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检索条件"机构=Science and Technology On Aircraft Control Laboratory"

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Robot Base Coordinate System Calibration Approach based on LM Iterative Algorithm

Robot Base Coordinate System Calibration Approach based on L...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiaoshan Gao Liang Yan Xufeng Chen School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Institute of Technology Beihang University Ningbo China Tianmushan Laboratory Hangzhou China Science and Technology on Aircraft Control Laboratory Beihang University Beijing

ISBN: (数字)9798350360868

ISBN: (纸本)9798350360875

One major challenge for the robot base coordinate system calibration is how to improve accuracy and robustness of calibration results. The objective of this paper is to propose a pose relationship calibration approach between the multi-degree-of-freedom manipulator and external measuring equipment based on Levenberg-Marquadrdt (LM) algorithm. Specifically, a closed chain configuration is adopted to construct the pose relationship, with the coordinate transformation involving both rotation and translation transformations being formulated mathematically. The calibration solution is then estimated using the LM iteration method through least squares optimization. The proposed calibration approach possesses the advantage of not only reducing the impact of measurement noise on the calibration accuracy greatly, but also avoiding the non-orthogonalization problem encountered when solving for the rotation matrix. Numerical simulations are conducted to assess calibration accuracy and robustness in presence of different levels of noise.

关键词： Accuracy Service robots Robot kinematics Noise Robot vision systems Optimization methods Robustness

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Research and application of ultra-high pressure control system in strength tests 56

Research and application of ultra-high pressure control syst...

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56th International Conference on Vibroengineering

作者： Hu, Botao Sun, Xiaobo Cheng, Linan Deng, Fanchen Full Scale Aircraft Structure Static Fatigue Aeronautic Science and Technology Laboratory Aircraft Strength Research Institute of China Shaanxi Xi’an710065 China Xi’an Modern Control and Technology Institute China North Industries Group Corporation Limited Shaanxi Xi’an710065 China

Based on the requirement of physical experiments, a ultra-high pressure control system which consisted of servo valves, a booster cylinder, and a multi-channel synchro-loading control system, was designed. A multi loop control strategy was adopted in this system, and hydraulic oil was loaded on the low-pressure side of the booster cylinder. In this way, the high precision control of low pressure increasing with high flow was attained, either was ultra-high pressure increasing, maintaining and reducing with low flow. The system was applied in a landing gear strength test successfully, the pressure control accuracy was smaller than 0.5 %, and the test task was completed satisfactorily. Copyright © 2022 Botao Hu, et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

关键词： Cylinders (shapes)

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Prescribed-time Bipartite Formation Tracking control of Heterogeneous Networked Agent Systems Over Signed Graph

Prescribed-time Bipartite Formation Tracking Control of Hete...

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第35届中国过程控制会议

作者： Haoyang Yuan Boxian Lin Shiji Tong Mengji Shi Kaiyu Qin Qiang Liu School of Aeronautics and Astronautics University of Electronic Science and Technology of China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province National Laboratory on Adaptive Optics

This paper addresses the bipartite formation tracking control problem of heterogeneous networked agent *** interactions among agents are described by a signed graph,where cooperation and competition coexist. Theoretically, a prescribed-time control scheme is designed for follower agents to achieve bipartite formation tracking. At first, the output regulation equation is employed to establish a mapping between state and output. Subsequently, we model the issue as an error stabilization problem, which facilitates the design of the controller. Secondly, by generating the time-scaling function, a prescribed-time formation tracking controller is designed. Then,the stability of the closed-loop system is proven by utilizing the Lyapunov theorem. Finally, the effectiveness of the proposed prescribed-time bipartite formation tracking controller is verified by some simulation results.

关键词： Bipartite formation Prescribed-time Heterogeneous networked agent systems Signed graph

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Modeling and analysis of the influence of air gap structure size on the churning loss in wet-type permanent magnet synchronous motors

Modeling and analysis of the influence of air gap structure ...

引用

CSAA/IET International Conference on aircraft Utility Systems (AUS 2024)

作者： Yunkai Cheng Shuanglu Li Jionghui Lin Zhicheng Liu Chaofan Jiang Xinbin Zhang Tian Yu Tianmushan Laboratory Hangzhou People's Republic of China Shanghai Aerospace Control Technology Research Institute Shanghai People's Republic of China Science and Technology on Aircraft Control Laboratory Beihang University Beijing People's Republic of China

ISBN: (数字)9781837242108

Wet-type permanent magnet synchronous motors (WTPMSM) are extensively utilized to meet the power density requirements of electro-hydrostatic actuators (EHA), which are widely used in modern aircraft control systems. These motors are valued for their superior thermal performance and compact design. However, WTPMSM face a key challenge in the form of oil churning loss, especially within narrow air gaps. This churning loss can significantly impact the motor's performance and efficiency. In this paper, an analytical model has been established and computational fluid dynamics (CFD) has been employed to simulate the internal flow of the motor, thereby predicting the churning loss. The paper also investigates churning loss caused by the thread air gap in the wet motor, examining the effects of thread geometry, size, and motor speed on churning loss. Strategies such as optimizing thread design and adjusting operational parameters are proposed to mitigate churning losses. In summary, churning loss of WTPMSM is significantly influenced by the thickness of the air gap and the depth of the threads. These findings provide guidance for the design of electric motors. Future research should delve deeper into the specific impacts of various design parameters on churning losses and explore methods to reduce churning losses through enhanced motor design.

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Event-based Neuro-Adaptive Containment control for Uncertain Networked Agent Systems With External Disturbances

Event-based Neuro-Adaptive Containment Control for Uncertain...

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第43届中国控制会议

作者： Long You Boxian Lin Jiangfeng Yue Weihao Li Mengji Shi Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province National Laboratory on Adaptive Optics

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this work,the robust containment control problem of uncertain networked agent systems is *** dynamics of both the followers and the leaders involve uncertain nonlinear ***,a neural network-based adaptive control scheme with the event-triggered mechanism is designed for the follower agents to approach the convex hull which is composed of the leader ***,a unified event-triggered mechanism is designed to ensure that the neural networks synchronize with the reduced update frequency of the robust controller,while ensuring that both are updated solely when the system error state reaches a predetermined triggering *** designed event-triggered containment control scheme minimizes unnecessary communication and computation resulting from periodic updates,thereby enhancing the efficiency of communication and computational resource ***,by utilizing the Lyapunov stability theorem,it is proven that all signals of the closed-loop system are globally uniformly ultimately bounded,and Zeno behavior is strictly ***,the effectiveness of the proposed containment control scheme is verified through numerical simulation results.

关键词： Containment control Networked Agent Systems Neural Network Adaptive control Event-triggered

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Chaotic Opposition-based Improved Football Team Training Optimization Algorithm

Chaotic Opposition-based Improved Football Team Training Opt...

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第35届中国过程控制会议

作者： Xinyu Sun Mengji Shi Jiangfeng Yue Weihao Li Boxian Lin Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province National Laboratory on Adaptive Optics

This paper proposes an improved football team training algorithm(IFTTA), which integrates chaotic mapping and an opposition-based learning(OBL) strategy, addressing the deficiencies of the conventional algorithm such as sluggish earlystage convergence and susceptibility to local optima. Firstly, we propose a novel chaotic mapping technique, termed the iterative logistic-skew-tent map with infinite collapses(ILSTMIC), which exhibits robust chaotic characteristics. This mapping method is then utilized to optimize the initialization phase of the football team training algorithm(FTTA), significantly enhancing its early-stage convergence rate. Moreover, drawing parallels to the collaborative training practices among top-performing students in Chinese high schools, this paper incorporates a joint training phase into the FTTA based on the OBL approach, thereby augmenting its global optimization capabilities. The efficacy of the proposed IFTTA is validated against the CEC2022 benchmark,where it is compared with other leading optimization *** findings demonstrate that the IFTTA outperforms these algorithms in terms of both convergence speed and accuracy.

关键词： Meta-heuristic optimization Football team training algorithm Chaotic mapping Opposition-based learning

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Flight control Of A Long-Endurance Solar-Powered UAV Based On Model Predictive control

Flight Control Of A Long-Endurance Solar-Powered UAV Based O...

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2022 CSAA/IET International Conference on aircraft Utility Systems, AUS 2022

作者： Li, Qingxian Qi, Pengyuan School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Institute of Technology Beihang University Ningbo China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Research Institute for Frontier Science Beihang University Beijing China

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

The low-altitude long-endurance solar UAV is a kind of UAV that uses solar energy as energy and can fly for a long time at low altitudes, even day and night. Because of their long-term flight characteristics, long-endurance solar UAVs have huge advantages in agricultural mapping, battlefield reconnaissance, and other aspects. This paper will focus on the energy analysis and control law design of a solar UAV that has been designed so far. In terms of energy analysis, this paper establishes an energy model for solar UAV based on the energy source, energy output, and battery charge and discharge model of solar UAV, and substitutes the relevant parameters of the UAV into the model to prove its continuous flight day and night feasibility. For the control law design, the linear and nonlinear models of solar UAV are established in this paper. The MPC control scheme is designed and compared with the conventional PID control method to demonstrate the advantages proposed control scheme. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Vibration Reduction of Limited Series Nonlinear Energy Sink

Vibration Reduction of Limited Series Nonlinear Energy Sink

引用

International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Du, Ting-Kai Ding, Hu Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai Institute of Applied Mathematics and Mechanics School of Mechanics and Engineering Science Shanghai University Shanghai200072 China Shanghai Institute of Aircraft Mechanics and Control Zhangwu Road Shanghai200092 China Shaoxing Institute of Technology Shanghai University Shaoxing312074 China

ISBN: (纸本)9789819705535

In engineering, vibration is ubiquitous. In order to avoid damage caused by vibration to some devices, passive vibration absorbers are usually used for vibration reduction in engineering. The concept of nonlinear energy sink (NES) has been proposed for a long time. However, most previous studies on NES have typically conducted vibration reduction research by coupling a single-degree-of-freedom (1DOF) NES with a single-degree-of-freedom primary system. This paper proposes a vibration control strategy using a limited amplitude series NES. A dynamic model using a limited series NES was established for the two-degree-of-freedom (2DOF) primary system. The influence trend of the parameters of the limited series NES parameters on the vibration control effect was studied through dynamic analysis. The results show that the amplitude-limiting series NES has a better vibration absorption effect and stability than the ordinary series NES under the same mass of the total vibration absorber. This study provides a new and efficient vibration control strategy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Vibration control

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Distributed Malicious Maneuvering Target Tracking Algorithm With Finite-Time Fusion Analysis

Distributed Malicious Maneuvering Target Tracking Algorithm ...

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第42届中国控制会议

作者： Zheng Zhang Dong Guo Hongwei Zheng Hong Wang Qingdong Li Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Beijing Institute of Control Engineering Institute of Artificial Intelligence Beihang University

This paper proposes a distributed tracking framework for high-maneuvering and malicious maneuvering target based on the sensor *** some of sensors in the network can only observe partial system output,the collective observability is *** on the collective observability,the distributed target tracking algorithm is designed by local filter phase and consensus fusion *** local filter phase,the local estimate results can be obtained by each sensor *** on the target kinematic and sensor observation equations,the Kalman-like estimation algorithm is proposed to obtain the local estimate *** most of the exist distributed state estimation(DSE) algorithms,the excellent target tracking performance is based on the assumption that the fusion times is infinity in consensus fusion *** practical application,however,the consensus fusion phase should be completed during two sampling ***,based on the finite-time stability theory,the error covariance matrix is processed as the solution of discrete-time algebraic Riccati equation(DARE).Then the stability of the proposed algorithm with finite-time consensus fusion is ***,a numerical example for tracking maneuvering target is given to validate the effectiveness.

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Virtual Synthesis Method on the Localizer and Glideslope Guidance Signal for Instrument Landing System

Virtual Synthesis Method on the Localizer and Glideslope Gui...

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2022 CSAA/IET International Conference on aircraft Utility Systems, AUS 2022

作者： Shen, Wei Jiao, Zongxia Qi, Pengyuan Liu, Xiaochao School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Institute of Technology Beihang University Ningbo China Research Institute for Frontier Science Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

During aircraft approach and landing, localizer and glideslope signals of the Instrument Landing System (ILS) is susceptible to electromagnetic interference from other aircraft in the airport airspace and the ground environment, affecting the landing guidance accuracy and even causing misguided guidance. In this paper, a new method based on ILS and other airborne sensors such as INS (Inertial Navigation System), GPS (Global Position System), and RA (Radar Altimeter) to calculate the localizer and glideslope deviation of the aircraft relative to the reference landing trajectory is proposed. The localizer and glideslope deviation angle of the aircraft are measured by the ILS, and the three-dimensional position information of the aircraft is obtained by combining the measurement with the DME(Distance Measurement Equipment), using the Kalman filter to estimate and correct the localizer and glideslope deviation errors to obtain the initial deviation when ILS is not disturbed, and then obtain the rate of the localizer and glideslope deviation from the INS/GPS/RA integrated navigation system, and finally synthesize the virtual localizer and glideslope deviation once the signals of ILS are abnormal. The simulation results show that the proposed method can effectively improve the accuracy and reliability of the landing guidance signals in the disturbed landing scenario. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Kalman filters

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