Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

Integrated guidance and control design of the suicide UCAV for terminal attack

A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC system model of the UCAV is built based on the three-channel independent design idea, which reduces the difficulties of designing the controller. Then, IGC control laws are designed using the trajectory linearization control (TLC). A nonlinear disturbance observer (NDO) is introduced to the IGC controller to reject various uncertainties, such as the aerodynamic parameter perturbation and the measurement error interference. The stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the proposed IGC design method is verified in a terminal attack mission of the suicide UCAV. Finally, simulation results demonstrate the superiority and effectiveness in the aspects of guidance accuracy and system robustness.

Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.

Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch

An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system.In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov＇s stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response,and robustness against uncertainties.

The Intelligent Terminal Design for Integrated Substation Auxiliary System

The integrated substation auxiliary system is a project composed by software and hardware to help operators of a substation carry daily maintain works. The intelligent terminal is the key part of the system and it provides important UI and communication functions for the user. Smart phones can achieve higher bandwidth data communication, and at the same time can carry Bluetooth communication, video call, multimedia display and other functions. Smart phone is a potential common platform, suitable for the deployment of substation integrated auxiliary system terminal. Based on the Android Smart phone platform, this paper develops intelligent client-side software for the integrated substation auxiliary system and it can realize the operation ticket control, the video call, the substation map display and other functions. This client-side software has been applied in practice, and has gained good effects.

Terminal Angular Constraint Integrated Guidance and Control for Flexible Hypersonic Vehicle with Dead-Zone Input Nonlinearity

This paper presents an integrated guidance and control model for a flexible hypersonic vehicle with terminal angular constraints.The integrated guidance and control model is bounded and the dead-zone input nonlinearity is considered in the system dynamics.The line of sight angle,line of sight angle rate,attack angle and pitch rate are involved in the integrated guidance and control system.The controller is designed with a backstepping method,in which a first order filter is employed to avoid the differential explosion.The full tuned radial basis function(RBF)neural network(NN)is used to approximate the system dynamics with robust item coping with the reconstruction errors,the exactitude model requirement is reduced in the controller design.In the last step of backstepping method design,the adaptive control with Nussbaum function is used for the unknown dynamics with a time-varying control gain function.The uniform ultimate boundedness stability of the control system is proved.The simulation results validate the effectiveness of the controller design.

汽轮发电机自适应Terminal滑模综合控制

提出了汽轮发电机励磁与汽门协调Terminal滑模控制。针对发电机综合控制存在的两个输入变量,通过构造两个非奇异的Terminal滑模面,实现解耦控制。Terminal滑模面中含有非线性函数,使得误差能够快速收敛,从而取得良好的控制效果。利用自适应律实时估计扰动上界,从而使控制器具有很强的鲁棒性。通过李亚普洛夫理论证明了控制系统的稳定性。仿真结果表明,所设计的汽轮发电机自适应Terminal滑模综合控制器能够快速阻尼功率振荡,提高电力系统的稳定性,维持机端电压。

基于ESO的积分Terminal滑模励磁系统控制

发电机励磁系统是一个受参数摄动和外界干扰等因数影响很大的不确定非线性系统,针对此问题,本文通过构造扩张状态观测器(ESO)对发电机励磁系统的不确定因数进行估计,以实现非线性模型动态补偿线性化。为了克服常规滑模控制中被跟踪信号的导数均需已知的限制,在滑模面中引入了误差积分补偿项,然后利用Terminal滑模变结构控制理论设计励磁控制器。该控制方法能够有效地改善电力系统的静态和暂态特性。仿真结果验证了本文方法的可行性和有效性。

高超声速飞行器Terminal滑模控制系统设计

针对高超声速飞行器模型的强非线性、快时变、强耦合和强不确定性,提出了基于动态逆和Terminal滑模控制的制导/姿控一体化设计方法。该方法将动态逆控制的非线性解耦能力与Terminal滑模控制的强鲁棒性有机结合,实现了模型的反馈线性化和多通道解耦,保证高超声速飞行器在存在参数不确定性和外界干扰的条件下实现稳定飞行。仿真结果表明该控制方法对高超声速飞行器是可行的。

COOH-terminal deletion of HBx gene is a frequent event in HBV-associated hepatocellular carcinoma

AIM:To investigate the hepatitis B virus (HBV) x gene (HBx) state in the tissues of HBV-related hepatocellular carcinoma (HCC) in Chinese patients and whether there were particular HBx mutations. METHODS: HBx gene was amplified and direct sequencing was used in genomic DNA samples from 20 HCC and corresponding non-cancerous liver tissues from HBsAg-positive patients. HBV DNA integration and HBx deleted mutation were validated in 45 HCC patients at different stages by Southern blot analysis and polymerase chain reaction methods. RESULTS: The frequencies of HBx point mutations were significantly lower in HCC than their corresponding non- cancerous liver tissues (11/19 vs 18/19, P = 0.019). In contrast, deletions in HBx gene were significantly higher in HCC than their non-cancerous liver tissues (16/19 vs 4/19, P < 0.001). The deletion of HBx COOH-terminal was detected in 14 HCC tissues. A specific integration of HBx at 17p13 locus was also found in 8 of 16 HCC, and all of them also exhibited full-length HBx deletions. Integrated or integrated coexistence with replicated pattern was obtained in 45.5% (20/45) - 56.8% (25/45) tumors and 40.9% (18/45) - 52.3% (23/45) non-tumor tissues. CONCLUSION: HBx deletion, especially the COOH- terminal deletion of HBx is a frequent event in HBV-associated HCC tissues in China. HBV integration had also taken place in partial HCC tissues. This supporting the hypothesis that deletion and probably integrated forms of the HBx gene may be implicated in liver carcinogenesis.

考虑能耗节约的集装箱码头装卸设备集成调度

针对自动化集装箱码头中岸桥与人工智能运输机器人(ART)的集成调度问题,依据作业阶段将设备能耗划分成多个表现形式,构建以最小化岸桥和ART的总能耗为目标的整数规划模型。为提高求解质量,提出一种具有重组变异和随机扰动的自适应粒子群算法。根据不同时期的搜索需求,对惯性权重实行自适应调整;并引入随机粒子增强个体的交互能力,结合迭代进程对最优粒子实施不定维更新,为其摆脱局部困境提供更多机会。最后,以天津港北疆C段自动化集装箱码头为研究背景设计了不同规模算例,将改进算法与GUROBI求解器以及其他算法进行比较,验证了模型和算法的有效性。结果表明,随着岸桥和ART的配置数量逐渐增加,作业进程加快,码头总能耗分别呈现降低和先降后升的趋势;此外,相比于传统的调度模型,所提方法能够在较短的完工时间里节约更多的作业能耗。

集装箱港口多码头泊位联合分配优化研究

多码头泊位联合分配是港口资源整合、提升服务水平的重要手段。针对集装箱港口多码头泊位计划,考虑不同码头泊位条件、岸桥能力等因素,构建多码头泊位-岸桥集成分配数学模型。设计改进灰狼算法(IGWO),利用离散化映射进行编码设计,基于优胜劣汰法实现种群动态进化。设计算例,将IGWO与果蝇算法和粒子群算法进行对比。结果显示:IGWO算法优化结果分别提升16.6%和21.1%;利用IGWO对不同船舶到港密度泊位算例进行求解,其中,多码头泊位分配可有效减少总时间成本及延误船舶数量,节省岸线资源约10%。结果表明:设计的模型及算法可有效解决多码头泊位联合分配问题。

中国造纸业绿色战略演进历程

中国造纸业绿色战略的实践从萌芽期算起已经走过了60年艰难而富有成效的发展历程。在当今国家生态文明建设和实现双碳目标的背景下,对中国造纸业绿色发展过程进行回顾和总结,挖掘绿色战略的演进规律,并预估未来的战略趋势是十分必要的。根据绿色经济和绿色战略理论,以及可再生资源型企业绿色战略演进的一般规律,本文对中国造纸业绿色战略实践的重要事件和举措进行系统梳理,发现中国造纸业绿色战略总体上经历了开环和闭环绿色战略两大阶段。其中,开环绿色战略阶段包含原料导向(林纸一体化)绿色战略和末端治理绿色战略;闭环绿色战略阶段包含循环绿色战略和“循环+”绿色战略。据此,运用超循环经济理论,可以预计中国造纸业绿色战略的未来发展趋势,即林纸超循环绿色战略。

基于扰动观测器和改进自适应二阶快速终端滑模的PMLSM伺服系统控制

针对永磁直线同步电动机(PMLSM)在运行时易受到摩擦力、负载扰动及环境变化等不确定影响,设计一种基于扰动观测器和自适应二阶快速终端滑模控制方法。首先,该方法在高阶滑模的基础上结合了快速终端滑模控制,有效加快了系统响应速度。其次,在二阶滑模面的基础上引入条件积分项,该项仅作用于边界层内部,能够有效避免滑模到达阶段由于积分饱和现象导致的超调量过大及响应时间过慢的问题。此外,设计自适应切换控制律,使切换增益在合理的区间内,并根据系统状态进行实时更新,从而削弱抖振现象。最后,为进一步提升系统的鲁棒性,采用扰动观测器对PMLSM系统的集总不确定性进行补偿。经实验验证,该控制方法具有良好的位置跟踪精度和强鲁棒性,且对系统抖振现象有明显削弱作用。

NFTSM控制的光伏并网系统低压穿越控制策略

针对现有PI与ISMC控制下光伏并网系统LVRT过程响应速度慢、不对称故障时控制效果较差或抖振效果明显等问题,提出一种NFTSM控制的LVRT控制策略。考虑光伏并网系统外部条件多变的特性,采用双指数滑模超平面与控制率,选取指数趋近律加速趋近速率,构造出具有调节有功、无功输出的非奇异快速滑模控制器,并验证其稳定与收敛性,简单且有效地实现了光伏并网LVRT。Matlab/Simulink仿真结果表明,NFTSM控制的光伏并网LVRT具有收敛速度快、谐波含量低、抗外界干扰与抖振抑制能力强等优点。

面向配电物联网的配电终端一体化建模

针对当前基于IEC61850的配电终端信息模型对配电物联网的描述和覆盖能力的欠缺,以及未考虑面向终端微应用的开发,存在功能灵活扩展不足等问题,提出一种面向配电物联网的配电终端一体化信息模型。该模型融合扩展了IEC61850、CIM和物模型,采用扁平化模型层次结构和基于本体的模型抽象方法,建立物、数据、设备和服务4个顶层本体。所建模型适用于云主站与终端之间设备的信息模型交互,以及大规模接入场景下的配电终端即插即用,有助于降低终端微应用间信息交互管理的复杂度,以及配电终端功能一体化的实现,能够全力支撑当前配电终端的数字化转型。

集成电路技术在拖拉机系统优化中的应用研究

以拖拉机精准作业导航控制为研究对象,利用集成电路技术对拖拉机导航控制系统进行设计,将拖拉机导航控制终端、转向控制器以及作业提升机构之间的通讯数据通过CAN总线集成电路进行连接,分别设计拖拉机精准作业导航控制系统硬件电路和控制系统通讯软件。为验证CAN总线集成电路在拖拉机导航控制终端与导航控制器之间的通讯有效性,在农田环境内进行导航路径规划验证,结果表明:导航控制系统实际运行轨迹X方向与理论路径偏差值为1m,Y方向产生2m偏差;拖拉机实际运行距离为99.02m,与理论规划路径总偏差值为0.98m,运行距离误差比例为0.98%,运行方向偏差1.16°。

基于三端柔性直流的光热储能站与新能源场站功率协同控制策略

新能源基地大多经传统交流方式接入高压交流或直流外送通道,为解决大规模新能源经交流接入方式下并网容量小、损耗大,以及功率波动对电网稳定性影响等问题,构建了一个基于柔性直流输电并网的风电和光伏、光热储能及电网三端柔性直流系统。基于直流电压-有功功率特性,提出一种适用于该系统的站间协调控制策略,根据柔性直流输电系统的直流电压波动情况,调整光热储能机组的出力,以平抑风、光功率波动,降低其对电网的影响。针对光热储能侧换流站,采用直流电压裕度下垂混合控制策略,通过控制器参数配置,抑制控制模式切换过程中的暂态过电压,提高系统响应速度。最后,在PSCAD/EMTDC中搭建三端柔性直流系统仿真模型,验证所提控制策略的有效性。

运载火箭测量系统综合化设计与实现

针对运载火箭传统测量系统设备功能单一、工作体制固化、体系架构封闭等问题,通过对系统技术特点、技术迭代过程和局限性的分析,基于运载火箭平台约束条件,提出一种适合当前应用的基于综合电子的开放式系统架构;其次,完成了基于该架构的综合射频终端研制,实现了小型化、轻质化、低功耗、可灵活扩展的综合化测量系统。所设计系统能够满足总体应用需求,在航天领域具有广泛的应用前景。

二阶系统有限时间控制方法综述

相比于传统且经典的比例–积分–微分(PID)控制,带有指数参数的有限时间控制方法具有更好的控制性能,因而引起广泛的关注和研究.本文首先从方法设计和稳定性分析角度,对现有主流有限时间控制方法进行整理和归纳,将其分为17种有限时间状态反馈控制方法及6种有限时间输出反馈控制方法.其次,以一类具有普遍和基础性的二阶系统为例,统一变量和参数,给出了每种控制方法对应的控制器的显式结构.然后,通过原理分析和比较分析,对每种控制方法的优点及不足之处进行了总结,尤其是给出了终端滑模控制具有“控制奇异与收敛时间矛盾性”的结论,以及指出了一些方法存在较大保守性的问题.最后,通过列表的方式展示了所有有限时间控制方法的优缺点及值得进一步深入研究的课题.