Human Memory/Learning Inspired Control Method for Flapping-Wing Micro Air Vehicles

The problem of flapping motion control of Micro Air Vehicles (MAVs) with flapping wings was studied in this paper.Based upon the knowledge of skeletal and muscular components of hummingbird, a dynamic model for flapping wing wasdeveloped.A control scheme inspired by human memory and learning concept was constructed for wing motion control ofMAVs.The salient feature of the proposed control lies in its capabilities to improve the control performance by learning fromexperience and observation on its current and past behaviors, without the need for system dynamic information.Furthermore,the overall control scheme has a fairly simple structure and demands little online computations, making it attractive for real-timeimplementation on MAVs.Both theoretical analysis and computer simulation confirms its effectiveness.

Application of H~∞ control in rudder/flap vector robust control of a ship's course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.

COMPARISON OF THE EXPERIMENTAL AND COMPUTATIONAL STUDY ON THE EFFECTS OF VORTEX CONTROL BY DEFLECTING FLAPS ON A HIGHLY SWEPT DELTA WING

In order to investigate the effects of vortex control by deflecting flaps on the improvement of the aerodynamics of highly swept wings at large incidence, comparison of the experimental and numerical studies was conducted for a 74° delta wing equipped with an apex flap and leading edge flaps. In the experimental study, flow visualization and force measurement were employed and in the numerical study the pseudo compressibility method was utilized to solve the 3 D incompressible Navier Stokes equations. The flow visualization and numerical simulation show that two vortex systems generated on the apex flap and leading edge flaps interact in the form of mergence, and the downward deflection of the apex flap enhances the strength and delays the breakdown of the prime vortex at large incidence. The comparison of the aerodynamic characteristics illustrates that there are advantageous effects of deflecting flaps downward on the control of vortices.

Hypothenar fat pad flap vs conventional open release in primary carpal tunnel syndrome:A randomized controlled trial

AIM To compared outcomes between the hypothenar fat pad flap(HTFPF) and conventional open carpal tunnel release(COR) in primary carpal tunnel syndrome(CTS). METHODS Forty-five patients(49 hands) were enrolled into the study from January 2014 to March 2016, 8 patients were excluded. Randomization was conducted in 37 patients(41 hands) by computer generated(Block of four randomization) into COR and HTFPF group. Nerve conduction study(NCS) included distal sensory latency(DSL), distal motor latency(DML), sensory amplitude (S-amp), motor amplitude(M-amp) and sensory nerve conduction velocity(SCV) were examined at 6 and 12 wk after CTR. Levine score, grip and pinch strength, pain [visual analog scale(VAS)], 2-point discrimination(2-PD), Semmes-Weinstein monofilament test(SWM), Phalen test and Tinel's sign were evaluated in order to compare treatment outcomes.RESULTS The COR group, 19 patients(20 hands) mean age 50.4 years. The HTFPF group, 20 patients(21 hands) mean age 53.3 years. Finally 33 patients(36 hands) were analysed, 5 patients were loss follow-up, 17 hands in COR and 19 hands in HTFPF group. NCS revealed significant difference of DSL in HTFPF group at 6 wk(P < 0.05) compared with the COR group. S-amp was significant improved postoperatively in both groups(P < 0.05) but not significant difference between two groups. No significant difference of DML, M-amp and SCV postoperatively in both groups and between two groups. Levine score, pain(VAS), grip and pinch strength, 2-PD, SWM, Phalen test and Tinel's sign were improved postoperatively in both groups, but there was no significant difference between two groups.CONCLUSION There is no advantage outcome in primary CTS for having additional HTFPF procedure in CTR. COR is still the standard treatment. Nevertheless, improvement of DSL and S-amp could be observed at 6 wk postoperatively.

Numerical Simulation of Wake Deflection Control around NACA0012 Airfoil Using Active Morphing Flaps

This study demonstrates an active flow control for deflecting a direction of wake vortex structures behind a NACA0012 airfoil using an active morphing flap. Two-dimensional direct numerical simulations are performed for flows at the chord Reynolds number of 10,000, and the vortex pattern in the controlled and noncontrolled wakes as well as the effect of an actuation frequency on the control ability are rigorously investigated. It is found that there is an optimum actuation-frequency regime at around F + = 2.00 which is normalized by the chord length and freestream velocity. The wake vortex pattern of the well-controlled case is classified as the 2P wake pattern according to the Williamson’s categorization [1] [2], where the forced oscillation frequency corresponds to the natural vortex shedding frequency without control. The present classification of wake vortex patterns and finding of the optimum frequency regime in the wake deflection control can lead to a more robust design suitable for vortex-induced-vibration (VIV) related engineering systems.

On Belly-flap for Pitch Control at Transonic Airfoil

One of the issues about Blended-Wing-Body configuration （BWB） is its difficulty in pitch control due to the missing tail. To solve this problem, a novel pitch control surface, belly-flap, has been presented. In this paper, the feasibility of belly-flap being used as a transonic pitch control device for tailless configuration is investigated on a BWB in-body airfoil, using the computationalfluid dynamic （CFD） method. The size, location and deflection angle of the flap are studied to detect their effect on the aerodynamic characteristics. The results reveal that the bubble separation due to the belly-flap can affect shock position on the upper surface of the airfoil and change the surface pressure distribution. By choosing appropriate geometry parameters, the load distribution can be improved to obtain significant pitch-up moment increment in a wide angle of attack with no lift-loss and less lift-drag ratio decrement.

影响振荡射流分离控制效果的关键因素

为找出影响振荡射流对流场分离控制效果的关键因素,采用典型振荡射流激励器对偏转襟翼流场施加控制,通过数值模拟分析施加控制后的流场特点,总结了射流停滞的原因和影响;并对比不同扩张段、脉冲式和扫掠式振荡射流的控制效果,总结了射流扫掠范围对控制效果的影响。结果表明:射流向流场中传递动量的均匀程度和扫掠范围是影响控制效果的关键因素。射流向流场中传递动量越均匀,扫掠范围越大,则控制效果越好。激励器喉道过小会抑制射流偏转,使射流在出口两侧停滞,导致射流向流场中传递动量不均匀,因此偏转襟翼两侧的控制效果好于中部;增大扩张段会增大射流扫掠范围从而改善控制效果;脉冲式激励器内的尖劈会阻挡射流扫掠至其后方,导致射流扫掠范围小,偏转襟翼中部控制效果差。

基于ESO的仿蝙蝠扑翼飞行器姿态控制仿真

针对仿蝙蝠扑翼飞行器的纵向气动特性不稳定、易受扰动的问题,设计了一种基于扩张状态观测器(ESO)的姿态控制方法,实现了扑翼飞行器姿态的稳定与抗干扰控制。首先建立仿蝙蝠扑翼飞行器的动力学模型;进而在该模型基础上分析了扑翼飞行器的纵向稳定性;然后将系统的不确定部分与各种未知的外界扰动作为系统的总扰动,引入ESO模块对总扰动进行实时观测与跟踪;最后在原有的PID控制器中加入扰动补偿环节。数值仿真结果表明,基于ESO的控制算法对于仿蝙蝠扑翼飞行器的控制效果显著优于基于PID的控制方法,阶跃响应的调节时间加快41.27%,对系统输入的白噪声干扰波动峰值从6.02%降低到2.82%,正弦扰动的波动峰值从11.56%降低到3.22%。

一种单反馈通道振荡射流激励器设计

为了设计一种有利于分离控制的振荡射流激励器,选取单反馈通道的形式,重点研究第二喉道与扩张段参数对射流振荡特性与偏转襟翼分离控制效果的影响,并总结几何参数设计依据,完成激励器设计并对比了其与典型激励器的分离控制效果。结果表明:反馈段参数应使射流在混合段扩张部分的偏角最大;混合段参数应使射流附着于混合段壁面;第二喉道应使射流向流场中均匀传递动量,其过小或过大均会减小射流偏角并导致射流向流场中传递动量不均匀;扩张段扩张角应增大至刚好不阻挡射流偏转,过大会使扩张段内射流发生不对称附着现象;增大出口高度可以增大射流偏移量,但其过大会延长射流在扩张段两侧的停滞时间。不同激励器的分离控制效果对比表明,采用自主设计激励器时的偏转襟翼减阻量是采用典型激励器时的3.8倍。

流动控制组合对潮流能水轮机翼型水动力学的特性影响研究

为全面提升潮流能水轮机叶片的水动力学性能,将格尼襟翼(GF)和涡流发生器(VGs)的附加件组合引入到潮流能水轮机领域,研究附加件组合对改善水轮机叶片水动力性能的作用机理。以NACA4418翼型为研究对象,分别建立加装格尼襟翼、涡流发生器和二者流动控制组合的水轮机翼型三维模型,应用数值模拟方法研究流动控制组合对水轮机叶片水动力性能的影响机理。结果表明:安装GF可有效提高翼型段的升力系数,但会降低翼型的失速角;安装VGs可抑制翼型段吸力面的流动分离、增大翼型段的失速角,但攻角越小水动力学性能改善效果越不明显;GF和VGs的流动控制组合则可将二者优势充分结合,在全面提高翼型段升力系数的同时,还可抑制翼型表面的流动分离、增大翼型的失速角,从而获得最佳的流动控制效果。

仿生扑翼飞行器姿态稳定控制设计与实验

针对扑翼飞行器在飞行过程中姿态调整控制问题,提出了一种快速响应的自动姿态稳定控制方法。利用牛顿定律和动量矩定理建立扑翼飞行器数学模型,结合扑翼飞行器姿态变化工作原理,研究飞行过程中姿态调整控制方案策略。采用串级PID控制算法设计姿态调整内环和外环控制器,以扑翼飞行器欧拉角为输出,对扑翼飞行器姿态调整过程进行了仿真计算以及外场飞行实验。通过对扑翼飞行器姿态角的响应仿真分析及外场飞行实验数据分析,验证了扑翼飞行器数学模型的准确性及姿态控制器的有效性。结果表明:在阶跃信号输入下,姿态角能快速响应并快速趋于稳态,外场飞行中扑翼飞行器俯仰角保持15°,飞行加速度保持1 m/s^(2),可以较好地自动保持姿态稳定。

一种悬浮扑翼机器人的视觉自主避障方法研究

提出了一种基于视觉感知的悬浮扑翼机器人自主避障方案,以满足室内障碍物环境中低速、安全和长航时飞行要求。首先,借鉴鸟类视觉避障原理,提出了一种基于光流视觉检测的避障方法,用于识别动、静态障碍物;其次,设计了一种氦气球与扑翼结合的飞行机器人,利用氦气浮力提供主要升力,扑翼运动提供推进力和次要升力,并设计了飞行控制方法以满足稳定飞行及避障的要求;最后,制作了机器人样机,测试了其飞行性能和自主避障能力,并与其他障碍物检测算法进行了对比。结果表明,样机的直飞航向偏移为5.52°,转弯速度可达23°/s,并以6.1 ms的单帧检测时间达到77%的避障成功率,证明其能够实现低速悬浮飞行和自主避障,为其开展室内探测任务奠定了基础。

基于高仿生形态布局的仿鸽扑翼飞行机器人系统设计

针对现有扑翼飞行机器人存在的飞行形态与实际鸟类相差较大,以及翅膀、尾翼布局和俯仰、转向控制方式仿生度较低的问题,提出一种形态布局与鸽子相仿的扑翼飞行机器人系统设计及实现方案.通过设计弧面-折翼-后掠翅膀、仿鸟扇形尾翼以及尾翼挨近翅膀后缘布置的布局方式,使扑翼机器人飞行形态更加接近真实鸟类,提高扑翼机器人的形态仿生度.在此基础上,设计结合下扑角调控无需尾翼大角度上翘的俯仰控制方式,以及不依赖于尾翼的翅膀收缩转向控制方式,在提高仿生度的同时保证飞行控制的有效性.在具体设计过程中,首先参考鸽子翅膀型式选择不同类型翅膀并进行风洞测试,确定出下扑角变化时仍能保持较优升推力性能的翅膀设计方案;其次,对各种尾翼型式进行分析和比较,结合鸽子尾翼特点进行仿鸽尾翼及俯仰、转向控制机构设计,并通过风洞测试验证;最后,设计飞控系统并装配整机,进行外场飞行测试,验证仿鸽扑翼飞行机器人平台的稳定性和可控性.

蝴蝶飞行机理及仿蝴蝶扑翼飞行器研究进展综述

仿生扑翼飞行器具有高机动性、高隐蔽性以及高效率等突出优势,在军事侦查、探险搜救等领域具有较好的应用前景,而其应用的基础是对生物飞行机理的深入探究.随着先进运动观测和实验技术的引入,对昆虫飞行行为的记录和分析更为便捷和准确.研究表明常见的昆虫拍打频率较高,在25~400 Hz之间,而蝴蝶较为特殊,其扑打频率较低,大约为10 Hz,对于蝴蝶的许多独特的飞行技能尚缺少足够的认识.蝴蝶前翼和后翼的翼面积都较大,身体同侧的前后翼几乎为同步拍打,且扑打幅度较大,甚至接近180°.蝴蝶飞行中身体有较大幅度的上下和俯仰震荡,翼和身体运动高度耦合.即便如此,蝴蝶仍具有敏捷的飞行能力,可以达到点对点的飞行目标,甚至上千公里的长途迁徙,是优秀的仿生学研究对象.因此,蝴蝶启发的仿生扑翼飞行器也得到了全世界研究人员的关注.蝴蝶的飞行机制相对于其他昆虫更加特殊,飞行行为和气动特性更为复杂,这使得仿蝴蝶扑翼飞行器的研制更加困难.目前对于仿蝴蝶飞行器的研制大多数对蝴蝶翼–身耦合的机理进行了简化,很少能实现受控的稳定飞行.最后,本文梳理了真实蝴蝶的飞行行为特点和飞行机理,指出了仿蝴蝶扑翼飞行器研制的关键技术,总结了该类飞行器未来的发展方向和应用前景.

Design and Experimental Verification of a Roll Control Strategy for Large Wingspan Flapping-Wing Aerial Vehicle

Most flapping-wing aircraft wings use a single degree of freedom to generate lift and thrust by flapping up and down,while relying on the tail control surfaces to manage attitude.However,these aircraft have certain limitations,such as poor accuracy in attitude control and inadequate roll control capabilities.This paper presents a design for an active torsional mechanism at the wing's trailing edge,which enables differential variations in the pitch angle of the left and right wings during flapping.This simple mechanical form significantly enhances the aircraft's roll control capacity.The experimental verification of this mechanism was conducted in a wind tunnel using the RoboEagle flapping-wing aerial vehicle that we developed.The study investigated the effects of the control strategy on lift,thrust,and roll moment during flapping flight.Additionally,the impact of roll control on roll moment was examined under various wind speeds,flapping frequencies,angles of attack,and wing flexibility.Furthermore,several rolling maneuver flight tests were performed to evaluate the agility of RoboEagle,utilizing both the elevon control strategy and the new roll control strategy.The results demonstrated that the new roll control strategy effectively enhances the roll control capability,thereby improving the attitude control capabilities of the flapping-wing aircraft in complex wind field environments.This conclusion is supported by a comparison of the control time,maximum roll angle,average roll angular velocity,and other relevant parameters between the two control strategies under identical roll control input.

基于人工智能的排水管网截污拍门控制系统研究及应用

针对合流制排水管网截污拍门功能、安装和使用等问题导致的溢流污染,开展截污拍门控制系统研究和应用。设计气动拍门截污控制技术,实现雨天排涝和旱天截污功能;设计低成本一次性电池续航供电技术,实现极限微功耗的一次性电池续航供电,消除拍门安装条件限制;研究双模糊逻辑模型控制技术,精准检测并控制障碍物阻挡拍门关闭导致的缝隙污水泄漏。通过广州市猎德涌现场安装拍门应用测试,结果表明:旱天拍门截污功能控制精度>99%,一次性电池续航供电3.7年以上,拍门缝隙污水泄漏检测与控制综合精度>99%,进一步减少合流制排水管网的溢流污染。

增升装置缝翼噪声机理与控制研究进展

在飞机着陆过程中,增升装置中的缝翼是机体气动噪声的重要噪声源。近几十年来,国内外研究者针对缝翼噪声开展了大量风洞试验研究,对其噪声特性和机理已有深入认识,并在流动控制和降噪技术方面进行了诸多尝试。本文综述分析了二维翼型缝翼噪声风洞试验研究方面的主要进展,介绍了3种缝翼噪声成分(低频宽频噪声、高频离散纯音噪声和低频离散纯音噪声)的产生机理。缝翼噪声控制主要有3类思路:第一类是以凹腔填充为代表的整流方法,通过消除或限制回流的产生控制噪声,效果最为显著;第二类是在缝翼尖端干扰剪切层内相干结构的形成;第三类则是从工程可行性出发,通过优化缝道和缝翼结构参数或采用前缘下垂等新构型来控制噪声。未来研究需进一步借助先进测试手段和试验方案,深入认识缝翼凹腔剪切层流动的流声耦合及其与缝翼尾缘相互作用等复杂现象,以获得更为高效的噪声控制技术。

电动车空调内外循环风门模糊控制研究

电动车空调内外循环风门控制对乘客舱防雾、空气清新度、空调能耗等多个方面有重要影响,但是内外循环风门控制难以建立精确的数学模型。文章采用模糊控制方法,将起雾风险、CO_(2)浓度、空调负荷作为输入,将内外循环风门开度作为输出,采用高斯型函数,利用MATLAB Simulink软件建立模糊控制器,并基于Simscape软件搭建汽车空调仿真模型。经过仿真验证,内外循环风门模糊控制方法可以在乘客舱防雾、空气清新度、空调能耗等多方面都有很好的控制效果,相比固定比例外循环控制,模糊控制综合评分最高,综合性能表现最好。

具有不确定性的扑翼微型飞行器抗干扰控制

研究了具有内部不确定性和外部干扰的扑翼微型飞行器的姿态和位置跟踪控制问题。利用神经网络对扑翼微型飞行器数学模型中复杂非线性和不确定性进行逼近估计,同时对于外部扰动,采用自适应技术来处理干扰对系统的影响。基于反步递推框架,引入一阶滤波器,设计了动态表面控制器,克服了传统反步递推设计中“微分爆炸”的局限性。进一步,利用Lyapunov稳定理论证明了扑翼飞行器姿态和位置闭环系统的稳定性和所有状态变量的半全局一致最终有界性。结果表明,所提控制器不仅能够使稳态误差更好地收敛,而且还提高了收敛速度。仿真结果验证了所提控制方法能够有效地处理不确定性和外部干扰,且能够很好地跟踪期望轨迹。

某型飞机襟翼不对称典型故障分析

针对某型飞机高升力控制分系统“襟翼不对称”告警故障,通过对系统工作原理、故障机理进行研究分析,实现了故障原因的准确定位,成功对故障进行排除,并采取有效措施,规避故障的重复发生。