Practical Survey on Design and Testing of Flight Control Laws for Helicopter Engineering Simulators

A practical survey on engineering implementation of flight control laws on helicopter engineering simulators is proposed.Advances of helicopter engineering simulators are introduced.Practical flight control technologies are reviewed,with an emphasis on discussing the corresponding engineering simulation programs.Finally,the difficulties of implementing advanced control technologies are addressed,and the future development of helicopter engineering simulators are highlighted.

Dynamical Correction of Control Laws for Marine Ships’ Accurate Steering

这个工作的目的是为海洋的车辆自动驾驶仪设计的分析合成问题。尽管有为一个解决方案的众多的已知的方法，提及的问题由于某些动态条件，要求和限制的一张广泛的人口的存在是很复杂的，它必须被一条驾驶控制法律的适当选择满足。这份报纸的目的是简化合成的过程，提供精确的与控制系统的理想的动力学驾驶。这里建议的途径基于允许去耦的特殊统一多种用途的控制法律结构的用法合成进更简单的特别优化问题。特别地，这结构包括一个动态修正者在海波浪骚乱的行动下面为车辆鈥檚 运动支持理想的特征。作为结果，为修正者设计的一个专业化新方法被建议提供精确驾驶或在轮船的精确驾驶并且节俭的驾驶之间的一宗交易。这个方法担保关于航行的实际环境的控制法律的某个灵活性；它的相应拐弯处能在实时被认识到在上。

Active Control Law Design for Flutter/LCO Suppression Based on Reduced Order Model Method

Active stability augmentation system is an attractive and promising technology to suppress flutter and limit cycle oscillation(LCO).In order to design a good active control law,the control plant model with low order and high accuracy must be provided,which is one of the most important key points.The traditional model is based on low fidelity aerodynamics model such as panel method,which is unsuitable for transonic flight regime.The physics-based high fidelity tools,reduced order model(ROM) and CFD/CSD coupled aeroservoelastic solver are used to design the active control law.The Volterra/ROM is applied to constructing the low order state space model for the nonlinear unsteady aerodynamics and static output feedback method is used to active control law design.The detail of the new method is demonstrated by the Goland+ wing/store system.The simulation results show that the effectiveness of the designed active augmentation system,which can suppress the flutter and LCO successfully.

A CFD-based numerical virtual flight simulator and its application in control law design of a maneuverable missile model

A CFD-based Numerical Virtual Flight(NVF)simulator is presented,which integrates an unsteady flow solver on moving hybrid grids,a Rigid-Body Dynamics(RBD)solver and a module of the Flight Control System(FCS).A technique of dynamic hybrid grids is developed to control the active control surfaces with body morphing,with a technique of parallel unstructured dynamic overlapping grids generating proper moving grids over the deflecting control surfaces(e.g.the afterbody rudders of a missile).For the flow/kinematic coupled problems,the 6 Degree-Of-Freedom(DOF)equations are solved by an explicit or implicit method coupled with the URANS CFD solver.The module of the control law is explicitly coupled into the NVF simulator and then improved by the simulation of the pitching maneuver process of a maneuverable missile model.A nonlinear dynamic inversion method is then implemented to design the control law for the pitching process of the maneuverable missile model.Simulations and analysis of the pitching maneuver process are carried out by the NVF simulator to improve the flight control law.Higher control response performance is obtained by adjusting the gain factors and adding an integrator into the control loop.

Three-axis coupled flight control law design forflying wing aircraft using eigenstructure assignment method

Due to elimination of horizontal and vertical tails,flying wing aircraft has poor longitudinal and directional dynamic characteristics.In addition,flying wing aircraft uses drag rudders for yaw control,which tends to generate strong three-axis control coupling.To overcome these problems,a flight control law design method that couples the longitudinal axis with the lateraldirectional axes is proposed.First,the three-axis coupled control augmentation structure is specified.In the structure,a‘‘soft/hard"cross-connection method is developed for three-axis dynamic decoupling and longitudinal control response decoupling from the drag rudders;maneuvering turn angular rate estimation and subtraction are used in the yaw axis to improve the directional damping.Besides,feedforward control is adopted to improve the maneuverability and control decoupling performance.Then,detailed design methods for feedback and feedforward control parameters are established using eigenstructure assignment and model following technique.Finally,the proposed design method is evaluated and compared with conventional method by numeric simulations.The influences of control derivatives variation of drag rudders on the method are also analyzed.It is demonstrated that the method can effectively improve the dynamic characteristics of flying wing aircraft,especially the directional damping characteristics,and decouple the longitudinal responses from the drag rudders.

An extrapolation approach for aeroengine's transient control law design

Transient control law ensures that the aeroengine transits to the command operating state rapidly and reliably.Most of the existing approaches for transient control law design have complicated principle and arithmetic.As a result,those approaches are not convenient for application.This paper proposes an extrapolation approach based on the set-point parameters to construct the transient control law,which has a good practicability.In this approach,the transient main fuel control law for acceleration and deceleration process is designed based on the main fuel flow on steady operating state.In order to analyze the designing feature of the extrapolation approach,the simulation results of several different transient control laws designed by the same approach are compared together.The analysis indicates that the aeroengine has a good performance in the transient process and the designing feature of the extrapolation approach conforms to the elements of the turbofan aeroengine.

Fault processing policy based on dual-redundant control law for aero-engine control sensors

A fault processing policy was proposed for the circumstance under which all the dual-redundant closed-loop feedback control sensors went wrong.This policy was based on dual-redundant control law and may maintain the performance of turbofan engines.When pair of controlling sensors went wrong and the primary control law was unable to implement,control system performs the backup control law instead of the primary one so that the fault sensors were isolated from the closed control loop.This fault processing policy may not only avoid increasing engine weight and cost with the additional sensors hardware,but also avoid the error of analytical sensor signal.It can improve the engine mission reliability and control quality.

Remote Control Guidance Law Design Using Variable Structure Control

A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target’s maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.

Error analysis and a new steering law design for spacecraft control system using SGCMGs

Based on the singular value decomposition theory,this paper analyzed the mechanism of escaping/avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros (SGCMGs) as the actuator for the attitude control system.The expression of output-torque error is given at the point of singularity,proving the incompatible relationship between the gimbal rate and the output-torque error.The method of establishing a balance between the gimbal rate and the output-torque error is discussed,and a new steering law is designed.Simulation results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.

Fuzzy sliding mode control guidance law with terminal impact angle and acceleration constraints

In this paper, a novel fuzzy sliding mode control(FSMC) guidance law with terminal constraints of miss distance, impact angle and acceleration is presented for a constant speed missile against the stationary or slowly moving target. The proposed guidance law combines the sliding mode control algorithm with a fuzzy logic control scheme for the lag-free system and the first-order lag system. Through using Lyapunov stability theory, we prove the sliding surface converges to zero in finite time. Furthermore, considering the uncertain information and system disturbances, the guidance gains are on-line optimized by fuzzy logic technique. Numerical simulations are performed to demonstrate the performance of the FSMC guidance law and the results illustrate the validity and effectiveness of the proposed guidance law.

A novel reaching law approach of quasi-sliding-mode control for uncertain discrete-time systems

A novel discrete-time reaching law was proposed for uncertain discrete-time system,which contained process noise and measurement noise.The proposed method reserves all the advantages of discrete-time reaching law,which not only decreases the band width of sliding mode and strengthens the system robustness,but also improves the dynamic performance and stability capability of the system.Moreover,a discrete-time sliding mode control strategy based on Kalman filter method was designed,and Kalman filter was employed to eliminate the influence of system noise.Simulation results show that there is no chattering phenomenon in the output of controller and the state variables of controlled system,and the proposed algorithm is also feasible and has strong robustness to external disturbances.

Overburden fracture evolution laws and water-controlling technologies in mining very thick coal seam under water-rich roof

Considering the danger of water inrush in mining very thick coal seam under water-rich roof in Majialiang Coal Mine,the universal discrete element(UDEC)software was used to simulate the overburden fracture evolution laws when mining 4#coal seam.Besides,this study researched on the influence of face advancing length,speed and mining height on the height of the water flowing fractured zones(HWFFZ),and analyzed the correlation of face advancing length and change rules of aquifer water levels and goaf water inflow.Based on those mentioned above,this research proposed the following water-controlling technologies:draining the roof water before mining,draining goaf water,reasonable advancing speed and mining thickness.These water-controlling technologies were successfully used in the feld,thus ensured safely mining the very thick coal seam under water-rich roof.

Approximation law for discrete-time variable structure control systems

为分离时间的可变结构控制系统滑动模式的二条近似法律被建议克服指数的近似法律和可变的率近似法律的限制。由使用滑动模式 todiscrete 时间变量结构控制系统的建议近似法律，起源的稳定性能被保证，并且沿着切换的表面啁啾由分离时间的可变结构控制引起了能有效地被制止。在近似法律设计，系统控制输入被限制的问题也被考虑，它在实际系统是很重要的。最后，一个模拟例子证明二条近似法律的有效性求婚了。

Improving the Control Energy in Model Reference Adaptive Controllers Using Fractional Adaptive Laws

This paper presents the analysis of the control energy consumed in model reference adaptive control(MRAC)schemes using fractional adaptive laws, through simulation studies. The analysis is focused on the energy spent in the control signal represented by means of the integral of the squared control input(ISI). Also, the behavior of the integral of the squared control error(ISE) is included in the analysis.The orders of the adaptive laws were selected by particle swarm optimization(PSO), using an objective function including the ISI and the ISE, with different weighting factors. The results show that, when ISI index is taken into account in the optimization process to determine the orders of adaptive laws,the resulting values are fractional, indicating that control energy of the scheme might be better managed if fractional adaptive laws are used.

Division of Gas Accumulation System and Laws Controlling Distribution of Natural Gas in Typical Petroliferous Basins of China

Considering the existing problems of the petroleum system, this paper brings forward the concept of natural gas accumulation system and presents the dividing principles. Then detailed statistics on the accumulation factors of the 32 typical natural gas accumulation systems in China and studies on the laws controlling distribution of gas are collected. The research shows that the petroleum accumulation system is the basic unit controlling petroleum generation, migration and accumulation. Generating intensity, generating amount, accumulating efficiency and migration distance plays an important role in the distribution of natural gas. Through analysis on results of resources evaluation, discovered reserves and residual reserves, potential areas in middle-scaled petroliferous basins in China are forecasted in this paper. Ordos, Sichuan, Tarim and Qaidam basins are found out to be the main basins developing and enriching gas accumulation systems.

Impact angle control over composite guidance law based on feedback linearization and finite time control

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing guidance law.

邻里噪声污染防治立法现状及江苏省立法建议

社会生活噪声污染来源多、成因复杂、影响范围广,对公众健康危害大。产生社会生活噪声污染纠纷时,其法律主体复杂,涉及部门多,受影响群众覆盖范围广,是社会各界较为关注的噪声类型之一。邻里噪声是社会生活噪声的重要组成部分。介绍了法国、德国、美国等国家邻里噪声的立法现状,我国国家层面有关邻里噪声的法律规定,以及地方邻里噪声的立法实践;系统分析了江苏省邻里噪声扰民的主要类型、特点和污染防治的现状;针对性地提出了邻里噪声污染防治的立法建议,可为江苏省噪声污染防治立法提供参考。

Sliding mode control and Lyapunov based guidance law with impact time constraints

This paper analyses the issue of impact time control of super-cavitation weapons impact fixed targets which mainly refer to the ships or submarines who lost power, but still have combat capability. Control over impact time constraints of guidance law(ITCG) is derived by using sliding mode control(SMC) and Lyapunov stability theorem. The expected impact time is realized by using the notion of attack process and estimated time-to-go to design sliding mode surface(SMS). ITCG contains equivalent and discontinuous guidance laws, once state variables arrive at SMS,the equivalent guidance law keeps the state variables on SMS,then the discontinuous guidance law enforces state variables to move and reach SMS. The singularity problem of ITCG is also analyzed. Theoretical analysis and numerical simulation results are given to test the effectiveness of ITCG designed in this paper.

码垛机器人的幂次指数趋近律变结构控制

为提高码垛机器人的控制精度,并保证系统在存在建模误差及扰动时的鲁棒性,设计了一种基于幂次指数趋近律的变结构控制算法。建立了二连杆机械臂数学模型,分析了三种趋近律的缺点,比较并提出了幂次指数趋近律。提出了使用求解微分方程的办法分三个阶段来研究算法的鲁棒性。分析了有界综合扰动极限值与控制器参数之间的关系。使用新算法得出了机器人在不含扰动时的仿真结果,解出了变结构控制三个阶段的微分方程,得出了机械臂在存有建模误差及扰动时的仿真结果。幂次指数趋近律变结构控制算法提高了码垛机器人的控制精度,在系统存在各种误差及扰动条件下具有极强鲁棒性并依然可以保证很高的控制精度。