Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust ada...Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests.展开更多
The waveguide to coaxial cable adapter is very important to the cavity beam position monitor （CBPM） because it determines how much of the energy in the cavity could be coupled outside. In this paper, the waveguide t...The waveguide to coaxial cable adapter is very important to the cavity beam position monitor （CBPM） because it determines how much of the energy in the cavity could be coupled outside. In this paper, the waveguide to coaxial cable adapter of a CBPM is designed and experiments are conducted. The curve shapes of experiments and simulations are very similar and the difference in reflection is less than 0.1. This progress provides a reliable method for designing the adapter.展开更多
基金Supported by the National Natural Science Foundation of China(No.11372309,61304017)Youth Innovation Promotion Association(No.2014192)+1 种基金the Provincial Special Funds Project of Science and Technology Cooperation(No.2017SYHZ0024)the Key Technology Development Project of Jilin Province(No.20150204074GX)
文摘Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests.
文摘The waveguide to coaxial cable adapter is very important to the cavity beam position monitor （CBPM） because it determines how much of the energy in the cavity could be coupled outside. In this paper, the waveguide to coaxial cable adapter of a CBPM is designed and experiments are conducted. The curve shapes of experiments and simulations are very similar and the difference in reflection is less than 0.1. This progress provides a reliable method for designing the adapter.
