There is proposed an adaptive sliding controller in task space on the base of the linear Newton-Euler dynamic equation of motion platform in a six-DOF flight simulator. The uncertain parameters are divided into two gr...There is proposed an adaptive sliding controller in task space on the base of the linear Newton-Euler dynamic equation of motion platform in a six-DOF flight simulator. The uncertain parameters are divided into two groups: the constant and the time-varying. The controller identifies constant uncertain parameters using nonlinear adaptive controller associated with elimination of the influences of time-varying uncertain parameters and compensation of the external disturbance using sliding control. The results of numerical simulation attest to the capability of this control scheme not only to, with deadly accuracy, identify parameters of motion platform such as load, inertia moments and mass center, but also effectively improve the robustness of the system.展开更多
Flight path and plane maneuver are controlled by joystick. Collision detection is supported to verify the bumping of plane against surrounding objects. Crash of plane is highlighted by generating explosive flames.
In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model ...In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model (which assumes that the frequency of wingbeat is sufficiently higher than that of the body motion, so that the flapping wings' degrees of freedom relative to the body can be dropped and the wings can be replaced by wingbeat-cycle-average forces and moments); the simulation solves the complete equations of motion coupled with the Navier-Stokes equations. Comparison between the theory and the simulation provides a test to the validity of the assumptions in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency (164 Hz) and the other is a model hawkmoth which has relatively low wingbeat frequency (26 Hz). The results show that the averaged model is valid for the hawkmoth as well as for the dronefly. Since the wingbeat frequency of the hawkmoth is relatively low (the characteristic times of the natural modes of motion of the body divided by wingbeat period are relatively large) compared with many other insects, that the theory based on the averaged model is valid for the hawkmoth means that it could be valid for many insects.展开更多
Aerodynamic force and flow structures of two airfoils in a tandem configuration in flapping motions axe studied, by solving the Navier-Stokes equations in moving overset grids. Three typical phase differences between ...Aerodynamic force and flow structures of two airfoils in a tandem configuration in flapping motions axe studied, by solving the Navier-Stokes equations in moving overset grids. Three typical phase differences between the fore- and aft-airfoil flapping cycles are considered. It is shown that: (1) in the case of no interaction (single airfoil), the time average of the vertical force coefficient over the downstroke is 2.74, which is about 3 times as large as the maximum steady-state lift coefficient of a dragonfly wing; the time average of the horizontal force coefficient is 1.97, which is also large. The reasons for the large force coefficients are the acceleration at the beginning of a stroke, the delayed stall and the 'pitching-up' motion near the end of the stroke. (2) In the cases of two-airfoils, the time-variations of the force and moment coefficients on each airfoil are broadly similar to that of the single airfoil in that the vertical force is mainly produced in downstroke and the horizontal force in upstroke, but very large differences exist due to the interaction. (3) For in-phase stroking, the major differences caused by the interaction are that the vertical force on FA in downstroke is increased and the horizontal force on FA in upstroke decreased. As a result, the magnitude of the resultant force is almost unchanged but it inclines less forward. (4) For counter stroking, the major differences are that the vertical force on AA in downstroke and the horizontal force on FA in upstroke are decreased. As a result, the magnitude of the resultant force is decreased by about 20 percent but its direction is almost unchanged. (5) For 90 degrees -phase-difference stroking, the major differences axe that the vertical force on AA in downstroke and the horizontal force on FA in upstroke axe decreased greatly and the horizontal force on AA in upstroke increased. As a result, the magnitude of the resultant force is decreased by about 28% and it inclines more forward. (6) Among the three cases of phase angles, inphase flapping produces the largest vertical force (also the largest resultant force); the 90 degrees -phase-difference flapping results in the largest horizontal force, but the smallest resultant force.展开更多
The longitudinal dynamic flight stability of a bumblebee in forward flight is studied. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eig...The longitudinal dynamic flight stability of a bumblebee in forward flight is studied. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are employed for solving the equations of motion. The primary findings are as the following. The forward flight of the bumblebee is not dynamically stable due to the existence of one (or two) unstable or approximately neutrally stable natural modes of motion. At hovering to medium flight speed [flight speed Ue = (0-3.5)m s^-1; advance ratio J = 0-0.44], the flight is weakly unstable or approximately neutrally stable; at high speed (Ue = 4.5 m s^-1; J = 0.57), the flight becomes strongly unstable (initial disturbance double its value in only 3.5 wingbeats).展开更多
In the present paper, the lateral dynamic flight stability properties of two hovering model insects are predicted by an approximate theory based on the averaged model, and computed by numerical simulation that solves ...In the present paper, the lateral dynamic flight stability properties of two hovering model insects are predicted by an approximate theory based on the averaged model, and computed by numerical simulation that solves the complete equations of motion coupled with the Naviertokes equations. Comparison between the theoretical and simulational results provides a test to the validity of the assumptions made in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency (164Hz) and the other is a model hawkmoth which has relatively low wingbeat frequency (26 Hz). The following conclusion has been drawn. The theory based on the averaged model works well for the lateral motion of the dronefly. For the hawkmoth, relatively large quantitative differences exist between theory and simulation. This is because the lateral non-dimensional eigenvalues of the hawkmoth are not very small compared with the non-dimensional flapping frequency (the largest lateral non-dimensional eigenvalue is only about 10% smaller than the non-dimensional flapping frequency). Nevertheless, the theory can still correctly predict variational trends of the dynamic properties of the hawkmoth's lateral motion.展开更多
The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among chan...The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.展开更多
文摘There is proposed an adaptive sliding controller in task space on the base of the linear Newton-Euler dynamic equation of motion platform in a six-DOF flight simulator. The uncertain parameters are divided into two groups: the constant and the time-varying. The controller identifies constant uncertain parameters using nonlinear adaptive controller associated with elimination of the influences of time-varying uncertain parameters and compensation of the external disturbance using sliding control. The results of numerical simulation attest to the capability of this control scheme not only to, with deadly accuracy, identify parameters of motion platform such as load, inertia moments and mass center, but also effectively improve the robustness of the system.
文摘Flight path and plane maneuver are controlled by joystick. Collision detection is supported to verify the bumping of plane against surrounding objects. Crash of plane is highlighted by generating explosive flames.
基金supported by the National Natural Science Foundation of China (10732030) and the 111 Project (B07009)
文摘In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model (which assumes that the frequency of wingbeat is sufficiently higher than that of the body motion, so that the flapping wings' degrees of freedom relative to the body can be dropped and the wings can be replaced by wingbeat-cycle-average forces and moments); the simulation solves the complete equations of motion coupled with the Navier-Stokes equations. Comparison between the theory and the simulation provides a test to the validity of the assumptions in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency (164 Hz) and the other is a model hawkmoth which has relatively low wingbeat frequency (26 Hz). The results show that the averaged model is valid for the hawkmoth as well as for the dronefly. Since the wingbeat frequency of the hawkmoth is relatively low (the characteristic times of the natural modes of motion of the body divided by wingbeat period are relatively large) compared with many other insects, that the theory based on the averaged model is valid for the hawkmoth means that it could be valid for many insects.
文摘Aerodynamic force and flow structures of two airfoils in a tandem configuration in flapping motions axe studied, by solving the Navier-Stokes equations in moving overset grids. Three typical phase differences between the fore- and aft-airfoil flapping cycles are considered. It is shown that: (1) in the case of no interaction (single airfoil), the time average of the vertical force coefficient over the downstroke is 2.74, which is about 3 times as large as the maximum steady-state lift coefficient of a dragonfly wing; the time average of the horizontal force coefficient is 1.97, which is also large. The reasons for the large force coefficients are the acceleration at the beginning of a stroke, the delayed stall and the 'pitching-up' motion near the end of the stroke. (2) In the cases of two-airfoils, the time-variations of the force and moment coefficients on each airfoil are broadly similar to that of the single airfoil in that the vertical force is mainly produced in downstroke and the horizontal force in upstroke, but very large differences exist due to the interaction. (3) For in-phase stroking, the major differences caused by the interaction are that the vertical force on FA in downstroke is increased and the horizontal force on FA in upstroke decreased. As a result, the magnitude of the resultant force is almost unchanged but it inclines less forward. (4) For counter stroking, the major differences are that the vertical force on AA in downstroke and the horizontal force on FA in upstroke are decreased. As a result, the magnitude of the resultant force is decreased by about 20 percent but its direction is almost unchanged. (5) For 90 degrees -phase-difference stroking, the major differences axe that the vertical force on AA in downstroke and the horizontal force on FA in upstroke axe decreased greatly and the horizontal force on AA in upstroke increased. As a result, the magnitude of the resultant force is decreased by about 28% and it inclines more forward. (6) Among the three cases of phase angles, inphase flapping produces the largest vertical force (also the largest resultant force); the 90 degrees -phase-difference flapping results in the largest horizontal force, but the smallest resultant force.
基金the National Natural Science Foundation of China (10732030)
文摘The longitudinal dynamic flight stability of a bumblebee in forward flight is studied. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are employed for solving the equations of motion. The primary findings are as the following. The forward flight of the bumblebee is not dynamically stable due to the existence of one (or two) unstable or approximately neutrally stable natural modes of motion. At hovering to medium flight speed [flight speed Ue = (0-3.5)m s^-1; advance ratio J = 0-0.44], the flight is weakly unstable or approximately neutrally stable; at high speed (Ue = 4.5 m s^-1; J = 0.57), the flight becomes strongly unstable (initial disturbance double its value in only 3.5 wingbeats).
基金supported by the National Natural Science Foundation of China (10732030)the Foundation for the Author of National Excellent Doctoral Dissertation (2007B31)
文摘In the present paper, the lateral dynamic flight stability properties of two hovering model insects are predicted by an approximate theory based on the averaged model, and computed by numerical simulation that solves the complete equations of motion coupled with the Naviertokes equations. Comparison between the theoretical and simulational results provides a test to the validity of the assumptions made in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency (164Hz) and the other is a model hawkmoth which has relatively low wingbeat frequency (26 Hz). The following conclusion has been drawn. The theory based on the averaged model works well for the lateral motion of the dronefly. For the hawkmoth, relatively large quantitative differences exist between theory and simulation. This is because the lateral non-dimensional eigenvalues of the hawkmoth are not very small compared with the non-dimensional flapping frequency (the largest lateral non-dimensional eigenvalue is only about 10% smaller than the non-dimensional flapping frequency). Nevertheless, the theory can still correctly predict variational trends of the dynamic properties of the hawkmoth's lateral motion.
文摘The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.