Dynamic analysis and simulation of four-axis forced synchronizing banana vibrating screen of variable linear trajectory

A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle was analyzed when the action line of the exciting force did not act through the centroid of screen box.Moreover,the dynamic differential equations of centroid and screen surface were obtained.The motions of centroid and screen surface were simulated with actual parameters of the design example in Matlab/Simulink.The results show that not only the amplitude has a significant decrease from 9.38 to 4.10 mm,but also the throwing index and vibrating direction angle have a significant decrease from 10.49 to 4.59,and from 58.10° to 33.29°,respectively,along the screen surface,which indicates that motion characteristics of vibrating screen are consistent with those of traditional banana vibrating screen only by means of a single angle of screen surface.What's more,such banana vibrating screen of variable linear trajectory with greater processing capacity could be obtained by adjusting the relative position of force center and the centroid of screen box properly.

Quaternion-based Nonlinear Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle

At present, most controllers of quadrotor unmanned aerial vehicles（UAVs） use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90°, which limits the maneuverability of the UAV. To overcome this problem, based on the quatemion attitude representation, a 6 degree of freedom（DOF） nonlinear controller of a quadrotor UAV is designed using the trajectory linearization control（TLC） method. The overall controller contains a position sub-controller and an attitude sub-controller. The two controllers regulate the translational and rotational motion of the UAV, respectively. The controller is improved by using the commanded value instead of the nominal value as the input of the inner control loop. The performance of controller is tested by simulation before and after the improvement, the results show that the improved controller is better. The proposed controller is also tested via numerical simulation and real flights and is compared with the traditional controller based on Euler angles. The test results confirm the feasibility and the robustness of the proposed nonlinear controller. The proposed controller can successfully solve the singularity problem that usually occurs in the current attitude control of UAV and it is easy to be realized.

Trajectory linearization control of an aerospace vehicle based on RBF neural network

An enhanced trajectory linearization control （TLC） structure based on radial basis function neural network （RBFNN） and its application on an aerospace vehicle （ASV） flight control system are presensted. The influence of unknown disturbances and uncertainties is reduced by RBFNN thanks to its approaching ability, and a robustifying itera is used to overcome the approximate error of RBFNN. The parameters adaptive adjusting laws are designed on the Lyapunov theory. The uniform ultimate boundedness of all signals of the composite closed-loop system is proved based on Lyapunov theory. Finally, the flight control system of an ASV is designed based on the proposed method. Simulation results demonstrate the effectiveness and robustness of the designed approach.

Research of robust adaptive trajectory linearization control based on T-S fuzzy system

A robust adaptive trajectory linearization control （RATLC） algorithm for a class of nonlinear systems with uncertainty and disturbance based on the T-S fuzzy system is presented. The unknown disturbance and uncertainty are estimated by the T-S fuzzy system, and a robust adaptive control law is designed by the Lyapunov theory. Irrespective of whether the dimensions of the system and the rules of the fuzzy system are large or small, there is only one parameter adjusting on line. Uniformly ultimately boundedness of all signals of the composite closed-loop system are proved by theory analysis. Finally, a numerical example is studied based on the proposed method. The simulation results demonstrate the effectiveness and robustness of the control scheme.

New trajectory linearization control for nonlinear systems undergoing harmonic disturbance

This paper presents a new trajectory linearization control scheme for a class of nonlinear systems subject to harmonic disturbance. It is supposed that the frequency of the disturbance is known, but the amplitude and the phase are unknown. A disturbance observer dynamics is constructed to estimate the harmonic disturbance, and then the estimation is used to implement a compensation control law to cancel the disturbance. By Lyapunov＇s direct method, a rigorous poof shows that the composite error of the closed-loop system can approach zero exponentially. Finally, the proposed method is illustrated by the application to control of an inverted pendulum. Compared with two existing methods, the proposed method demonstrates better performance in tracking error and response time.

Adaptive trajectory linearization control for hypersonic reentry vehicle

This paper presents an improved design for the hypersonic reentry vehicle(HRV) by the trajectory linearization control(TLC) technology for the design of HRV. The physics-based model fails to take into account the external disturbance in the flight envelope in which the stability and control derivatives prove to be nonlinear and time-varying, which is likely in turn to increase the difficulty in keeping the stability of the attitude control system. Therefore, it is of great significance to modulate the unsteady and nonlinear characteristic features of the system parameters so as to overcome the disadvantages of the conventional TLC technology that can only be valid and efficient in the cases when there may exist any minor uncertainties. It is just for this kind of necessity that we have developed a fuzzy-neural disturbance observer(FNDO) based on the B-spline to estimate such uncertainties and disturbances concerned by establishing a new dynamic system. The simulation results gained by using the aforementioned technology and the observer show that it is just due to the innovation of the adaptive trajectory linearization control(ATLC) system. Significant improvement has been realized in the performance and the robustness of the system in addition to its fault tolerance.

Integrated guidance and control design of the suicide UCAV for terminal attack

A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC system model of the UCAV is built based on the three-channel independent design idea, which reduces the difficulties of designing the controller. Then, IGC control laws are designed using the trajectory linearization control (TLC). A nonlinear disturbance observer (NDO) is introduced to the IGC controller to reject various uncertainties, such as the aerodynamic parameter perturbation and the measurement error interference. The stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the proposed IGC design method is verified in a terminal attack mission of the suicide UCAV. Finally, simulation results demonstrate the superiority and effectiveness in the aspects of guidance accuracy and system robustness.

Adaptive Constrained On-board Guidance Technology forPowered Glide Vehicle

To make full use of expanded maneuverability and increased range,adaptive constrained on-board guidance technology is the key capability for a glide vehicle with a double-pulse rocket engine,especially under the requirements of desired target changing and on-line reconfigurable control and guidance.Based on the rapid footprint analysis,whether the new target is within the current footprint area is firstly judged.If not,the rocket engine ignites by the logic obtained from the analysis of optimal flight range by the method of hp-adaptive Gauss pseudospectral method(hp-GPM).Then,an on-board trajectory generation method based on powered quasi-equilibrium glide condition(QEGC)and linear quadratic regulator(LQR)method is used to guide the vehicle to the new target.The effectiveness of the guidance method consisted of powered on-board trajectory generation,LQR trajectory tracking,footprint calculation,and ignition time determination is indicated by some simulation examples.

Subspace Trajectory Piecewise-Linear Model Order Reduction for Nonlinear Circuits

Despite the efficiency of trajectory piecewise-linear(TPWL)model order re-duction(MOR)for nonlinear circuits,it needs large amount of expansion points forlarge-scale nonlinear circuits.This will inevitably increase the model size as well as the simulation time of the resulting reduced macromodels.In this paper,subspaceTPWL-MOR approach is developed for the model order reduction of nonlinear cir-cuits.By breaking the high-dimensional state space into several subspaces with much lower dimensions,the subspace TPWL-MOR has very promising advantages of re-ducing the number of expansion points as well as increasing the effective region of thereduced-order model in the state space.As a result,the model size and the accuracy of the TWPL model can be greatly improved.The numerical results have shown dra-matic reduction in the model size as well as the improvement in accuracy by using the subspace TPWL-MOR compared with the conventional TPWL-MOR approach.

A Quantum-behaved Pigeon-Inspired Optimization approach to Explicit Nonlinear Model Predictive Controller for quadrotor

Purpose–The purpose of this paper is to simplify the Explicit Nonlinear Model Predictive Controller(ENMPC)by linearizing the trajectory with Quantum-behaved Pigeon-Inspired Optimization(QPIO).Design/methodology/approach–The paper deduces the nonlinear model of the quadrotor and uses the ENMPC to track the trajectory.Since the ENMPC has high demand for the state equation,the trajectory needed to be differentiated many times.When the trajectory is complicate or discontinuous,QPIO is proposed to linearize the trajectory.Then the linearized trajectory will be used in the ENMPC.Findings–Applying the QPIO algorithm allows the unequal distance sample points to be acquired to linearize the trajectory.Comparing with the equidistant linear interpolation,the linear interpolation error will be smaller.Practical implications–Small-sized quadrotors were adopted in this research to simplify the model.The model is supposed to be accurate and differentiable to meet the requirements of ENMPC.Originality/value–Traditionally,the quadrotor model was usually linearized in the research.In this paper,the quadrotormodel waskept nonlinear and the trajectorywill be linearizedinstead.Unequaldistance sample points were utilized to linearize the trajectory.In this way,the authors can get a smaller interpolation error.This method can also be applied to discrete systems to construct the interpolation for trajectory tracking.