Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase erro...Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.展开更多
To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design...To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.展开更多
Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based ...Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.展开更多
为了研究管制员飞行冲突调配的人因差错问题,进而有效评估管制员解决飞行冲突的可靠性,以保障空中交通的安全运行,提出系统理论过程分析(System Theoretic Process Analysis, STPA)与认知可靠性与失误分析方法(Cognitive Reliability an...为了研究管制员飞行冲突调配的人因差错问题,进而有效评估管制员解决飞行冲突的可靠性,以保障空中交通的安全运行,提出系统理论过程分析(System Theoretic Process Analysis, STPA)与认知可靠性与失误分析方法(Cognitive Reliability and Error Analysis Method, CREAM)相结合的人因可靠性分析方法。首先,通过STPA方法构建系统控制模型,识别不安全控制行为(Unsafe Control Action, UCA)以及致因因素,找到管制员在调配飞行冲突过程中可能存在的差错行为;其次,基于CREAM扩展法对管制员的差错行为进行定量分析,得到管制员调配飞行冲突的人因失误概率。研究显示:使用该方法能够系统、全面地识别出管制员在调配飞行冲突过程中出现的差错行为,进而计算管制员飞行冲突调配的人因失误概率。实例分析表明该方法可以预测管制员在飞行冲突调配过程中的人因失误概率及可靠性,为管制员人因可靠性分析提供了新思路。展开更多
Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm us...Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.展开更多
结合飞行时间(time of flight,TOF)激光雷达测距的原理和基本模型,着重分析积分时间对于测距误差的影响。TOF激光雷达采集的原始数据包含噪声,故按照如下方法对数据进行处理:(1)利用上位机软件采集TOF激光雷达在不同积分时间下的原始数...结合飞行时间(time of flight,TOF)激光雷达测距的原理和基本模型,着重分析积分时间对于测距误差的影响。TOF激光雷达采集的原始数据包含噪声,故按照如下方法对数据进行处理:(1)利用上位机软件采集TOF激光雷达在不同积分时间下的原始数据;(2)采用均值滤波算法对采集得到的原始数据进行预处理,降低噪声导致的误差;(3)根据信号相对强度进一步滤除低幅值的像素区域,选取有效区域的数据,并根据选取的有效区域进行距离的计算;(4)根据计算结果详细分析不同积分时间对测距误差的影响。在固定距离为0.6 m时,TOF激光雷达测距在最佳积分时间下平均绝对误差下降为22 mm,误差下降率为97.23%,均方根误差为0.8 mm;在0.3~1.0 m的不同距离下,误差下降率达到97%以上,测距准确度大大增加。展开更多
为评估新设计民用飞机所需导航性能(required navigation performance,RNP)的导航能力,针对直飞(track to fix,TF)航段和固定转弯半径(radius to fix,RF)航段类型,建立了飞行侧向偏差模型和飞行高度偏差模型,通过地理坐标转换,计算飞机...为评估新设计民用飞机所需导航性能(required navigation performance,RNP)的导航能力,针对直飞(track to fix,TF)航段和固定转弯半径(radius to fix,RF)航段类型,建立了飞行侧向偏差模型和飞行高度偏差模型,通过地理坐标转换,计算飞机实际飞行航迹与定义航径之间的偏差。以某新民用飞机的一次飞行为例,选取某机场进近的飞行数据进行计算,对飞行偏差进行统计,分析该飞机的适航情况及所对应的导航能力。结果表明,该飞机的基于性能导航(performance based navigation,PBN)的导航精度可满足适航标准中RNP 0.1的要求,机型执行RNP程序的质量达标。展开更多
基金This project is supported by Aeronautics Foundation of China (No.00- E51022).
文摘Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.
基金This project was supported by the Aeronautics Foundation of China (00E51022).
文摘To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.
基金The project was supported by Aeronautics Foundation of China (00E51022).
文摘Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.
文摘为了研究管制员飞行冲突调配的人因差错问题,进而有效评估管制员解决飞行冲突的可靠性,以保障空中交通的安全运行,提出系统理论过程分析(System Theoretic Process Analysis, STPA)与认知可靠性与失误分析方法(Cognitive Reliability and Error Analysis Method, CREAM)相结合的人因可靠性分析方法。首先,通过STPA方法构建系统控制模型,识别不安全控制行为(Unsafe Control Action, UCA)以及致因因素,找到管制员在调配飞行冲突过程中可能存在的差错行为;其次,基于CREAM扩展法对管制员的差错行为进行定量分析,得到管制员调配飞行冲突的人因失误概率。研究显示:使用该方法能够系统、全面地识别出管制员在调配飞行冲突过程中出现的差错行为,进而计算管制员飞行冲突调配的人因失误概率。实例分析表明该方法可以预测管制员在飞行冲突调配过程中的人因失误概率及可靠性,为管制员人因可靠性分析提供了新思路。
文摘Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.
文摘为评估新设计民用飞机所需导航性能(required navigation performance,RNP)的导航能力,针对直飞(track to fix,TF)航段和固定转弯半径(radius to fix,RF)航段类型,建立了飞行侧向偏差模型和飞行高度偏差模型,通过地理坐标转换,计算飞机实际飞行航迹与定义航径之间的偏差。以某新民用飞机的一次飞行为例,选取某机场进近的飞行数据进行计算,对飞行偏差进行统计,分析该飞机的适航情况及所对应的导航能力。结果表明,该飞机的基于性能导航(performance based navigation,PBN)的导航精度可满足适航标准中RNP 0.1的要求,机型执行RNP程序的质量达标。
