In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertaintie...In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.展开更多
考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)...考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)轨迹跟踪控制设计方案。首先,建立包含模型不确定性和外部干扰的UAH非线性系统模型,利用跟踪误差作为RBFNN输入信号估计由模型不确定性和外部干扰组成的复合扰动。其次,将滤波信号及其变化率权重组合作为RISE输入信号设计控制器,从而降低控制设计方案对UAH动力学模型的依赖程度。进而,借助Lyapunov稳定性理论分析整合后闭环跟踪误差系统的稳定性,并给出控制参数的选取方法。最后,借助现有文献中UAH系统模型,仿真与比较结果均说明所提控制算法的有效性和优越性。展开更多
To address deeper understandings about the aero-thermal performance of an integrating infrared suppressor under more realistic situations,a numerical investigation is motivated in the current study,concerning the effe...To address deeper understandings about the aero-thermal performance of an integrating infrared suppressor under more realistic situations,a numerical investigation is motivated in the current study,concerning the effects of forward-flight speed on exhaust plume flow and infrared radiation of the Infrared Suppressor-integrating(IRS-integrating)helicopter,wherein the forward-flight speed is changed from 0 m/s(hover state)to 100 m/s,while both the engine exhaust parameters and the main-rotor operation parameters remains unchanged during different forward-flight velocities.The results show that the interaction between forward-flight flow and downwash flow alters the exhaust plume development and the internal flow inside the IRS-integrating rear fuselage more complicatedly,tightly dependent on the forward-flight speed.Of particular concern is the situation where the forward-flight flow has nearly the same level as the downwash flow,the hot mixing flow could possibly interacts with the helicopter rear fuselage to play a local heating effect.With the increase of forward-flight speed,the ejection coefficient is generally increased and the average exhaust temperature of mixing flow is decreased,leading to a reduction of the infrared radiation intensity of exhaust plume in 3–5 lm band.However,the influence of forward-flight speed on the overall infrared radiation intensity of IRS-integrating helicopter is conjectured not monotonous due to the complicated interaction between forward-flight flow and downwash flow.Under high-speed forward-flight states,the overall infrared radiation intensity of the IRS-integrating helicopter in 3–5 lm band is reduced with the increase of forward-flight speed.With respect to 3–5 lm band,the forward-flight speed has little effect on the infrared radiation in 8–14 lm band.展开更多
基金supported by the National Natural Science Foundation of China(61803085,61806052,U1713209)the Natural Science Foundation of Jiangsu Province of China(BK20180361)
文摘In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.
文摘考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)轨迹跟踪控制设计方案。首先,建立包含模型不确定性和外部干扰的UAH非线性系统模型,利用跟踪误差作为RBFNN输入信号估计由模型不确定性和外部干扰组成的复合扰动。其次,将滤波信号及其变化率权重组合作为RISE输入信号设计控制器,从而降低控制设计方案对UAH动力学模型的依赖程度。进而,借助Lyapunov稳定性理论分析整合后闭环跟踪误差系统的稳定性,并给出控制参数的选取方法。最后,借助现有文献中UAH系统模型,仿真与比较结果均说明所提控制算法的有效性和优越性。
基金financial supports for this project from the National Science and Technology Major Project of China(No.J2019-III-0009-0053)。
文摘To address deeper understandings about the aero-thermal performance of an integrating infrared suppressor under more realistic situations,a numerical investigation is motivated in the current study,concerning the effects of forward-flight speed on exhaust plume flow and infrared radiation of the Infrared Suppressor-integrating(IRS-integrating)helicopter,wherein the forward-flight speed is changed from 0 m/s(hover state)to 100 m/s,while both the engine exhaust parameters and the main-rotor operation parameters remains unchanged during different forward-flight velocities.The results show that the interaction between forward-flight flow and downwash flow alters the exhaust plume development and the internal flow inside the IRS-integrating rear fuselage more complicatedly,tightly dependent on the forward-flight speed.Of particular concern is the situation where the forward-flight flow has nearly the same level as the downwash flow,the hot mixing flow could possibly interacts with the helicopter rear fuselage to play a local heating effect.With the increase of forward-flight speed,the ejection coefficient is generally increased and the average exhaust temperature of mixing flow is decreased,leading to a reduction of the infrared radiation intensity of exhaust plume in 3–5 lm band.However,the influence of forward-flight speed on the overall infrared radiation intensity of IRS-integrating helicopter is conjectured not monotonous due to the complicated interaction between forward-flight flow and downwash flow.Under high-speed forward-flight states,the overall infrared radiation intensity of the IRS-integrating helicopter in 3–5 lm band is reduced with the increase of forward-flight speed.With respect to 3–5 lm band,the forward-flight speed has little effect on the infrared radiation in 8–14 lm band.
