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X尾翼无人机的故障诊断和容错控制方法 被引量:2
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作者 邓俊武 张玉民 +1 位作者 张红娣 杜晓坤 《山东大学学报(工学版)》 CAS 北大核心 2017年第5期166-172,共7页
作动器是无人机的关键执行机构,针对作动器卡死、增益损失、偏差等故障问题,采用检测滤波器和卡尔曼滤波相结合的方法进行故障检测和故障参数估计:使用检测滤波器输出带有作动器故障信息的残差向量,并利用阈值检测和残差方向特性检测和... 作动器是无人机的关键执行机构,针对作动器卡死、增益损失、偏差等故障问题,采用检测滤波器和卡尔曼滤波相结合的方法进行故障检测和故障参数估计:使用检测滤波器输出带有作动器故障信息的残差向量,并利用阈值检测和残差方向特性检测和隔离故障;在得到故障警报后使用卡尔曼滤波方法对故障参数进行在线估计,得出故障的具体性质和程度;针对不同的故障形式,采用控制命令补偿或重构的方法进行容错控制。基于X型尾翼无人机的转弯速率模型进行仿真试验,结果验证该方法有效可行,能够实现较快的故障诊断,容错策略可以较好的恢复系统性能。 展开更多
关键词 作动器故障 检测滤波器 遗忘因子卡尔曼滤波 控制量重构
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Static Axially Symmetric Models and Structure Scalars in Self-Interacting Brans–Dicke Gravity
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作者 M. Sharif Rubab Manzoor 《Communications in Theoretical Physics》 SCIE CAS CSCD 2017年第7期39-48,共10页
This paper investigates static axially symmetric models in self-interacting Brans-Dicke gravity. We discuss physically feasible sources of models, derive field equations as well as evolution equations from Bianchi ide... This paper investigates static axially symmetric models in self-interacting Brans-Dicke gravity. We discuss physically feasible sources of models, derive field equations as well as evolution equations from Bianchi identities and construct structure scalars. Using these scalars and evolution equations, the inhomogeneity factors of the system are evaluated. It is found that structure scalars related to double dual of Riemann tensor control the density inhomogeneity. Finally, we obtain exact solutions of homogenous isotropic and inhomogeneous anisotropic spheroid models. It turns out that homogenous solutions reduce to Schwarzschild type interior solutions for a spherical case. We conclude that homogenous models involve homogenous distribution of scalar field whereas inhomogeneous correspond to inhomogeneous sca/ar field. 展开更多
关键词 self-interacting Brans Dicke Theory self-gravitating systems structure scalars Non-sphericalsources interior solutions
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