A Robust Roll Stabilization Controller with Aerodynamic Disturbance and Actuator Failure Consideration

Combining adaptive theory with an advanced second-order sliding mode control algorithm,a roll stabilization controller with aerodynamic disturbance and actuator failure consideration for spinning flight vehicles is proposed in this paper.The presented controller is summarized as an“observer-controller”system.More specifically,an adaptive secondorder sliding mode observer is presented to select the proper design parameters and estimate the knowledge of aerodynamic disturbance and actuator failure,while the proposed roll stabilization control scheme can drive both roll angle and rotation rate smoothly converge to the desired value.Theoretical analysis and numerical simulation results demonstrate the effectiveness of the proposed controller.

Robust Control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under Wave Disturbances

In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.

Roll stability catastrophe mechanism of a flooded ship on regular sea waves

Based on a typical one-free-degree ship roll motion equation, the cusp catastrophe model is built including the bifurca- tion set equation, splitting factor ＇u＇ and regular factor ＇v＇, where both ＇u＇ and ＇v＇ are further expressed with typical flooded ship parameters. Then, the roll catastrophe mechanism is analyzed mainly by means of ＇u＇, under the given parameters of a typical trawler boat. The aim of this research is to reveal the mutagenic mechanism of the roll stability and provide a reference for improving ship roll stability.

The Roll Stability Analysis of Semi-Trailer Based on the Wheel Force

It is different for the liquid tank semi-trailer to keep roll stability during turning or emergency voidance,and that may cause serious accidents.Although the scholars did lots of research about the roll stability of liquid tank semi-trailer in theory by calculating and simulation,how to make an effective early warning of rollover is still unsolved in practice.The reasons include the complex driving condition and the difficulty of the vehicle parameter obtaining.The feasible method used currently is evaluating the roll stability of a liquid tank semi-trailer by the lateral acceleration or the attitude of the vehicle.Unfortunately,the lateral acceleration is more useful for sideslip rather than rollover,and the attitude is a kind of posterior way,which means it is hard to take measures to cope with the rollover accident when the attitude exceeds the safety threshold.Considering the movement of the vehicle is totally caused by the wheel force,the rollover could also be predicted by the changing of the wheel force.Therefore,in this paper,we developed a method to analyze the roll stability by the vertical wheel force.A thorough experiment environment is established,and the effectiveness of the proposed method is verified in real driving conditions.

护卫舰横摇稳定舵的H∞/H2控制器的设计和比较（英文）

Roll motion of ships can be distinguished in two parts:an unavoidable part due to their natural movement while turning and an unwanted and avoidable part that is due to encounter with waves and rough seas in general.For the attenuation of the unwanted part of roll motion,ways have been developed such as addition of controllable fins and changes in shape.This paper investigates the effectiveness of augmenting the rudder used for rejecting part of the unwanted roll,while maintaining steering and course changing ability.For this purpose,a controller is designed,which acts through intentional superposition of fast,compared with course change,movements of rudder,in order to attenuate the high-frequency roll effects from encountering rough seas.The results obtained by simulation to exogenous disturbance support the conclusion that the roll stabilization for displacement can be effective at least when displacement hull vessels are considered.Moreover,robust stability and performance is verified for the proposed control scheme over the entire operating range of interest.

飞行器滚转稳定性的数值模拟

Large lift-to-drag ratio,high maneuverability,and good controllability are the basic performance for flight vehicles.Studying the rolling stability problems of a high lift-to-drag ratio aircraft is of great significance to the safety and control in maneuvering flight.The research on the static stability in the rolling direction of a HTV-2 like shape under a typical Mach number and attack angle was carried out.Similarly,by using Euler,laminar,turbulence and transition models,investigations of the dynamic stability in a single degree of freedom rolling motion of the same shape structure were executed.The numerical results show that the dynamic derivative of Euler is the largest,and the dynamic derivatives resulting from laminar,turbulence,and transition models are not much different.

Rolling Stability Enhancement via Balancing Tail for a Water-running Robot

Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is very important for a robot to be able to run on water. The loss of lifting force is associated with the rolling stability of the robot on water. The purpose of this study is to improve the rolling stability of a water-running robot through the periodic motion of a balancing tail. Kinematic analysis was performed to calculate the motions of the legs and the tail, and static analysis was performed to calculate the balancing effect of the tail motion. A numerical model was suggested to determine the dynamic performance of the robotic platform based on kinematic and static results. A simulation based on the numerical model was performed, and the results were compared with empirical data from a robot prototype. The simulation results are in good agreement with the experimental data in terms of rolling stability The lifting force has only a slight effect. The results of this study can be used as a guideline for designing a stable water-running robot.

Effects of Cold Rolling Reduction on Retained Austenite Fraction and Mechanical Properties of High-Si TRIP Steel

Transformation-induced plasticity-aided steel was rolled at room temperature to different thickness reductions （0, 4%, 10%, 20%, 40%, and 60%）. The mechanical properties, microstructure and austenite fractions of the rolled samples were measured by tensile test, electron back scattered diffraction （EBSD） and X-ray diffraction （XRD） for each rolling. The deformation behavior was studied based on the analysis of the mechanical properties and microstructure of steel after tensile deformation, aiming at understanding the effects of cold rolling reduction on the decay behavior of the austenite and the change of mechanical properties of the TRIP steels. It was found that increasing rolling reduction increases the yield stress gradually but decreases the total elongation significantly. It is very interesting that after 10% rolling reduction the yield stress is about 1 000 MPa but still with 20% total elongation, which gives an excellent combination of yield strength and ductility. Based on the XRD results, it was revealed that in both rolling and tension the austenite volume fraction monotonically decayed with the increase of rolling strain, but the decaying rate is faster in tension than in rolling, which may be ascribed to the higher temperature in rolled specimens than in the tensioned ones during deformation. Experimental results and theoretical reasoning indicate that the decreasing trend of austenite volume fraction with strain can be formulated by a unique equation.