A fault-tolerant control method for distributed flight control system facing wing damage

With the strong battlefield application environment of the next generation fighter,based on the design of distributed vehicle management system,a fault diagnosis and fault-tolerant control(FTC)method for wing surface damage is proposed in this paper.Aiming at three kinds of wing damage modes,this paper proposes a diagnosis method based on the fault decision tree and forms a fault decision tree for wing damage from the aspects of sample database construction,feature parameter extraction,and fault decision tree construction.Based on the fault diagnosis results,the longitudinal control law based on dynamic inverse and the lateral-directional robust control laws based on linear quadratic regulator(LQR)are proposed.From the simulation examples,the fault diagnosis algorithm based on the decision tree can complete the judgment of three wing surface damage modes within 2 ms,and the FTC law can make the fighter quickly return to a stable flight state after a short transient of 1 s,which achieves the fault-tolerant goal.

New Stability Condition of T-S Fuzzy Systems and Design of Robust Flight Control Principle

Unlike the previous research works analyzing the stability of the T-S （Takagi-Sugeno） fuzzy model, an extension on the stability condition of T-S fuzzy systems with a different strategy is provided. In the strategy a new variable, which is relative to the grade of fuzzy membership function, is introduced to the stability analysis and a new stability conclusion is deduced. The definition of stability condition in this paper is different from previous works, though they are similar in form. With the proposed method, the simulation in flight control law shows a better effectiveness.

Real-time UAV path planning based on LSTM network

To address the shortcomings of single-step decision making in the existing deep reinforcement learning based unmanned aerial vehicle(UAV)real-time path planning problem,a real-time UAV path planning algorithm based on long shortterm memory(RPP-LSTM)network is proposed,which combines the memory characteristics of recurrent neural network(RNN)and the deep reinforcement learning algorithm.LSTM networks are used in this algorithm as Q-value networks for the deep Q network(DQN)algorithm,which makes the decision of the Q-value network has some memory.Thanks to LSTM network,the Q-value network can use the previous environmental information and action information which effectively avoids the problem of single-step decision considering only the current environment.Besides,the algorithm proposes a hierarchical reward and punishment function for the specific problem of UAV real-time path planning,so that the UAV can more reasonably perform path planning.Simulation verification shows that compared with the traditional feed-forward neural network(FNN)based UAV autonomous path planning algorithm,the RPP-LSTM proposed in this paper can adapt to more complex environments and has significantly improved robustness and accuracy when performing UAV real-time path planning.

Fault detection and optimization for networked control systems with uncertain time-varying delay

The observer-based robust fault detection filter design and optimization for networked control systems （NOSs） with uncer- tain time-varying delays are addressed. The NCSs with uncertain time-varying delays are modeled as parameter-uncertain systems by the matrix theory. Based on the model, an observer-based residual generator is constructed and the sufficient condition for the existence of the desired fault detection filter is derived in terms of the linear matrix inequality. Furthermore, a time domain opti- mization approach is proposed to improve the performance of the fault detection system. To prevent the false alarms, a new thresh- old function is established, and the solution of the optimization problem is given by using the singular value decomposition （SVD） of the matrix. A numerical example is provided to illustrate the effectiveness of the proposed approach.

Nonlinear Control Method for Hypersonic Vehicle Based on Double Power Reaching Law of Sliding Mode

The intelligence nonlinear control scheme via double power reaching law based sliding mode control method is proposed to solve the problems of model uncertainties and unknown outside disturbances.Firstly,the aerodynamic parameters of the morphing vehicle are replaced with curve-fitted approximation to build the accurate model for control design in the hypersonic flight.Then the nonlinear vehicle model is transformed into the strict feedback multi-input/multi-output nonlinear system by using the input-output feedback linearization approach.At the same time,the disturbance observer is used to approximate the unknown disturbance,and the sliding mode method is used to solve the problem of non-matching and uncertainty.Finally,according to the buffeting problem in sliding mode control,the double power is improved.Simulation results show that the proposed method can ensure the global stability of the closed-loop system,and has good tracking and robust performance.

IGBT Temperature Field Monitoring Based on Reduced-order Model

With the rapid development of the world economy,IGBT has been widely used in motor drive and electric energy conversion.In order to timely detect the fatigue damage of IGBT,it is necessary to monitor the junction temperature of IGBT.In order to realize the fast calculation of IGBT junction temperature,a finite element method of IGBT temperature field reduction is proposed in this paper.Firstly,the finite element calculation process of IGBT temperature field is introduced and the linear equations of finite element calculation of temperature field are derived.Temperature field data of different working conditions are obtained by finite element simulation to form the sample space.Then the covariance matrix of the sample space is constructed,whose proper orthogonal decomposition and modal extraction are carried out.Reasonable basis vector space is selected to complete the low dimensional expression of temperature vector inside and outside the sample space.Finally,the reduced-order model of temperature field finite element is obtained and solved.The results of the reduced order model are compared with those of the finite element method,and the performance of the reduced-order model is evaluated from two aspects of accuracy and rapidity.

Research on a full envelop controller for an unmanned ducted-fan helicopter based on switching control theory

Rotor and ducted-fan structured unmanned helicopters have shown energy efficiency in low flight speed and hovering, due to the novel ducted-fan structure. However, its aerodynamic characteristics may change dramatically when flight at higher speed,resulting in a wide flight envelope when compared with conventional structured helicopters. Hence, the flight controller is required to schedule itself based on the flight states and guarantees the overall performances of the helicopter on the entire flight envelop. This paper presents a switching system theory based approach to design the optimal controllers over a wide region of flight envelop. In the proposed method, a family of robust controller are designed based on typical operational conditions and the controller is adjusted to guarantee the stability when the switching event is trigged. A hysteresis switching logic is utilized to ensure smooth transient between specific operational subspaces. The stability of the proposed control method was analyzed through Lyapunov theory. Nonlinear simulations based flight dynamics of the prototype helicopter have demonstrated the flexibility and efficiency of the proposed work.

Low Complexity Minimum Mean Square Error Channel Estimation for Adaptive Coding and Modulation Systems

Performance of the Adaptive Coding and Modulation(ACM) strongly depends on the retrieved Channel State Information(CSI),which can be obtained using the channel estimation techniques relying on pilot symbol transmission.Earlier analysis of methods of pilot-aided channel estimation for ACM systems were relatively little.In this paper,we investigate the performance of CSI prediction using the Minimum Mean Square Error(MMSE)channel estimator for an ACM system.To solve the two problems of MMSE:high computational operations and oversimplified assumption,we then propose the Low-Complexity schemes(LC-MMSE and Recursion LC-MMSE(R-LC-MMSE)).Computational complexity and Mean Square Error(MSE) are presented to evaluate the efficiency of the proposed algorithm.Both analysis and numerical results show that LC-MMSE performs close to the wellknown MMSE estimator with much lower complexity and R-LC-MMSE improves the application of MMSE estimation to specific circumstances.

A 2-step GPS carrier tracking loop for urban vehicle applications

Global positioning system (GPS) for vehicle applications in the urban area is challenged by low signal intensity. The carrier loop based on fast Fourier transform (FFT) can obtain a high signal to noise ratio (SNR) gain by increasing the observation time. However, this leads to a major problem that the acceleration cannot be ignored. The performance of the FFT-based loop will decline with the acceleration increasing. This paper discusses the effect of the dynamic on FFT first. Then a high performance carrier tracking loop for weak GPS L5 signals is proposed. It combines discrete chirp-Fourier transform (DCFT) and the phase fitting method to estimate Doppler frequency and Doppler rate simultaneously. First, a sequence of integration results is used to perform DCFT to estimate coarse Doppler frequency and Doppler rate. Second, the phase of the sequence is calculated and used to perform linear fitting. By the phase fitting method, the fine Doppler frequency and Doppler rate can be estimated. The computation cost is small because the integration results are used and the phase fitting method needs only coarse estimates of Doppler frequency and Doppler rate. Compared with FFT and DCFT, the precision of the phase fitting method is not limited by the resolution. Thus the proposed loop can get high precision and low carrier to noise ratio (C/N-0) tracking threshold. Simulation results show this loop has a great improvement than conventional loops for urban weak-signal applications.

Distributed formation control of multiple aerial vehicles based on guidance route

Formation control of fixed-wing aerial vehicles is an important yet rarely addressed problem because of their complex dynamics and various motion constraints,such as nonholonomic and velocity constraints.The guidance-route-based strategy has been demonstrated to be applicable to fixed-wing aircraft.However,it requires a global coordinator and there exists control lag,due to its own natures.For this reason,this paper presents a fully distributed guidance-route-based formation approach to address the aforementioned issues.First,a hop-count scheme is introduced to achieve distributed implementation,in which each aircraft chooses a neighbor with the minimum hop-count as a reference to generate its guidance route using only local information.Next,the model predictive control algorithm is employed to eliminate the control lag and achieve precise formation shape control.In addition,the stall protection and collision avoidance are also considered.Finally,three numerical simulations demonstrate that our proposed approach can implement precise formation shape control of fixed-wing aircraft in a fully distributed manner.

Improving the design of reinforcing frames by simulating the arch and peltate venation structures

Based on the analyses on arch and peltate venation structures, the design of reinforcing frames was improved. First, distribution rules of the arch structure were summarized. According to the load condition and the structure of the frame, a mechanical model of arch structure was devel- oped, and two solutions for the model were analyzed and compared with each other. Through the a- nalysis, application rules of arch structure for improving the design were obtained. Then, distribu- tion rules of peltate venation structure were summarized. By using the same method, application rules of peltate venation structure for improving the design were also obtained. Finally, mechanical problem of the frame was described, and rib arrangement of the frame was redesigned. A parameter optimization for the widths of ribs in bionic arrangement was also carried out to accomplish the im- proving design. Comparison between bionic and conventional reinforcing frames shows that the weight is reduced by as much as 15.3%.

Luminescence of a GaN grain with a nonpolar and semipolar plane in relation to microstructural characterization

We report on the growth of the high-quality GaN grain on a r-plane sapphire substrate by using a self-organized SiN interlayer as a selective growth mask. Transmission electron microscopy, scanning electron microscopy, and Raman spectroscopy are used to reveal the effect of SiN on the overgrown a-plane GaN growth. The SiN layer effectively terminates the propagation of the threading dislocation and basal plane stacking faults during a-plane GaN regrowth through the interlayer, resulting in the window region shrinking from a rectangle to a ＂black hole＂. Furthermore, strong yellow luminescence （YL） in the nonpolar plane and very weak YL in the semipolar plane on the GaN grain is revealed by cathodoluminescence, suggesting that C-involved defects are responsible for the YL.

Time-asynchrony identification between inertial sensors in SIMU

Traditional strapdown inertial navigation system （SINS） algorithm studies are based on ideal measurements from gy- ros and accelerometers, while in the actual strapdown inertial measurement unit （SIMU）, time-asynchrony between each iner- tial sensor is inevitable. Testing principles and methods for time- asynchrony parameter identification are studied. Under the single- axis swaying environment, the relationships between the SINS platform drift rate and the gyro time-asynchrony are derived using the SINS attitude error equation. It is found that the gyro time- asynchrony error can be considered as a kind of pseudo-coning motion error caused by data processing. After gyro testing and synchronization, the single-axis tumble test method is introduced for the testing of each accelerometer time-asynchrony with respect to the ideal gyro triad. Accelerometer time-asynchrony parame- ter identification models are established using SINS specific force equation. Finally, all of the relative time-asynchrony parameters between inertial sensors are well identified by using fiber optic gyro SIMU as experimental verification.

A vision-based navigation approach with multiple radial shape marks for indoor aircraft locating

Since GPS signals are unavailable for indoor navigation, current research mainly focuses on vision-based locating with a single mark. An obvious disadvantage with this approach is that locating will fail when the mark cannot be seen. The use of multiple marks can solve this problem. However, the extra process to design and identify different marks will significantly increase system complexity. In this paper, a novel vision-based locating method is proposed by using marks with feature points arranged in a radial shape. The feature points of the marks consist of inner points and outer points. The positions of the inner points are the same in all marks, while the positions of the outer points are different in different marks. Unlike traditional camera locating methods （the PnP methods）, the proposed method can calculate the camera location and the positions of the outer points simultaneously. Then the calculation results of the positions of the outer points are used to identify the mark. This method can make navigation with multiple marks more efficient. Simulations and real world experiments are carried out, and their results show that the proposed method is fast, accurate and robust to noise.

Robust monocular SLAM towards motion disturbance

The standard extended Kalman filter-based simultaneously localization and mapping(EKF-SLAM)algorithm has a drawback that it could not handle the sudden motion caused by the motion disturbance.This prevents the SLAM system from real applications.Many techniques have been developed to make the system more robust to the motion disturbance.In this paper,we propose a robust monocular SLAM algorithm.First,when the motion model-based system failed to track the features,a KLT tracker will be activated for each feature.Second,the KLT tracked features are used to update the camera states.Third,the difference between the camera states and the predictions is used to adjust the input motion noise.Finally,we do the standard EKF-SLAM with the new input motion noise.In order to make the system more reliable,a joint compatibility branch and bound algorithm are used to check the outliers,and an IEKF filter is used to make the motion estimation smoother when the camera encounters sudden movement.The experiments are done on an image sequence caught by a shaking hand-held camera,which show that the proposed method is very robust to large motion disturbance.

Performance optimization of grooved slippers for aero hydraulic pumps

A computational fluid dynamics （CFD） simulation method based on 3-D Navier Stokes equation and Arbitrary Lagrangian Eulerian （ALE） method is presented to analyze the grooved slip- per performance of piston pump. The moving domain of grooved slipper is transformed into a fixed reference domain by the ALE method, which makes it convenient to take the effects of rotate speed, body force, temperature, and oil viscosity into account. A geometric model to express the complex structure, which covers the orifice of piston and slipper, vented groove and the oil film, is constructed. Corresponding to different oil film thicknesses calculated in light of hydrostatic equilibrium theory and boundary conditions, a set of simulations is conducted in COMSOL to analyze the pump characteristics and effects of geometry （groove width and radius, orifice size） on these characteristics. Furthermore, the mechanics and hydraulics analyses are employed to validate the CFD model, and there is an excellent agreement between simulation and analytical results. The simulation results show that the sealing land radius, orifice size and groove width all dramatically affect the slipper behavior, and an optimum tradeoff among these factors is conducive to optimizing the pump design.

Laser frequency instability of 6×10^-16 using 10-cm-long cavities on a cubic spacer

We demonstrate two ultra-stable laser systems at 1064 nm by independently stabilizing two 10-cm-long Fabry–Pérot cavities.The reference cavities are on a cubic spacer,which is rigidly mounted for both low sensitivity to environmental vibration and ability for transportation.By comparing against an independent ultra-stable laser at 578 nm via an optical frequency comb,the 1064 nm lasers are measured to have frequency instabilities of 6×10^-16 at 1 s averaging time.

Nonlinear path-following method for fixed-wing unmanned aerial vehicles

A path-following method for fixed-wing unmanned aerial vehicles(UAVs) is presented in this paper.This method consists of an outer guidance loop and an inner control loop.The guidance law relies on the idea of tracking a virtual target.The motion of the virtual target is explicitly specified.The main advantage of this guidance law is that it considers the maneuvering ability of the aircraft.The aircraft can asymptotically approach the defined path with smooth movements.Meanwhile,the aircraft can anticipate the upcoming transition of the flight path.Moreover,the inner adaptive flight control loop based on attractive manifolds can follow the command generated by the outer guidance loop.This adaptive control law introduces a first-order filter to avoid solving the partial differential equation in the immersion and invariance adaptive control.The performance of the proposed path-following method is validated by the numerical simulation.

Athermal scheme based on resonance splitting for silicon-on-insulator microring resonators

A novel athermal scheme utilizing resonance splitting of a dual-ring structure is proposed.Detailed design and simulation are presented,and a proof of concept structure is optimized to demonstrate an athermal resonator with resonance wavelength variation lower than 5 pm∕K within 30 K temperature range.