Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.

An intelligent control method based on artificial neural network for numerical flight simulation of the basic finner projectile with pitching maneuver

In this paper,an intelligent control method applying on numerical virtual flight is proposed.The proposed algorithm is verified and evaluated by combining with the case of the basic finner projectile model and shows a good application prospect.Firstly,a numerical virtual flight simulation model based on overlapping dynamic mesh technology is constructed.In order to verify the accuracy of the dynamic grid technology and the calculation of unsteady flow,a numerical simulation of the basic finner projectile without control is carried out.The simulation results are in good agreement with the experiment data which shows that the algorithm used in this paper can also be used in the design and evaluation of the intelligent controller in the numerical virtual flight simulation.Secondly,combined with the real-time control requirements of aerodynamic,attitude and displacement parameters of the projectile during the flight process,the numerical simulations of the basic finner projectile’s pitch channel are carried out under the traditional PID(Proportional-Integral-Derivative)control strategy and the intelligent PID control strategy respectively.The intelligent PID controller based on BP(Back Propagation)neural network can realize online learning and self-optimization of control parameters according to the acquired real-time flight parameters.Compared with the traditional PID controller,the concerned control variable overshoot,rise time,transition time and steady state error and other performance indicators have been greatly improved,and the higher the learning efficiency or the inertia coefficient,the faster the system,the larger the overshoot,and the smaller the stability error.The intelligent control method applying on numerical virtual flight is capable of solving the complicated unsteady motion and flow with the intelligent PID control strategy and has a strong promotion to engineering application.

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

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.

基于FCS-MPC的PMSM自抗扰弱磁控制系统设计与分析

永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)弱磁控制系统常用于电动汽车领域。电动汽车运行于低速时,PMSM需要输出大转矩,以响应快速起步、加速及爬坡需求;电动汽车运行于高速,且超过额定速度时,PMSM处于弱磁状态,需具备一定的带载能力,以满足高速行驶和超车工况。针对PMSM弱磁控制中的转速突变,文章设计了自抗扰控制器(Active Disturbances Rejection Controller,ADRC)替代速度外环PI控制器,对扰动项快速观测和补偿,减小速度突变对系统造成干扰,实现转速精准跟踪。针对转矩项干扰,结合转矩和磁链输出值设计有限集模型预测控制(Finite Control Set Model Predictive Control,FCS-MPC)以替代传统直接转矩控制(Direct Torque Control,DTC),构建令转矩和磁链脉动最小的价值函数,再通过价值函数的计算寻优,选取出最优空间矢量控制信号输送给逆变器。基于ADRC和FCS-MPC的优化作用,弱磁控制系统的抗扰能力、电流和转矩输出精度增强,试验验证了所设计系统的可行性和性能优势。

Research on Teaching Methods of Flight Control Principles

With the rapid development of China’s civil aviation industry,the teaching method of operating knowledge of flight principles has changed greatly,which creates a good implementation environment to improve the safety of civil aviation in our country.At present,the main training content of air route transport pilots in China is basic aviation theory,initial flight training,airline modification,etc.The principles of flight control are an important part of basic aviation theoretical knowledge training,which will involve a large number of flight technology training content,instructors will also be based on the pilot type.Teaching flight control theory and practical knowledge requires relatively high theoretical learning ability of students,and the learning effect of this part of theoretical knowledge will directly affect the quality of subsequent learning,but also directly affect the effectiveness of flight training.This paper focuses on the analysis of the basic concepts of flight control,studies the existing problems in the teaching of flight control principles,summarizes the teaching measures of flight control principles,aiming to provide a reference to teaching personnel.

Research and Development of Condensate Water Fined Processing Control System Based on FCS

This paper briefly states the features and advantages of FCS （fieldbus control system）. In view of condensate water fined processing system of domestic 600 MW supercritical coal-fired generating units, it designed and developed a FCS for entirely process control, designed computer monitoring software and organized network monitor the change of data. At the same time, making the simulation device of the system, the FCS control system scheme is implemented on this device. It is verified by practice that the system control technology is advanced, safe, reliable and operation well. It provides a complete project for automation technology upgrade program in power plant. In addition, this device can be used in the power industry technical personnel training and teaching of colleges and universities. It is worth promotion and reference.

ADRC FRACTIONAL ORDER PID CONTROLLER DESIGN OF HYPERSONIC FLIGHT VEHICLE

Active disturbance rejection controller（ADRC）uses tracking-differentiator（TD）to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative（PID）controller improves the control quality and expands the stable region of the system parameters.ADRC fractional order（ADRFO）PID controller is designed by combining ADRC with the fractional order PID and applied to reentry attitude control of hypersonic vehicle.Simulation results show that ADRFO PID controller has better control effect and greater stable region for the strong nonlinear model of hypersonic flight vehicle under the influence of external disturbance,and has stronger robustness against the perturbation in system parameters.

MATHEMATICAL MODEL OF SELF-REPAIRING FLIGHT CONTROL

The most prospective method for certain structural failures and damages that cannot employ redundancy is self-repairing techniques, to ensure especially the maximum flight safety. Based on the characters of self-repairing aircraft, this paper states some basic assumptions of the self-repairing aircraft, and puts forward some special new conceptions concerning the self-repairing aircraft: control input, operating input, command input, repair input and operating and control factor as well as their relationships. Thus it provides a simple and reliable mathematical model structure for the research on the self-repairing control of the aircraft.

APPLICATION OF HYBRID AERO-ENGINE MODEL FOR INTEGRATED FLIGHT/PROPULSION OPTIMAL CONTROL

The real-time capability of integrated flight/propulsion optimal control （IFPOC） is studied. An appli- cation is proposed for IFPOC by combining the onboard hybrid aero-engine model with sequential quadratic pro- gramming （SQP）. Firstly, a steady-state hybrid aero-engine model is designed in the whole flight envelope with a dramatic enhancement of real-time capability. Secondly, the aero-engine performance seeking control including the maximum thrust mode and the minimum fuel-consumption mode is performed by SQP. Finally, digital simu- lations for cruise and accelerating flight are carried out. Results show that the proposed method improves real- time capability considerably with satisfactory effectiveness of optimization.

ADAPTIVE BACKSTEPPING FLIGHT CONTROL WITH ACTUATOR SATURATION

Because actuator satu ration can become a problem or even a disaster in flight control system, the con sideration of actuator saturation in the design phase may indeed reduce the degr ee of conservativeness of an flight control system (FCS) and thus noticeably enh ance the performance of the FCS. Deflection limits and rate limits are both cons idered in a new adaptive backstepping FCS design process. The key of the method is that a new control Lyapunov function (CLF) and a control law are chosen when the actuator saturation occurs. This idea results from that there must be a vari ation in the pseudo-control at saturation. The whole progress is a modification of an early presented method: adaptive backstepping control scheme. The stabili ty is proved and verified successfully. The conclusion and some comments about t his method are given in the end.

基于遗传算法的IFFCS设计方法

首次将遗传算法用于综合火力／飞行控制系统的参数设计中，在某高速歼击机数学模型基础上，采用遗传算法自动调节这些参数以获得满意的性能，仿真结果表明，遗传设计方法能够缩短设计时间，改善瞄准精度。

一种基于FCS的花卉温室控制系统方案

从温室花卉生长原理和温室控制原理出发,提出了一种基于FCS的花卉温室控制系统的设计方案,并与其它方案进行对照。实验证明,该系统方案具有稳定性好、可靠性高、通用性好和环境适用性强等优点,满足设计要求,便于推广应用。

神经元解耦控制方案在火电厂球磨机FCS中的设计

给出了一种由神经元和静态解耦网络相结合的针对火电厂球磨机现场总线控制的方案。并在此基础上将此控制方案应用于火电厂球磨机的现场总线控制系统的设计和开发,论证了该种控制方案在FCS控制系统中的可行性,并详细阐述了该控制方案在FCS上位监控级和现场级的实现方法和过程。从实时仿真和现场运行的结果看,该种控制方案在FCS中实现可以取得令人满意的控制效果。

基于CAN的FCS型智能温室系统的设计与实现

设计实现了一个以CAN总线通信架构为基础的智能温室控制系统。系统应用模糊解耦技术消除了温室温湿度控制回路的耦合,嵌入一个精简专家控制器补偿修正其它环境因子间的耦合作用,针对复杂工况设计了灵活多样的专家控制策略。控制系统在温室现场的加热、通风实际效果图表明:该控制系统通信可靠,控制精度高,稳定性好,较好地满足了温室生产控制的要求。

应用滑模控制的四开关逆变器PMSM系统FCS-MPC策略

为了提高三相四开关逆变器永磁同步电机(PMSM)控制系统的性能,采用滑模控制方法,提出一种有限控制集模型预测控制(FCS-MPC)策略,并设计可以无抖振、单调收敛的滑模转速调节器.所设计的控制系统能够保证PMSM系统可靠稳定地运行,可抑制PMSM的电磁转矩脉动,改善三相定子电流波形效果,具备良好的转速跟随性能.仿真结果表明,与常规FCS-MPC方法相比,滑模转速调节器可以使电机加载时的转速跌落更小,并且转速能够更快恢复至参考值.所提出的FCS-MPC策略可以明显减小PMSM转矩脉动,降低三相定子电流总谐波失真(THD)值.当系统参数发生变化时,PMSM系统仍可平稳运行,三相定子电流能够保持良好的平衡性.

FCS165现场总线控制系统实际微分PID控制器的设计

在分析PID控制器设计常用的理想微分PID控制算法和实际微分PID控制算法的基础上,选择实际微分PID控制算法用于FCS165现场总线控制系统,并给出了抗积分饱和无扰动切换的方案。经长期测试和实际运行表明,实际微分PID控制算法控制效果较好。

集散控制与现场控制的比较及对FCS技术的展望

近年来 ,由于计算机技术及计算机网络技术的进步 ,测控技术领域也因此发生了巨大变革 ,第五代过程控制体系结构 FCS已随着现场总线技术的发展而逐步形成。探讨过程控制体系结构从PCS到 FCS的发展情况 ,并对

基于对象模型的WorldFIP FCS策略组态软件的研制

详尽介绍和阐述了一种应用于W orldF IP FCS的基于对象模型的策略组态软件的研制。系统阐述了该策略组态软件的结构和组成,讨论了该策略组态软件的组态模式。提出了一种基于对象模型的FCS组态软件设计模式,详尽给出了该组态软件基于对象模型的研制方法。在最后给出了一个具体的应用实例。

基于PLC和FCS集中供热锅炉控制系统设计

针对目前部分热电厂供热锅炉控制系统相对简单、可靠性和优化控制性能不足的弊端,开发设计一种基于PLC和FCS相结合的供热锅炉控制系统.通过PLC和FCS相结合的组态编程,构建良好的人机界面,实现控制信息的可靠传输和锅炉系统的实时、动态监控,提高锅炉系统运行的可靠性、操作和维护的方便性.应用实例分析表明,该控制系统有效地实现了供热锅炉系统的集中与分布式控制.

火电厂球磨机FCS上位监控系统仿真研究

对火电厂球磨机现场总线控制系统的控制方案设计进行了详尽的阐述,给出了控制算法离线非实时仿真的结果。论证了上位监控系统控制效果实时仿真的必要性并详尽阐述了实时仿真方案确立及实施的方法及过程,给出了实时仿真的结果,指出了在控制系统的设计开发中进行控制系统上位监控仿真的重要意义。