针对自主空中加油输油阶段无人机位置保持控制问题,将无人机分为飞机本体和油箱两部分,利用变质量系统理论建立了无人机非线性方程,解决了常规模型无法反映出无人机重量、重心变化的问题。控制律设计方面,通过将变化的油箱转化为外界干...针对自主空中加油输油阶段无人机位置保持控制问题,将无人机分为飞机本体和油箱两部分,利用变质量系统理论建立了无人机非线性方程,解决了常规模型无法反映出无人机重量、重心变化的问题。控制律设计方面,通过将变化的油箱转化为外界干扰,提出了基于干扰观测器控制(disturbance observer based control,DOBC)的复合控制结构。复合控制器由位置保持控制器和干扰观测器组成,位置保持控制器采用带积分的线性二次型方法,干扰观测器由比例积分观测器和补偿单元构成,并证明了复合控制器的稳定性。仿真结果表明,将该控制器应用于某型高空无人机非线性模型,可有效减小输油过程带来的影响,实现了输油阶段的位置保持控制。展开更多
Background A digital low level radio frequency(DLLRF)system has been developed to replace the old analog LLRF and operated stably at BEPCII east RF station in the past two years.The RF stabilities required for BEPCII ...Background A digital low level radio frequency(DLLRF)system has been developed to replace the old analog LLRF and operated stably at BEPCII east RF station in the past two years.The RF stabilities required for BEPCII are±1%in magnitude and±1 degree in phase.These are satisfied both by the new DLLRF and the old analog LLRF.Yet,the DLLRF did not improve the RF stabilities so much as expected,especially when the beam current was high in collision mode.Purpose The purpose is to improve the RF stabilities further and meet the requirements by the upgraded BEPCII project(BEPC3).Method A disturbance observer based(DOB)controller to suppress the noise was developed and tested with beam at BEPCII RF system.Results The DOB controller works and the RF stabilities with beam may be improved from±1%to less than±0.5%in magnitude and from±1 degree to less than±0.5 degrees in phase.展开更多
文摘针对自主空中加油输油阶段无人机位置保持控制问题,将无人机分为飞机本体和油箱两部分,利用变质量系统理论建立了无人机非线性方程,解决了常规模型无法反映出无人机重量、重心变化的问题。控制律设计方面,通过将变化的油箱转化为外界干扰,提出了基于干扰观测器控制(disturbance observer based control,DOBC)的复合控制结构。复合控制器由位置保持控制器和干扰观测器组成,位置保持控制器采用带积分的线性二次型方法,干扰观测器由比例积分观测器和补偿单元构成,并证明了复合控制器的稳定性。仿真结果表明,将该控制器应用于某型高空无人机非线性模型,可有效减小输油过程带来的影响,实现了输油阶段的位置保持控制。
文摘Background A digital low level radio frequency(DLLRF)system has been developed to replace the old analog LLRF and operated stably at BEPCII east RF station in the past two years.The RF stabilities required for BEPCII are±1%in magnitude and±1 degree in phase.These are satisfied both by the new DLLRF and the old analog LLRF.Yet,the DLLRF did not improve the RF stabilities so much as expected,especially when the beam current was high in collision mode.Purpose The purpose is to improve the RF stabilities further and meet the requirements by the upgraded BEPCII project(BEPC3).Method A disturbance observer based(DOB)controller to suppress the noise was developed and tested with beam at BEPCII RF system.Results The DOB controller works and the RF stabilities with beam may be improved from±1%to less than±0.5%in magnitude and from±1 degree to less than±0.5 degrees in phase.
