In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics m...In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.展开更多
The regularization contributes to the resolution and stability in geophysical inversion. The authors apply dual-parameter shaping regularization to full waveform inversion, aiming at two points ： （ 1 ） improving th...The regularization contributes to the resolution and stability in geophysical inversion. The authors apply dual-parameter shaping regularization to full waveform inversion, aiming at two points ： （ 1 ） improving the boundary resolution, and （2） increasing convergence. Firstly, the forward modeling is done, and the inversion is processed with the optimal solution. Compared with classical Tikhonov regularization scheme, the method re fleets better resolution and stronger convergence. Then, Marmousi model is experimented and inversed, and the deep structure has a sharper outline. The phase residual comparison illustrates weaker cycle-slipping. And a choice scheme of parameter is applied in FWI.展开更多
文摘In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.
文摘The regularization contributes to the resolution and stability in geophysical inversion. The authors apply dual-parameter shaping regularization to full waveform inversion, aiming at two points ： （ 1 ） improving the boundary resolution, and （2） increasing convergence. Firstly, the forward modeling is done, and the inversion is processed with the optimal solution. Compared with classical Tikhonov regularization scheme, the method re fleets better resolution and stronger convergence. Then, Marmousi model is experimented and inversed, and the deep structure has a sharper outline. The phase residual comparison illustrates weaker cycle-slipping. And a choice scheme of parameter is applied in FWI.
