system accuracy when there is no temperature change, and the temperature characteristics of the optical system structure non-reciprocity lead to pseudo-rotational speed output of the gyro output in a variable temperature environment, which is strongly correlated with the length difference and the rate of change of temperature. © 2024 SPIE.

关键词： Light sources

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Model-Based Online Adaptive Inverse Noncooperative Linear-Quadratic Differential Games via Finite-Time Concurrent Learning

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第8期5卷 4247-4257页

作者： Lin, Jie Wu, Huai-Ning Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Peng Cheng Laboratory Shenzhen518066 China

Noncooperative differential games provide a basis for the study of coordination, conflict, and control for a single dynamical system with multiple players. Within the linear-quadratic differential games (LQDGs), the optimal feedback gain matrix and the weighting matrices of individual cost function depict each player's control policy and the tradeoff of various objectives, respectively. In this article, we investigate the inverse problem of LQDG with partial state observation via a model-based online method, i.e., recover the cost function of each player. First, a state observer is used to estimate the system state. Then, the feedback gain matrices of players are learned using a finite-time concurrent learning (FTCL)-based adaptive law relaxing the persistent excitation (PE) condition which is required in traditional adaptive estimation methods. With the learned feedback gain matrices, a semidefinite programming (SDP) problem with the quadratic objective function can be set up for determining the weighting matrices of the cost function. The applicability and effectiveness of the proposed method are demonstrated with a numerical example and a shared steering control simulation. © 2020 IEEE.

关键词： Cost functions

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DNN performance optimization based on Gemmini neural network hardware accelerator 4

DNN performance optimization based on Gemmini neural network...

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4th International Conference on Advanced Algorithms and Neural Networks, AANN 2024

作者： Zhao, Denghui He, Jianrui Jing, Xuyu Hou, Xibiao AVIC Xi’an Flight Automatic Control Research Institute Aviation Key Laboratory of Science and Technology on Aircraft Control Xi’an710065 China

ISBN: (纸本)9781510686106

Gemmini is an open-source, full-stack DNN accelerator generator. For an DNN algorithm running on Gemmini, traditional optimizations focus on changing Gemmini's hardware configuration (e.g., changing the size of internal storage and the size of the systolic array). This work proposes an an optimization-test iteration route combining Spike simulation and FPGA simulation under the constraints of unacceptable running speed of verilator simulator and limited FPGA resources. According to this route, this work starts from two aspects of hardware optimization and algorithm optimization. The internal storage size and calculation scale of Gemmini are changed in hardware, and the convolutional layer of Resnet50 neural network algorithm is optimized in algorithm. The experimental results show that for Resnet50 DNN algorithm, Gemmini with basic configuration provides 2000x speedup compared with running on CPU. On the platform of Gemmini accelerator, the optimization of hardware configuration provides 1.59x speedup for Resnet50. On the basis of the hardware optimization, the algorithm optimization provides 1.012x speedup. © 2024 SPIE.

关键词： Mathematical optimization Neural networks Field programmable gate arrays Data storage Evolutionary algorithms Convolution Detection and tracking algorithms Performance modeling Matrices

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Improving aircraft nose wheel steering stability based on control continuation method

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science China(Technological sciences) 2025年第3期68卷 258-277页

作者： Qiaozhi YIN Dexu KONG Jiawei WANG Hong NIE Xiaohui WEI National Key Laboratory of Helicopter Aeromechanics Nanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016China Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing210016China AVIC Nanjing Engineering Institute of Aircraft Systems Nanjing211106China

aircraft steering instability during the taxiing process sometimes occurs resulting from the unstable bifurcation phenomena of the nonlinear steering dynamic system,which may lead to severe *** this study,the control parameter design of an aircraft nose wheel steering control system based on the control continuation method is proposed to reduce the number of unstable bifurcation points and enlarge the system stable region area in a certain parameter ***,the aircraft turning performance can be improved ***,a nonlinear aircraft rollout dynamic model is constructed,and the aircraft ground steering bifurcation characteristics are obtained under the open-loop steering control ***,the bifurcation performances under three closed-loop nose wheel steering controllers based on the feedback control method are compared,and the control parameter of the quadratic nonlinear controller with a better bifurcation control effect is selected as a second bifurcation parameter to analyze the directional system stability via two-parameter bifurcation ***,the influence of a crosswind on the aircraft ground steering bifurcation performance is studied for various control parameter ***,the control effects of a traditional proportional-integral-derivative(PID)nose wheel steering control law and the designed feedback controller are compared and ***,a semi-physical experiment of the aircraft nose wheel steering system is carried out,and different control parameter values are selected for test verification,which can further verify the control effect of the designed nonlinear feedback *** results indicate that the feedback control method is unable to vary the system bifurcation types,but appropriate control parameter design can effectively shrink the system instability region and even eliminate the unstable Hopf bifurcation points under some specific working conditions,improving the aircraft ground turning stability re

关键词： aircraft taxiing dynamics and stability nose wheel steering control system control continuation steering bifurcation characteristics quadratic feedback control

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A Multi-UCAV cooperative occupation method based on weapon engagement zones for beyond-visual-range air combat

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Defence technology（防务技术） 2022年第6期18卷 1006-1022页

作者： Wei-hua Li Jing-ping Shi Yun-yan Wu Yue-ping Wang Yong-xi Lyu School of Automation Northwestern Polytechnical UniversityXi'an710129China Shaanxi Province Key Laboratory of Flight Control and Simulation Technology Xi'an710129China Science and Technology on Aircraft Control Laboratory FACRIXi'an710065China

Recent advances in on-board radar and missile capabilities,combined with individual payload limitations,have led to increased interest in the use of unmanned combat aerial vehicles(UCAVs)for cooperative occupation during beyond-visual-range(BVR)air ***,prior research on occupational decision-making in BVR air combat has mostly been limited to one-on-one *** such,this study presents a practical cooperative occupation decision-making methodology for use with multiple *** weapon engagement zone(WEZ)and combat geometry were first used to develop an advantage function for situational assessment of one-on-one *** encircling advantage function was then designed to represent the cooperation of UCAVs,thereby establishing a cooperative occupation *** corresponding objective function was derived from the one-on-one engagement advantage function and the encircling advantage *** resulting model exhibited similarities to a mixed-integer nonlinear programming(MINLP)*** such,an improved discrete particle swarm optimization(DPSO)algorithm was used to identify a *** occupation process was then converted into a formation switching task as part of the cooperative occupation model.A series of simulations were conducted to verify occupational solutions in varying situations,including two-on-two *** results showed these solutions varied with initial conditions and weighting *** occupation process,based on formation switching,effectively demonstrates the viability of the proposed *** cooperative occupation results could provide a theoretical framework for subsequent research in cooperative BVR air combat.

关键词： Unmanned combat aerial vehicle Cooperative occupation Beyond-visual-range air combat Weapon engagement zone Discrete particle swarm optimization Formation switching

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A Novel Three-DOF Transverse Flux Spherical Actuator With Decoupling Mechanism 26

A Novel Three-DOF Transverse Flux Spherical Actuator With De...

引用

26th International Conference on Electrical Machines and Systems, ICEMS 2023

作者： Liu, Xiaoshuai Yan, Liang Xiang, Pengjie He, Xinghua Du, Nannan Wu, Chong Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing China

ISBN: (纸本)9798350317589

This paper proposes a novel multi-DOF spherical actuator based on transverse flux and three-DOF decoupling mechanism. Firstly, the structure and working principle of the new multi-DOF spherical actuator are presented. Then, numerical simulations are performed to analyze its magnetic field and torque, resulting in the basic performance curve of the spherical motor. Finally, The structure of this spherical actuator is optimized by numerical simulation. The optimization results show that the performance of the optimized spherical actuator has been effectively improved in terms of torque ripple, output torque and control precision. © 2023 IEEE.

关键词： Spheres

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