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Refined modeling and experimental verification of a torque motor for an electro-hydraulic servo valve

Chinese Journal of Aeronautics 2023年第6期36卷 302-317页

作者： Zhichuang CHEN Shenghong GE Yulei JIANG Wenhao CHENG Yuchuan ZHU National Key Laboratory of Science and Technology on Helicopter Transmission Nanjing University of Aeronautics and AstronauticsNanjing 210016China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 210061China AVIC Nanjing Servo Control System Co. LtdNanjing 210032China

The Permanent Magnet Torque Motor(PMTM)is the key electro-mechanical conversion device in an Electro-Hydraulic Servo Valve(EHSV).In this work,a refined model of a PMTM is developed,considering the non-working air-gaps between the upper or lower yoke and the armature,the fringing effect at the limiting holes,and the nonlinear permeability of soft magnetic *** on the refined model,the influences of various factors on the calculation accuracy of the magnetic flux at the pole surfaces of the armature and the output torque are *** verifying the validity of the refined model,a Finite Element Analysis(FEA)of the PMTM is conducted,and a test platform is *** with existing models,the refined model can better reveal the intrinsic mechanism of the PMTM,and its calculations are more consistent with the FEA *** experimental results of the armature deflection displacement show that the refined model can accurately describe the output characteristics of the PMTM.

关键词： Calculation accuracy Electro-hydraulic servo valve Experimental verification Finite element analysis Refined model Torque motor

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Resilient Cooperative Guidance for Leader-Follower Flight Vehicles Against Maneuvering Target

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IEEE Transactions on Aerospace and Electronic Systems 2025年第3期61卷 6310-6324页

作者： Li, Guofei Tang, Qingpu Zuo, Zongyu Wu, Yunjie Lu, Jinhu Northwestern Polytechnical University School of Astronautics Xi'an710072 China Northwestern Polytechnical University National Elite Institute of Engineering Xi'an710072 China Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China

In this paper, we explore the cooperative guidance problem of leader-follower flight vehicles against the maneuvering target in the presence of false-data injection attacks (FDIAs). All the leader-follower flight vehicles including seeker-less followers are required to arrive at the target with specified terminal time and pre-set blockade configuration. A prescribed-time convergent guidance law is given to make the leader reach the maneuvering target at appointed arrival time. Since the seeker-less followers cannot acquire the target information, a radius-variable spherical formation configuration is presented, and a resilient cooperative guidance method leveraging actor-critic neural network is proposed for the followers to form the blockade configuration and reach the target simultaneously. By exploiting both the current and historical data, an improved trust factor is presented to identify and discard the communication links contaminated by the false data. The simulation results indicate that the flight vehicles governed by the proposed approach can achieve the simultaneous arrival successfully when encountering the false data injection attacks. © 1965-2011 IEEE.

关键词： Maneuverability

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Human Cognitive Learning in Shared control via Differential Game With Bounded Rationality and Incomplete Information

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第10期5卷 5141-5152页

作者： Wu, Huai-Ning Jiang, Xiao-Yan Wang, Mi Beihang University Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beijing100191 China Hangzhou International Innovation Institute of Beihang University Hangzhou311115 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China

Since human beings are of limited reasoning ability as well as the machines do not usually know human intentions, how to learn human cognitive levels in shared control to enhance the machines’ intelligence is a challenging issue. In this study, this issue is addressed in the context of human–machine shared control for a class of human-in-the-loop (HiTL) systems based on a differential game with bounded rationality and incomplete information. Initially, we formulate the human–machine shared control problem as a two-player nonzero-sum linear quadratic dynamic game (LQDG), where the weighting matrix of the cost function representing the human intention is unknown for the machine. To model the human bounded rationality, the level-k (LK) approach is employed to set up the LK control policies of two players performing the corresponding steps of strategic thinking. To infer the human intention, an online adaptive inverse optimal control (IOC) algorithm is then developed by using the system state data, so that the control policies of different cognitive levels can be computed. In addition, a reinforcement learning method is proposed for the machine to identify the distribution of the human cognitive levels while providing a proactive collaborative control to assist the human in a probabilistic switching way. Finally, simulation results on a cooperative shared control driver assistance system (DAS) illustrate the efficacy of the proposed approach. © 2024 IEEE.

关键词： Game theory

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An Optimization Method for the Swing of a Quadrotor Flight Suspension System 25

An Optimization Method for the Swing of a Quadrotor Flight S...

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Yang, Sen Zang, Xinlian Tong, Jigang Xie, Tian Jin, Xin Tianjin University of Technology The School of Electrical Engineering and Automation Tianjin China AVIC Xi'an Flight Automatic Control Research Institute National key laboratory of science and technology on aircraft control Xi'an China

ISBN: (纸本)9798350366600

The aim of this study is to explore optimization control methods for suspension systems during the flight of quadcopters. The traditional control method of suspension system has some problems such as oscillation and instability, so an optimization scheme based on Gaussian pseudo-general algorithm is proposed in this paper. Through numerical simulation and actual flight test, the effectiveness of the optimization algorithm in improving system stability and reducing oscillation amplitude is verified. At the same time, this study conducted a comparative analysis of the suspension system of the quadrotor vehicle and the free fall body, and the optimization algorithm is found to be feasible and can well improve the control accuracy and stability of the system, and provide strong support for the safety of the quadrotor vehicle in various application scenarios. © 2024 IEEE.

关键词： Flight testing

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Research on Closed-loop control of Engine Propellant Supply System 41

Research on Closed-loop Control of Engine Propellant Supply ...

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第41届中国控制会议

作者： Jun Zhao Yufeng Gu Qianqian Zhang Wen Yan Shaohua Sun AVIC Computing Technique Research Institute Xi'an Science and Technology on Aircraft Control Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

According to the requirements of high reliable control of engine propellant supply system,the paper proposed a digital controller implementation scheme with DSP and CPLD as the core controller,and designed interface circuits of BLDCM,pintle injector,solenoid valve and *** paper also proposed a variable parameter PI rotate speed closed-loop control method for BLDCM,and two-stage propellant closed-loop distribution control method for pressure difference at the outlet of a pintle *** the basis of simulation,the system experiment platform was built,and the no-load and loading experiments of the BLDCM were carried out,as well as the pressure difference control experiment of the injector outlet,which verified the effectiveness of the control strategy and the correctness of the system *** and experimental results show that the control system meets the requirements of technical indicators in the aspects of quick response,stability,reliability and high precision,and has good engineering reference value.

关键词： Propellant Supply System Variable Parameter PI Closed-loop control BLDCM Pressure Difference control

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A Enhanced Feature Extraction for 3D Object Detection 25

A Enhanced Feature Extraction for 3D Object Detection

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25th IEEE China Conference on System Simulation technology and its Application, CCSSTA 2024

作者： Meng, Qingao Tong, Jigang Yang, Sen Xie, Tian Jin, Xin Tianjin University of Technology The School of Electrical Engineering and Automation Tianjin China Avic Xi'an Flight Automatic Control Research Institute National Key Laboratory of Science and Technology on Aircraft Control Xi'an China

ISBN: (纸本)9798350366600

3D object detection is crucial for autopilot and augmented reality applications. However, accurate feature extraction is the key to achieve high-precision detection, but traditional methods face the challenges of information loss and computational inefficiency. To address this, we propose an enhanced feature extraction method. We first divide the 3D space into voxel grids of varying scales. Then, using 3D sparse convolution, we extract features which are compressed along the Z axis to form BEV (Bird's Eye View) feature images. An efficient multi-scale attention mechanism is then employed to enhance these BEV features. The refined feature map is subsequently located and classified through a CT-stacking module and RPN (Region Proposal Network). Voxel features from the proposal and 3D backbone are passed through a voxel RoI pool to directly extract RoI features from the 3D features for further refinement. Finally, a cascaded attention network refines the proposal and strengthens confidence prediction. Experiments on test set validate our method effectiveness, showing improved accuracy over traditional voxel methods. Overall, this enhanced feature extraction technique offers a promising solution for 3D target detection, particularly in scenarios demanding high real-time performance and precision. © 2024 IEEE.

关键词： Feature extraction

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Reachability Analysis and Safety Synthesis of a Class of Human-Computer Collaborative Driving Systems 41

Reachability Analysis and Safety Synthesis of a Class of Hum...

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第41届中国控制会议

作者： Yang-Fan Liu Xiu-Mei Zhang Huai-Ning Wu Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University Peng Cheng Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This work investigates the safety problem for a class of human-computer collaborative driving(H-CCD) systems by the approach of reachable set *** H-CCD system under consideration can monitor the human internal state(HIS)and then provide a proper human-assistance control law to the ***,a yaw-sideslip bicycle model is employed to describe the lateral dynamics of the vehicle in which a human driver is maintaining the center of gravity of the vehicle at the middle of a lane and trying to keep the vehicle away from road ***,a hidden Markov model(HMM) is used for human behavior modelling,which takes into account the random nature of HIS reasoning and the uncertainty from HIS *** integrating a vehicle model,a human model,and their interaction,a hidden Markov jump system(HMJS) model is constructed to describe the H-CCD *** the tools of reachable set computation and linear matrix inequalities(LMIs),a sufficient condition for the reachability of the H-CCD system to a prescribed safe set is given on the basis of the HMJS *** LMI approach to the human-assistance control design is then proposed such that the H-CCD system is safe in the sense of ***,theoretical results are verified by a numerical simulation.

关键词： Safety Human-computer collaborative driving system Reachable set Hidden Markov model

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Impact Time Cooperative Guidance for Multi-Missile System Based on Incremental Learning 42

Impact Time Cooperative Guidance for Multi-Missile System Ba...

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42nd Chinese control Conference, CCC 2023

作者： Li, Xuheng Yu, Jianglong Dong, Xiwang Ren, Zhang Feng, Zhuo Liang, Biao School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory Beijing100190 China Beijing Institute of Control and Electronic Technology Beijing100038 China

ISBN: (纸本)9789887581543

An impact time cooperative guidance method based on incremental learning is proposed for multi-missile cooperative guidance problem in the attack scenario. Firstly, a guidance model is established to represent the relationship of the missiles and the target. Secondly, an impact time coordinated guidance law based on the consensus method is designed. Then, time-to-go of the missile is predicted using an incremental learning algorithm, so that the accuracy of time-to-go can be better than the results calculated by traditional methods. Finally, the trained neural network is used to predict time-to-go. The results show that the algorithm can be used in the cooperative guidance law to complete the coordination in time, which is superior to the traditional guidance rate in coordination and has advantage in the scene of large maneuvering target. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Learning algorithms

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Design and Implementation of a Ground control Station for Multiple Fixed-Wing UAVs

Design and Implementation of a Ground Control Station for Mu...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wen, Jiayun Tang, Qiang Li, Hao AVIC Xi’an Flight Automatic Control Research Institute Xi’an710076 China National Key Laboratory of Science and Technology on Aircraft Control Laboratory Xi’an710076 China

ISBN: (纸本)9789811966125

In recent years, Unmanned Aerial Vehicles (UAVs) have been used in many fields by virtue of their flexible design, low cost and zero casualties. With the deepening application of UAVs, the tasks they undertake are gradually becoming more complex and can no longer be accomplished by a single UAV alone, so multiple UAVs are needed to collaborate in order to perform the tasks. In this paper, a UAV ground control station software system is designed for the characteristics of multiple UAVs to perform tasks. The system is designed with the key requirement of reducing the operator’s workload in mind, while taking into account the differences in control and surveillance between multiple UAVs and a single UAV. After defining the functional requirements of the ground control station, the development and implementation of the ground station software is carried out, and finally, an application example of the ground station software is presented. The experiments show that the proposed ground station has some engineering value. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fixed wings

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Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

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Chinese Journal of Aeronautics 2022年第1期35卷 44-58页

作者： Yuwei ZHANG Xingjian WANG Shaoping WANG Xinyu TIAN A School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beihang UniversityBeijing 100191China Ningbo Institute of Technology Beihang UniversityNingbo 315800China

Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each *** extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate *** interactions among UAVs are described by a directed topology with two-leader *** address the issue of unavailable global coordinate frame,we first present a distributed orientation estimation law for each UAV to determine its orientation under the coordinate frame of the first *** on the orientation estimation,we then design a bearing-based formation control law to globally asymptotically track target moving ***,simulation results are provided to validate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders.

关键词： Bearing measurement Formation control Global orientation estimation Two-leader structure Unmanned aerial vehicles

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