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Adaptive Radau pseudo-spectral optimization for descending trajectory of a hypersonic cruise vehicle

Aerospace Systems 2020年第4期3卷 275-286页

作者： Feng, Xinle Lv, Yali Gao, Yang Li, Yuankai Province Key Laboratory of Aircraft Swarm Intelligent Sensing and Cooperative Control University of Electronic Science and Technology of China Chengdu 611731 China

During descending flight of a hypersonic cruise vehicle (HCV), the flight environment is complicated due to the drastically changed atmosphere. It is necessary for the flight trajectory to perform accurate and fast optimization. To solve the nonlinear optimization problem, in this paper, a global adaptive Radau pseudo-spectral method, which is introduced with an hp adaptive strategy (p method to increase the number of points in time interval and h method to refine the interval) is presented. The maximum range and the shortest engagement time are considered, respectively, as performance index to optimize controlling of the attack angle. Using Lagrange interpolation polynomial approximation, the optimal control problem is transformed into a problem of nonlinear programming and solved by a sequence quadratic programming algorithm. Simulation results have shown that the presented method has high computational efficiency and desirable accuracy, with the flying constraints satisfied. It is an effective trajectory optimization method for HCVs. © 2020, Shanghai Jiao Tong University.

关键词： Adaptive Radau pseudo-spectral method Aerodynamic data fitting Nonlinear programming Optimal control Trajectory optimization

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Space infrared tracking of a hypersonic cruise vehicle using an adaptive scaling UKF

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Aerospace Systems 2020年第4期3卷 287-296页

作者： Liu, Jiahui Luo, Qi Lou, Jiaxin Li, Yuankai Province Key Laboratory of Aircraft Swarm Intelligent Sensing and Cooperative Control University of Electronic Science and Technology of China Chengdu 611731 China

To perform surveillance of a hypersonic cruise vehicle (HCV), space-based infrared system is a reliable and feasible means, which has been putting on the schedule for providing positioning and tracking information of the high-altitude unmanned vehicles. In this paper, a space-based HCV tracking method based on infrared satellite constellation is proposed. The method contains three main parts: constellation coverage analysis, a bearing-only positioning algorithm, and a tracking algorithm. For target tracking, an adaptive scaling unscented Kalman filter (ASUKF) is applied for high estimation performance. Simulation results are presented to show the effectiveness of the method. © 2020, Shanghai Jiao Tong University.

关键词： Adaptive scaling UKF Hypersonic cruise vehicle Satellite constellation Space infrared tracking

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A Novel Pulse Width Modulation Strategy Used for Permanent Magnet Synchronous Motor Drives

A Novel Pulse Width Modulation Strategy Used for Permanent M...

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International Conference on Power Electronics and Motion control (IPEMC)

作者： Yuxiang Xue Hui Li Yingzhe Wu Lisheng Wang Hengbin Zhang School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China Beijing Research and Development Center Shanghai Gatek Automotive Electronics Company Ltd. Beijing China

ISBN: (数字)9798350351330

ISBN: (纸本)9798350351347

The pulse width modulation (PWM) technique is extensively employed in permanent magnet synchronous motor (PMSM) drives, which is classified into continuous PWM and discontinuous PWM (DPWM). The continuous PWM is more prevalent in PMSM drives, however, its performance diminishes notably in the high modulation index region compared to DPWM. In this paper, a novel DPWM method is proposed to enhance PMSM performance in the high modulation index region. According to the simulation and experiment results, it is demonstrated that the proposed DPWM method exhibits reduced high-order harmonics in this region compared to other DPWM strategies like DPWMMIN, DPWMMAX, and DPWM3. Additionally, a mixed PWM strategy is introduced and implemented in 12-V PMSM drives. The relative results indicate that space vector PWM (SVPWM) is utilized in the low modulation index region and transitions to the novel DPWM in the high modulation index region, resulting in reduced harmonics throughout the control process.

关键词： Space vector pulse width modulation Motor drives Torque Modulation Process control Harmonic analysis Permanent magnet motors

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Model Based Flux Weakening control Strategy of Permanent Magnet Synchronous Motor with Voltage Feedback Compensation

Model Based Flux Weakening Control Strategy of Permanent Mag...

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International Conference on Power Electronics and Motion control (IPEMC)

作者： Hengbin Zhang Hui Li Yingzhe Wu Lisheng Wang Yuxiang Xue School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China Beijing Research and Development Center Shanghai Gatek Automotive Electronics Company Ltd. Beijing China

ISBN: (数字)9798350351330

ISBN: (纸本)9798350351347

Flux weakening (FW) control is applied to offer the optimal torque/current trajectory once the rotation speed of the permanent magnet synchronous motor (PMSM) exceeds its rated speed. The voltage feedback method is one of the most commonly used FW control strategy because it is independent of the motor parameters and exhibits strong robustness. It is noted that the voltage feedback method requires sufficient bandwidth to track the target current. However, the increased bandwidth causes enhanced noise. To achieve a balance between bandwidth and noise, a novel FW control strategy combining model-based method and voltage feedback compensation has been proposed in this paper, which can guarantee both dynamic and static performance of the motor operating in FW region with sufficient robustness. Finally, the experimental verification has confirmed the validity of the proposed FW control strategy.

关键词： Target tracking Noise Surface mount technology Bandwidth Permanent magnet motors Robustness Power electronics

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Simulation and Analysis of Dynamic Stiffness of Electro-hydrostatic Actuators

Simulation and Analysis of Dynamic Stiffness of Electro-hydr...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Chaofan Jiang Yaoxing Shang Tian Yu Mingyang Li Shuai Wu Zhicheng Liu School of Automation Science and Electrical Engineering Beihang University Beijing China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Ningbo Institute of Technology Beihang University Ningbo China Tianmushan Laboratory Xixi Octagon City Yuhang District Hangzhou China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China Research Institute for Frontier Science Beihang University Beijing China

ISBN: (数字)9798350304947

ISBN: (纸本)9798350304954

With the development of multi-electrochemical aircraft, the application of electro-hydrostatic actuators(EHA) in aircraft actuator system is increasing. The dynamic stiffness of the actuator has a non-negligible effect on the fluttering characteristics of the rudder surface. So it is necessary to study the dynamic stiffness of EHA. In this research, a method for calculating the dynamic stiffness of EHA is proposed. The mathematical model of EHA is established. The bulk modulus of hydraulic oil affected by gas content and pressure is added to the model. Build the simulation model in Simulink. The dynamic stiffness of EHA is simulated in frequency domain. Analyze the simulation results. The EHA dynamic stiffness decreases with the increase of hydraulic oil gas content in the whole frequency range. The trough frequency of dynamic stiffness amplitude decreases with the increase of hydraulic oil gas content. The EHA dynamic stiffness decreases with the increase of pump leakage coefficient in low frequency band. Therefore, in order to improve the dynamic stiffness of EHA, the hydraulic oil gas content and the piston pump leakage coefficient should be reduced.

关键词： Pistons Actuators Mechatronics Software packages Simulation Frequency-domain analysis Pumps

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Bearing-Based Formation Maneuver control of Multiple Underactuated Autonomous Surface Vehicles With Leader-First Follower Structure

SSRN

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SSRN 2022年

作者： Zhang, Yuwei Wang, Shaoping Wang, Xingjian Tian, Xinyu School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Ningbo Institute of Technology Beihang University Ningbo315800 China

Formation maneuverability is of great importance for a group of autonomous surface vehicles (ASVs) to navigate in complicated waterways, such as passing through channels with varying width or avoiding obstacles. This article concerns bearing-based formation maneuver control problem for a group of underactuated ASVs subject to model uncertainties and environmental disturbances. The control objective is to not only drive the ASVs to achieve the desired geometric pattern, but also to regulate the translational and scaling formation maneuvers continuously. By assuming that the fleet satisfies a leader-first-follower structure, a two-module control scheme is proposed to decouple the formation maneuver control problem into target maneuvering formation generation by two leaders and target formation tracking by followers. Specifically, in Module I, we design control law for two leaders to regulate the translational and scaling formation maneuvers. In Module II, the bearing-based formation control laws are designed for followers to steer the real formation to the generated maneuvering one. The unknown dynamics of ASVs, including model uncertainties and environmental disturbances, are estimated by neural networks, wherein an auxiliary adaptive law is resorted to eliminate the approximation errors. The proposed modular control scheme achieves the formation maneuver control goal asymptotically. Simulation results are presented to substantiate the effectiveness of the designed modular formation protocol. © 2022, The Authors. All rights reserved.

关键词： Environmental regulations

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Detection method of nickel foam foreign matter based on double-branch lightweight network

Detection method of nickel foam foreign matter based on doub...

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2022 Chinese Automation Congress, CAC 2022

作者： Li, Jianqi Liang, Yincong Liu, Huiting Cao, Binfang Yan, Wei Du, Rui Hunan University of Arts and Sciences Hunan Provincial Key Laboratory for Control Technology of Distributed Electric Propulsion Aircraft Changde China Jishou University College of Information Science and Engineering Changde China Hunan University of Arts and Sciences College of Computer and Electrical Engineering Changde China Xiangtan University College of Automation and Electronic Information Xiangtan China

ISBN: (纸本)9781665465335

Real-time, accurate and rapid detection of defects in nickel foam is a challenging task and plays a crucial role in the quality control of nickel foam production. Currently, research on deep learning-based industrial defect detection usually uses large neural network models to pursue high accuracy, ignoring model complexity and hardware requirements. In order to reduce the application cost, the Detection method of nickel foam foreign matter based on double-branch lightweight network is proposed. First, a lightweight backbone convolutional network is designed to extract features, which reduces computational complexity while effectively extracting features. Then, atrous convolution is used to further optimize the model accuracy, increasing the receptive field of the convolution without losing information, and ensuring the quality of the extracted features. Finally, we use a dual-branch structure for segmentation and classification to dynamically query the detection results of defects. The experimental results on the nickel foam defect dataset show that our model is able to achieve high detection accuracy and single-sheet detection rate, and has strong competitive accuracy and lower detection rate compared with state-of-the-art detectors amount of calculation. © 2022 IEEE.

关键词： Convolution

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Flexible prescribed performance-based approaching control for UAV aerial recovery under multiwind disturbances

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Chinese Journal of Aeronautics 2025年第4期 424-440页

作者： Yanxiang WANGa Honglun WANG Junfan ZHU Yiheng LIU Zikang SUe School of Automation Science and Electrical Engineering Beihang University The Science and Technology on Aircraft Control Laboratory Beihang University Shenyuan Honors College Beihang University Beijing Institute of Astronautical Systems Engineering College of Automation Engineering Nanjing University of Aeronautics and Astronautics

This article investigates the approaching control for fixed-wing Unmanned Aerial Vehi-cle(UAV) aerial recovery in the presence of pre-specified performance requirements, complex air-flows, maneuvering flight of transport aircraft, and different initial deviations. First, a novelcontrol-oriented Six-Degree-Of-Freedom(6-DOF) UAV model considering airflow disturbancesis established for better consistency with the actual UAV system. Then, to achieve satisfactory per-formance in the approaching process, a Flexible Appointed-time Prescribed Performance control(FAPPC) algorithm, with the features of user-specified time convergence, no overshoot, indepen-dence from the initial value, and singularity-free, is proposed. Specifically, to solve the singularityissue encountered by the existing PPC methods in dealing with sudden disturbances, an adaptiveadjustment signal is introduced in FAPPC to perceive the threat of increasing error and relax thepreset boundaries appropriately. Moreover, minimum learning parameter-based neural networkestimators are developed to approximate unknown lumped disturbances at a low computationalcost. Finally, the stability of the closed system is analyzed via Lyapunov synthesis, and the effective-ness and advantages of the proposed control scheme are demonstrated via simulation andHardware-In-the-Loop(HIL) experimental validation.

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Distributed Fixed-time Bipartite Containment control of Multi-agent Systems with Unknown Disturbances

Distributed Fixed-time Bipartite Containment Control of Mult...

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International Conference on Cybernetics, Robotics and control (CRC)

作者： Shuguang Xin Mengji Shi Weihao Li Jiangfeng Yue Boxian Lin Kaiyu Qin School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province Chengdu China

ISBN: (纸本)9781665473071

In this paper, the bipartite containment control problem of multi-agent systems (MASs) with unknown disturbances is studied. At first, a signed undirected graph is used to describe the Cooperative-Antagonistic interaction among the agents. Different from some conventional results of convergence in the infinite time domain, the control protocol proposed in this paper achieves the fixed-time convergence, and applies the fixed-time control and bipartite consensus to the containment control, making the proposed control protocol more practical. In addition, this paper also considers the existence of external disturbances and a novel fixed-time bipartite containment control protocol is proposed to eliminate them. Then, the stability analysis under the control protocol is completed by using the Lyapunov theory and mathematical theorem. Finally, the effectiveness of the proposed control scheme is verified by some simulation examples.

关键词： Protocols Stability analysis Mathematical models Time-domain analysis Sliding mode control Robots Cybernetics

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An EHGO-based Robust control for Multi-agent Consensus With Unmeasured Velocity and Disturbances

An EHGO-based Robust Control for Multi-agent Consensus With ...

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International Conference on Cybernetics, Robotics and control (CRC)

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

ISBN: (纸本)9781665473071

This paper addresses the robust consensus control problem for the second-order multi-agent system in the presence of unknown lumped disturbances and without velocity measure-ments. A novel robust consensus controller is constructed by combining the improved extended high-gain observer (EHGO) and continuous sliding mode control (SMC) strategy. Specifically, for the unknown velocity and lumped disturbances, the EHGO component can estimate them simultaneously by adjusting a simple dynamic parameter. Then, in light of the singular per-turbation technique, the convergence of the closed-loop error system is demonstrated and robust consensus control is achieved. Finally, a numerical simulation experiment is given to verify the effectiveness of robust consensus control strategy,

关键词： Robust control Estimation error Simulation Consensus control Observers Stability analysis Trajectory

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