This paper establishes and analyzes a high-fidelity nonlinear time-periodic dynamic model and the corresponding state observer for flapping vibration suppression of a novel tailless Flapping Wing Micro Air Vehicle(FWM...This paper establishes and analyzes a high-fidelity nonlinear time-periodic dynamic model and the corresponding state observer for flapping vibration suppression of a novel tailless Flapping Wing Micro Air Vehicle(FWMAV),named NPU-Tinybird.Firstly,a complete modeling of NPU-Tinybird is determined,including the aerodynamic model based on the quasi-steady method,the kinematic and dynamic model about the mechanism of flapping and attitude control,combined with the single rigid body dynamic model.Based on this,a linearized longitudinal pitch dynamic cycle-averaged model is obtained and analyzed through the methods of neural network fitting and system identification,preparing for the design of flapping vibration suppression observer.Flapping vibration is an inherent property of the tailless FWMAV,which arises from the influence of time-periodic aerodynamic forces and moments.It can be captured by attitude and position sensors on the plane,which impairs the flight performance and efficiency of flight controller and actuators.To deal with this problem,a novel state observer for flapping vibration suppression is designed.A robust optimal controller based on the linear quadratic theory is also designed to stabilize the closed-loop system.Simulation results are given to verify the performance of the observer,including the closed loop responses combined with robust optimal controller,the comparison of different parameters of observer and the comparison with several classic methods,such as Kalman filter,H-infinity filter and low-pass filter,which prove that the novel observer owns a fairly good suppression effect on flapping vibration and benefits for the improvement of flight performance and control efficiency.展开更多
The canal flow control by the linear quadratic theory of automatic control theory is discussed in this paper. In the process of flow control,an optimal state estimator is used to feedback control gate motion. One dime...The canal flow control by the linear quadratic theory of automatic control theory is discussed in this paper. In the process of flow control,an optimal state estimator is used to feedback control gate motion. One dimension Saint-Venant flow equations are expanded by first Taylor series at demanded states. The control results of flow in the example canal show remarkable improvement compared to the case without optimal observer. By this control method, the waste of water will significantly be decreased and the efficiency of water transportation can be greatly increased. If the changes of flow discharges are less than 20%, the method is effective for flow control in canal.展开更多
基金financial support of the projects from National Key Research and Development Program of China(No.2017YFB1300102)National Natural Science Foundation of China(Nos.11872314 and U1613227)Youth Program of Natural Science Basic Research Plan in Shaanxi Province of China(No.2019JQ-394)。
文摘This paper establishes and analyzes a high-fidelity nonlinear time-periodic dynamic model and the corresponding state observer for flapping vibration suppression of a novel tailless Flapping Wing Micro Air Vehicle(FWMAV),named NPU-Tinybird.Firstly,a complete modeling of NPU-Tinybird is determined,including the aerodynamic model based on the quasi-steady method,the kinematic and dynamic model about the mechanism of flapping and attitude control,combined with the single rigid body dynamic model.Based on this,a linearized longitudinal pitch dynamic cycle-averaged model is obtained and analyzed through the methods of neural network fitting and system identification,preparing for the design of flapping vibration suppression observer.Flapping vibration is an inherent property of the tailless FWMAV,which arises from the influence of time-periodic aerodynamic forces and moments.It can be captured by attitude and position sensors on the plane,which impairs the flight performance and efficiency of flight controller and actuators.To deal with this problem,a novel state observer for flapping vibration suppression is designed.A robust optimal controller based on the linear quadratic theory is also designed to stabilize the closed-loop system.Simulation results are given to verify the performance of the observer,including the closed loop responses combined with robust optimal controller,the comparison of different parameters of observer and the comparison with several classic methods,such as Kalman filter,H-infinity filter and low-pass filter,which prove that the novel observer owns a fairly good suppression effect on flapping vibration and benefits for the improvement of flight performance and control efficiency.
文摘The canal flow control by the linear quadratic theory of automatic control theory is discussed in this paper. In the process of flow control,an optimal state estimator is used to feedback control gate motion. One dimension Saint-Venant flow equations are expanded by first Taylor series at demanded states. The control results of flow in the example canal show remarkable improvement compared to the case without optimal observer. By this control method, the waste of water will significantly be decreased and the efficiency of water transportation can be greatly increased. If the changes of flow discharges are less than 20%, the method is effective for flow control in canal.
