The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and ei...The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and eigenvector used to solve the equations of motion.The major finding is as following.Hovering flight of the model dronefly is unstable because of the existence of an unstable longitudinal and an unstable lateral natural mode of motion.Upward flight of the insect is also unstable,and the instability increases as the upward flight speed increases.Inertial force generated by the upward flight velocity coupled with the disturbance in pitching angular velocity is responsible for the enhancement of the instability.展开更多
The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular sy...The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.展开更多
The current academic research on the Dian Shi Zhai Pictorial founded in 1884 has been perfected,but there is very little research on the Flying Shadow Pavilion Pictorial,which can be said to be derived from Dian Shi Z...The current academic research on the Dian Shi Zhai Pictorial founded in 1884 has been perfected,but there is very little research on the Flying Shadow Pavilion Pictorial,which can be said to be derived from Dian Shi Zhai Pictorial terms of both content and form,and which was founded by the Haiist painter Wu Youru in 1890 in order to reward the increasing number of admirers,but it is still in the initial stage.Flying Shadow Pavilion Pictorial consisted of four parts:pictures of ladies in Shanghai costumes,news about current affairs,pictures of animals,and compilations of women,each of which was accompanied by the then popular notebooks,which were popular at the time among the then readers because of the matching of pictures with text and the mixing of narratives and discussions.This paper takes Flying Shadow Pavilion Pictorial as the main object,summarizes the existing literature about Flying Shadow Pavilion Pictorial,points out the deficiencies of the current research on this basis,and points out the development trend of Flying Shadow Pavilion Pictorial in the future research.展开更多
English is an important course in colleges,and students’proficiency in the language can significantly affect their learning in multiple disciplines.At present,offline classroom teaching is still the primary mode of c...English is an important course in colleges,and students’proficiency in the language can significantly affect their learning in multiple disciplines.At present,offline classroom teaching is still the primary mode of college English teaching,and online teaching has not been widely used.Under the background of new liberal arts,the teaching tasks and objectives of college English have changed,and it is imperative to carry out online-offline hybrid teaching mode.This paper analyzes the feasibility of the online-offline hybrid teaching mode of college English,summarizes its problems,and explores its implementation strategies in the context of the new liberal arts,to provide references for teachers.展开更多
With the development of information technology,the blended online and offline teaching mode has gradually become a new trend in the teaching of ideological and political theory courses in universities.This article ana...With the development of information technology,the blended online and offline teaching mode has gradually become a new trend in the teaching of ideological and political theory courses in universities.This article analyzes the current situation and existing problems of blended online and offline teaching of ideological and political courses in universities,and explores how to effectively combine online and offline teaching resources to improve the teaching effectiveness of ideological and political courses in universities.展开更多
Objective:To analyze the value of using virtual reality combined with the flipped classroom teaching model in teaching cardiopulmonary resuscitation(CPR).Methods:Two classes of our nursing program were randomly select...Objective:To analyze the value of using virtual reality combined with the flipped classroom teaching model in teaching cardiopulmonary resuscitation(CPR).Methods:Two classes of our nursing program were randomly selected for the study from September 2022 to September 2023,Class A(52 students,conventional teaching method)and Class B(52 students,virtual reality combined with flipped classroom teaching mode).The assessment scores and independent learning ability scores of the students in the two classes were compared.Results:CPR theory and operation scores,passing rate,and independent learning ability scores of Class B were higher than those of Class A(P<0.05).Conclusion:the use of virtual reality combined with the flipped classroom teaching mode in CPR teaching is conducive to the improvement of students’assessment scores and independent learning ability.展开更多
[Objective] The paper was to provide the scientific basis for effective monitoring and early warning on oriental fruit fly in Jiangxi Province.[Method] Using the distribution data and environmental factor data of orie...[Objective] The paper was to provide the scientific basis for effective monitoring and early warning on oriental fruit fly in Jiangxi Province.[Method] Using the distribution data and environmental factor data of oriental fruit fly,the potential distribution area of oriental fruit fly in Jiangxi Province was predicted by GARP ecological niche model.[Result]The total suitable area for oriental fruit fly in Jiangxi province was over two thirds of the whole province.Most areas in southern Jiangxi basin ranged from 24° to 26° N were the high suitable area for oriental fruit fly,where the annual average temperature was 19-20℃.Part areas in north Ganzhou and small areas in southwest Ji'an,Wuzhou,Yingtan,southeast Shangrao ranged from 26° to 27° N were the moderate suitable areas for oriental fruit fly,where the annual average temperature was 18-19℃.The low suitable area was ranged from 26° to 30° N including Binhu,Ganjiang River,Wuhe,Yuanshui area and Southwestern Mountain of Jiangxi Province,where the annual average temperature was 17-18℃.Northeast and northwest areas in Jiangxi Province and coastal areas along the Yangtze River was predicted to be non-suitable area for oriental fruit fly,where the annual average temperature was 16-17℃.[Conclusion] The results showed that the actual distribution of oriental fruit fly basically was consistent with the distribution predicted by GARP.展开更多
With the continuous development of the times, people’s thinking is constantly improving, and the importance of educa-tion is also increasing. As many new teaching models are emerging, the network course education rep...With the continuous development of the times, people’s thinking is constantly improving, and the importance of educa-tion is also increasing. As many new teaching models are emerging, the network course education represented by flipped classroomand MOOC education are increasingly attracting the attention of all walks of life with its unique advantages. The teaching of Eng-lish reading is a key point in College English education. However, the reality of College English reading education is not satisfacto-ry due to certain factors. This paper aims to discuss the implication of flipped classroom mode in college English reading teaching,hoping to provide references for the relevant parties.展开更多
This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher...This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.展开更多
A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and ...A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.展开更多
Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in...Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is展开更多
In the present work, a thorough investigation on the microstructural and morphological aspects of dragonfly wings was carried out using scanning electron microscope. Then, based on this study and the previous reports,...In the present work, a thorough investigation on the microstructural and morphological aspects of dragonfly wings was carried out using scanning electron microscope. Then, based on this study and the previous reports, a precise three-dimensional numerical model was developed and natural frequencies and vibration modes of dragonfly forewing were determined by finite element method. The results shown that dragonfly wings are made of a series of adaptive materials, which form a very complex composite structure. This bio-composite fabrication has some unique features and potential benefits. Furthermore, the numerical results show that the first natural frequency of dragonfly wings is about 168 Hz and bending is the predominant deformation mode in this stage. The accuracy of the present analysis is verified by comparison of calculated results with experimental data. This paper may be helpful for micro aerial vehicle design concerning dynamic response.展开更多
To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditio...To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.展开更多
The lateral dynamic flight stability of a hovering model insect (dronefly) was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigen...The lateral dynamic flight stability of a hovering model insect (dronefly) was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. (i) Three natural modes of motion were identified: one unstable slow divergence mode (mode 1), one stable slow oscillatory mode (mode 2), and one stable fast subsidence mode (mode 3). Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis (x-axis) and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. (ii) Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. (iii) For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period (the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period). Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.展开更多
Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is th...Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.展开更多
At present,all kinds of municipal solid waste incineration (MSWI) fly ash stabilization technology has been reported and successfully applied in many countries.However,leaching procedures are very different that the t...At present,all kinds of municipal solid waste incineration (MSWI) fly ash stabilization technology has been reported and successfully applied in many countries.However,leaching procedures are very different that the technologies lack uniform standard,and it is even impossible to predict the long-term stabilization.Geochemical model can explain the environmental stabilization based on chemical phase and thermodynamic crystal structure,and it is also able to guide the development of environment-friendly stabi...展开更多
The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle(FAHV).The model of interest includes flexibility effects and intricate couplings ...The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle(FAHV).The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics.To overcome the analytical intractability of this model,a nominal control-oriented model is constructed for the purpose of feedback control design in the first place.Secondly,the multi-input multi-output(MIMO) quasi-continuous high-order sliding mode(HOSM) controller is proposed to track step changes in velocity and altitude,which is based on full state feedback.The simulation results are presented to verify the effectiveness of the proposed control strategy.展开更多
To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed...To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.展开更多
Fly and bottom ash(FABA)produced primarily from coal combustion in a coal-fred power plant consists of fne particles of the organic and inorganic mixture and trace elements.Eight FABA samples from coal-fred power plan...Fly and bottom ash(FABA)produced primarily from coal combustion in a coal-fred power plant consists of fne particles of the organic and inorganic mixture and trace elements.Eight FABA samples from coal-fred power plants in Java,Indonesia,had been collected for composition and rare earth element and Yttrium(REY)mode of occurrence identifcation.The geochemical composition of both major and trace elements was determined by inductively coupled plasma-mass spectrometry/atomic emission spectrometry(ICP-MS/AES).Furthermore,the composition of FABA was identifed by petrography with refected light microscopy and X-ray difraction(XRD)analysis.Simultaneously,scanning electron microscope determines the mode of occurrence of REY with an energy-dispersive X-ray(SEM–EDX).The study fnds that the inorganic component of FABA consists of glass,Fe–Mg spinel,mullite,quartz,Fe-oxide mineral,and K-feldspar.In contrast,the organic component is dominated by unburned coal.Glass is the most abundant component with cenospheres as major and pleiospheres as minor constituents.Trace elements analysis indicates REY concentration with heavy REY(HREY)distribution pattern.Moreover,SEM–EDX analysis results show that Yttrium(Y)occurs in glass and has a low concentration in spinel.From the mode occurrence of REY,in particular Yttrium,it can be predicted that alkaline fusion followed by acid leaching will be the most appropriate extraction method to extract REY from Indonesian FABA.展开更多
基金supported by the National Natural Science Foundation of China(11232002)
文摘The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and eigenvector used to solve the equations of motion.The major finding is as following.Hovering flight of the model dronefly is unstable because of the existence of an unstable longitudinal and an unstable lateral natural mode of motion.Upward flight of the insect is also unstable,and the instability increases as the upward flight speed increases.Inertial force generated by the upward flight velocity coupled with the disturbance in pitching angular velocity is responsible for the enhancement of the instability.
基金supported by the National Nature Science Foundation of China (62063011,62273169, 61922037, 61873115)Yunnan Fundamental Research Projects(202001AV070001)+1 种基金Yunnan Major Scientific and Technological Projects(202202AG050002)partially supported by the Open Foundation of Key Laboratory in Software Engineering of Yunnan Province (2020SE502)。
文摘The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.
文摘The current academic research on the Dian Shi Zhai Pictorial founded in 1884 has been perfected,but there is very little research on the Flying Shadow Pavilion Pictorial,which can be said to be derived from Dian Shi Zhai Pictorial terms of both content and form,and which was founded by the Haiist painter Wu Youru in 1890 in order to reward the increasing number of admirers,but it is still in the initial stage.Flying Shadow Pavilion Pictorial consisted of four parts:pictures of ladies in Shanghai costumes,news about current affairs,pictures of animals,and compilations of women,each of which was accompanied by the then popular notebooks,which were popular at the time among the then readers because of the matching of pictures with text and the mixing of narratives and discussions.This paper takes Flying Shadow Pavilion Pictorial as the main object,summarizes the existing literature about Flying Shadow Pavilion Pictorial,points out the deficiencies of the current research on this basis,and points out the development trend of Flying Shadow Pavilion Pictorial in the future research.
基金Research and Practice of College English Writing Mixed Teaching Model Under the Guidance of OBE Concept of Education Reform Project of Guangdong Technology College(Project number:JXGG2024089)。
文摘English is an important course in colleges,and students’proficiency in the language can significantly affect their learning in multiple disciplines.At present,offline classroom teaching is still the primary mode of college English teaching,and online teaching has not been widely used.Under the background of new liberal arts,the teaching tasks and objectives of college English have changed,and it is imperative to carry out online-offline hybrid teaching mode.This paper analyzes the feasibility of the online-offline hybrid teaching mode of college English,summarizes its problems,and explores its implementation strategies in the context of the new liberal arts,to provide references for teachers.
文摘With the development of information technology,the blended online and offline teaching mode has gradually become a new trend in the teaching of ideological and political theory courses in universities.This article analyzes the current situation and existing problems of blended online and offline teaching of ideological and political courses in universities,and explores how to effectively combine online and offline teaching resources to improve the teaching effectiveness of ideological and political courses in universities.
文摘Objective:To analyze the value of using virtual reality combined with the flipped classroom teaching model in teaching cardiopulmonary resuscitation(CPR).Methods:Two classes of our nursing program were randomly selected for the study from September 2022 to September 2023,Class A(52 students,conventional teaching method)and Class B(52 students,virtual reality combined with flipped classroom teaching mode).The assessment scores and independent learning ability scores of the students in the two classes were compared.Results:CPR theory and operation scores,passing rate,and independent learning ability scores of Class B were higher than those of Class A(P<0.05).Conclusion:the use of virtual reality combined with the flipped classroom teaching mode in CPR teaching is conducive to the improvement of students’assessment scores and independent learning ability.
基金Supported by Science and Technology Project in Jiangxi Department of Education (GJJ08471)"Forest Protection" Projects of Key Disciplines in Yunnan Province (XKZ200905)~~
文摘[Objective] The paper was to provide the scientific basis for effective monitoring and early warning on oriental fruit fly in Jiangxi Province.[Method] Using the distribution data and environmental factor data of oriental fruit fly,the potential distribution area of oriental fruit fly in Jiangxi Province was predicted by GARP ecological niche model.[Result]The total suitable area for oriental fruit fly in Jiangxi province was over two thirds of the whole province.Most areas in southern Jiangxi basin ranged from 24° to 26° N were the high suitable area for oriental fruit fly,where the annual average temperature was 19-20℃.Part areas in north Ganzhou and small areas in southwest Ji'an,Wuzhou,Yingtan,southeast Shangrao ranged from 26° to 27° N were the moderate suitable areas for oriental fruit fly,where the annual average temperature was 18-19℃.The low suitable area was ranged from 26° to 30° N including Binhu,Ganjiang River,Wuhe,Yuanshui area and Southwestern Mountain of Jiangxi Province,where the annual average temperature was 17-18℃.Northeast and northwest areas in Jiangxi Province and coastal areas along the Yangtze River was predicted to be non-suitable area for oriental fruit fly,where the annual average temperature was 16-17℃.[Conclusion] The results showed that the actual distribution of oriental fruit fly basically was consistent with the distribution predicted by GARP.
文摘With the continuous development of the times, people’s thinking is constantly improving, and the importance of educa-tion is also increasing. As many new teaching models are emerging, the network course education represented by flipped classroomand MOOC education are increasingly attracting the attention of all walks of life with its unique advantages. The teaching of Eng-lish reading is a key point in College English education. However, the reality of College English reading education is not satisfacto-ry due to certain factors. This paper aims to discuss the implication of flipped classroom mode in college English reading teaching,hoping to provide references for the relevant parties.
文摘This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.
基金supported by Major State Basic Research Development Program(2012CB720000)National Natural Science Foundation of China(11372034)Innovative Research Team of Beijing Institute of Technology
文摘A novel high-order sliding mode control strategy is proposed for the attitude control problem of reentry vehicles in the presence of parametric uncertainties and external disturbances, which results in the robust and accurate tracking of the aerodynamic angle commands with the finite time convergence. The proposed control strategy is developed on the basis of integral sliding mode philosophy, which combines conventional sliding mode control and a linear quadratic regulator over a finite time interval with a free-final-state and allows the finite-time establishment of a high-order sliding mode. Firstly, a second-order sliding mode attitude controller is designed in the proposed high-order siding mode control framework. Then, to address the control chattering problem, a virtual control is introduced in the control design and hence a third-order sliding mode attitude controller is developed, leading to the chattering reduction as well as the control accuracy improvement. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.
基金This project was supported by the Aeronautics Foundation of China (00E21022).
文摘Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is
文摘In the present work, a thorough investigation on the microstructural and morphological aspects of dragonfly wings was carried out using scanning electron microscope. Then, based on this study and the previous reports, a precise three-dimensional numerical model was developed and natural frequencies and vibration modes of dragonfly forewing were determined by finite element method. The results shown that dragonfly wings are made of a series of adaptive materials, which form a very complex composite structure. This bio-composite fabrication has some unique features and potential benefits. Furthermore, the numerical results show that the first natural frequency of dragonfly wings is about 168 Hz and bending is the predominant deformation mode in this stage. The accuracy of the present analysis is verified by comparison of calculated results with experimental data. This paper may be helpful for micro aerial vehicle design concerning dynamic response.
基金This project is supported by Aeronautics Foundation of China (No. 00E51022)
文摘To alleviate the chattering problem, a new type of fuzzy global sliding mode controller (FGSMC) is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller(SMC), and genetic algorithm (GA) is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.
基金supported by the National Natural Science Foundation of China(10732030)the 111 Project(B07009)
文摘The lateral dynamic flight stability of a hovering model insect (dronefly) was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. (i) Three natural modes of motion were identified: one unstable slow divergence mode (mode 1), one stable slow oscillatory mode (mode 2), and one stable fast subsidence mode (mode 3). Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis (x-axis) and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. (ii) Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. (iii) For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period (the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period). Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.
文摘Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.
文摘At present,all kinds of municipal solid waste incineration (MSWI) fly ash stabilization technology has been reported and successfully applied in many countries.However,leaching procedures are very different that the technologies lack uniform standard,and it is even impossible to predict the long-term stabilization.Geochemical model can explain the environmental stabilization based on chemical phase and thermodynamic crystal structure,and it is also able to guide the development of environment-friendly stabi...
基金supported by the National Natural Science Foundation of China(9101601861273092+3 种基金61203012)the Foundation for Key Program of Ministry of Education of China(311012)the Key Program for Basic Research of Tianjin(11JCZDJC25100)the Key Program of Tianjin Natural Science(12JCZDJC30300)
文摘The focus of this paper is on control design and simulation for the longitudinal model of a flexible air-breathing hypersonic vehicle(FAHV).The model of interest includes flexibility effects and intricate couplings between the engine dynamics and flight dynamics.To overcome the analytical intractability of this model,a nominal control-oriented model is constructed for the purpose of feedback control design in the first place.Secondly,the multi-input multi-output(MIMO) quasi-continuous high-order sliding mode(HOSM) controller is proposed to track step changes in velocity and altitude,which is based on full state feedback.The simulation results are presented to verify the effectiveness of the proposed control strategy.
基金Project(61203021)supported by the National Natural Science Foundation of ChinaProject(2011216011)supported by the Scientific and Technological Project of Liaoning Province,China+1 种基金Project(2013020024)supported by the Natural Science Foundation of Liaoning Province,ChinaProjects(LJQ2015061,LR2015034)supported by the Program for Liaoning Excellent Talents in University,China
文摘To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.
基金support was obtained from Universitas Gadjah Mada with funding number:828/BPP/2018。
文摘Fly and bottom ash(FABA)produced primarily from coal combustion in a coal-fred power plant consists of fne particles of the organic and inorganic mixture and trace elements.Eight FABA samples from coal-fred power plants in Java,Indonesia,had been collected for composition and rare earth element and Yttrium(REY)mode of occurrence identifcation.The geochemical composition of both major and trace elements was determined by inductively coupled plasma-mass spectrometry/atomic emission spectrometry(ICP-MS/AES).Furthermore,the composition of FABA was identifed by petrography with refected light microscopy and X-ray difraction(XRD)analysis.Simultaneously,scanning electron microscope determines the mode of occurrence of REY with an energy-dispersive X-ray(SEM–EDX).The study fnds that the inorganic component of FABA consists of glass,Fe–Mg spinel,mullite,quartz,Fe-oxide mineral,and K-feldspar.In contrast,the organic component is dominated by unburned coal.Glass is the most abundant component with cenospheres as major and pleiospheres as minor constituents.Trace elements analysis indicates REY concentration with heavy REY(HREY)distribution pattern.Moreover,SEM–EDX analysis results show that Yttrium(Y)occurs in glass and has a low concentration in spinel.From the mode occurrence of REY,in particular Yttrium,it can be predicted that alkaline fusion followed by acid leaching will be the most appropriate extraction method to extract REY from Indonesian FABA.