Fault-tolerant shortest connection topology design for formation control

This paper studies the fault tolerant formation keeping problem of multi-agent systems with consideration of shortest connection topology. This is motivated by the requirement of low communication cost which largely depends on the communication length. Given a formation shape, a connection topology design method and its reconfiguration strategy are proposed in the sense that the whole connection path is shortest despite of communication faults. A control framework that combines the individual formation controller of each agent and connection topology is further presented. The stability of the whole system process is analyzed by switched system theories. Simulation results of unmanned aerial vehicles (UAVs) show the effectiveness of the proposed strategy.     

基于悬停四旋翼位置姿态信息的风场估计方法研究

基于四旋翼飞行器悬停状态下的位置及姿态信息,提出了一种离线的风场估计方法。首先根据Dryden大气紊流模型建立了四旋翼飞行器所处的风场环境,并通过分析有风情况下旋翼升力的变化,得到旋翼升力与风场信息(风速、风向)的函数关系式;接着利用牛顿-欧拉方法推导出有风扰动下的四旋翼动力学方程,并进一步设计了用于保持飞行器悬停状态的PID控制器;最后,基于悬停状态下四旋翼飞行器的位置姿态信息,计算得到飞行器所处的风场环境信息。MATLAB仿真结果表明所提方法在有紊流干扰的情况下,能够有效地提取出风场环境里的主风信息。     

针对幅相交织变化信号的过零点检测算法*

为应对电气量在暂态过程中相位和幅值交织突变现象,提高过零点检测的准确性,提出了快速过零点检测算法.该算法在电气量通过窄带滤波器前进行归一化计算,通过检测算法和域值判断计算过零时刻并消除零点偏移和抖动现象,得到正负过零时刻及其相位信息.仿真结果表明,该算法在有较高响应速度的同时提高了跟踪准确度,且算法实现简单,满足电容器等设备投切控制的要求.     

无人机空中加油过程中分数阶滑模会合导引控制

针对带末端角度和末端速度约束的无人机空中加油自主会合问题,设计了一种3维分数阶滑模导引律,使无人机在无加油机主动配合的情况下具备自主会合能力.首先,根据无人机与加油机之间的相对运动关系,设计了3维比例导引规律,使无人机能够到达期望的加油位置.其次,利用滑模控制的强鲁棒性特点以及分数阶微积分的精细控制特性,基于变结构理论和李雅普诺夫稳定性理论设计了一种带有末端角度约束的3维分数阶滑模变结构控制律,并用所设计的分数阶滑模控制律对3维比例导引指令进行重构,使无人机能以期望的末端追踪角度到达加油位置.然后,构造了速度指令生成器,对无人机的末端速度进行约束.最后,对所设计的导引律进行了仿真验证,仿真结果表明所设计出来的导引律能满足追踪角度和速度约束的要求.     

Non-prespecified Starting Depot Formulations for Minimum-Distance Trajectory Optimization in Patrolling Problem

In this paper, two new formulations are presented for trajectory optimization in the patrolling problem. It is assumed that the starting depot is not prespecified; an assumption that distinguishes the present work from the existing literature. A number of viewpoints are assigned to be visited in a certain sequence to minimize the total travel distance. The problem turns out to be a variant of the well-known Traveling Salesmen Problem (TSP), namely the Single depot multiple Traveling Salesmen Problem (mTSP). Comparisons between the commonly-used prespecified starting depot approach and the proposed formulations are performed and the efficacy of the results is presented through simulations. It is noted that by using the new approach, the total travel distance can be improved by an average of about 20 % compared to the case where the starting depot is prespecified, and by about 40 % in the worst-case scenario (in terms of the starting depot).     

Review on finite element analysis of welding deformation and residual stress

Welding deformation and residual stress have negative influence on assembly accuracy and service performance. Thermal elastic plastic (TEP) and inherent strain finite element analysis (FEA) methods were used to study this challenge. Basic principle of these two methods was first introduced. The influence of welding process, constraints, solid phase transformation and multi-pass welding on deformation and residual stress was discussed, and computation accuracy and efficiency were summarised. Loading method of inherent strain in inherent strain FEA was analysed, interface element was introduced to simulate effects of the gap on deformation in assembly welding especially for large structures. The future work, including accurately multiscale TEP model, efficiently transient prediction method of large structures, and flexible evaluation software, was planned.     

Nussbaum‐type function–based attitude control of spacecraft with actuator saturation

This paper investigates the attitude stabilization problem of spacecraft subject to external disturbances and actuator saturation. A novel attitude control scheme is technically proposed by incorporating the Nussbaum gain technique into backstepping design. The key idea behind this is to introduce a special Nussbaum‐type function in order to compensate for the time‐varying nonlinear terms arising from input saturation. By exploiting the dynamic surface control technique, the problem of “explosion of terms” inherent in traditional backstepping designs is effectively eliminated and the computational burden is significantly reduced. Additionally, based on the selected Nussbaum‐type function, a constructive analysis methodology is presented, which plays an important role in analyzing the stability properties of the closed‐loop system. It is then proved that the proposed control scheme can guarantee the boundedness of all closed‐loop signals. Furthermore, the unwinding phenomenon is given a simple and effective remedy by resorting to suitable choices of the attitude error variable and the virtual control law. Finally, simulation experiments are carried out to assess the effectiveness and demonstrate the advantages of the proposed control scheme.     

煤粉密度对燃煤过程中颗粒物形成特性的影响

通过浮选实验先将典型烟煤分成高、中、低3个密度段,然后对3种不同密度原煤在沉降炉内进行热解和燃烧实验,研究原煤密度对颗粒物形成机理和特性的影响。实验采用低压撞击器（LPI）把颗粒物按不同粒径大小从0.03～10.0 μm共分13级,分别采集燃烧后的可吸入颗粒物。实验结果显示：低密度原煤对颗粒物形成的贡献最大,中密度次之,高密度最小,低密度原煤所含矿物质粒度最小,形成的焦的膨胀率、总孔体积和BET表面积最大,高密度原煤所含矿物质粒度最大,形成的焦的膨胀率、总孔体积和BET表面积最小,中密度原煤介于两者之间,3种密度原煤燃烧后形成的PM10颗粒物元素构成的相同点是：对于亚微米颗粒物,元素S＋碱金属元素＋其他元素>难熔元素,对于超微米颗粒物,难熔元素占80%以上,远远大于其他三类元素。     

A novel fault diagnosis method of bearing based on improved fuzzy ARTMAP and modified distance discriminant technique

This paper presents a novel intelligent diagnosis method based on multiple domain features, modified distance discrimination technique and improved fuzzy ARTMAP (IFAM). The method consists of three steps. To begin with, time-domain, frequency-domain and wavelet grey moments are extracted from the raw vibration signals to demonstrate the fault-related information. Then through the modified distance discrimination technique some salient features are selected from the original feature set. Finally, the optimal feature set is input into the IFAM incorporated with similarity based on the Yu’s norm in the classification phase to identify the different fault categories. The proposed method is applied to the fault diagnosis of rolling element bearing, and the test results show that the IFAM identify the fault categories of rolling element bearing more accurately and has a better diagnosis performance compared to the FAM. Furthermore, by the application of the bootstrap method to the diagnosis results it can testify that the IFAM has more capacity of reliability and robustness.     

Study of Welding Distortion and Residual Stress Considering Nonlinear Yield Stress Curves and Multi-constraint Equations

Journal of Materials Engineering and Performance - Inherent strain analysis has been successfully applied to predict welding deformations of large-scale structural components, while...