Design of Adaptive Fuzzy PID Altitude Control System for Unmanned Aerial Vehicle

Based on Matlab/Simulink and Fuzzy Logic toolboxes,the altitude control system is designed and simulated.The validity of conventional PID control method and adaptive fuzzy PID control method is compared.It can be drawn out that the adaptive fuzzy PID control method is superior to the conventional PID in rising time and overshoot etc.The effectiveness of a fuzzy PID controller shows potential application in the future,especially in the presence of model uncertainty or changing dynamics and time-varying parameters.     

Design of Adaptive Fuzzy PID Altitude Control System for Unmanned Aerial Vehicle

Based on Matlab/Simulink and Fuzzy Logic toolboxes, the altitude control system is designed and simulated. The validity of conventional PID control method and adaptive fuzzy PID control method is compared. It can be drawn out that the adaptive fuzzy PID control method is superior to the conventional PID in rising time and overshoot etc. The effectiveness of a fuzzy PID controller shows potential application in the future, especially in the presence of model uncertainty or changing dynamics and time-varying parameters.     

一种水下自航器实时控制半实物仿真系统

介绍了一种水下自航器实时控制半实物仿真系统。为保证控制的实时性,系统采用双机并行工作,利用PC机求解水下自航器运动方程,工业控制机实现控制算法。文中阐述了系统硬件结构及工作原理,介绍了实时仿真软件和实时控制软件,最后给出了一种变结构控制方案在该系统上的试验结果。结果表明,该仿真系统结构合理可靠,容易编程,仿真算法完全满足实时仿真要求。     

水下航行器导航与控制实时仿真系统

针对某远程自主水下航行器，设计并实现了该航行器的实时仿真系统，阐述了该系统的方案构思、硬件组成及工作原理，介绍了实时仿真软件，最后给出在该系统上的实验结果。结果表明，该系统，能为自动驾驶仪创造一个很好的仿真环境，通过它设计在实验室中就可以较全面地对导航与控制系统进行调试，极大地节约实验成本和调试时间。     

Analyses and Simulation of Fuzzy Logic Control for Suspension System of a Track Vehicle

The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles.The vibration control of suspension systems is a very important factor for modern track vehicles.A fuzzy logic control for suspension system of a track vehicle is presented.A mechanical model and a system of differential equations of motion taking account of the mass of loading wheel are established.Then the fuzzy logic control is applied to control the vibration of suspension system of track vehicles for sine signal and random road surfaces.Numerical simulation shows that the maximum acceleration of suspension system can be reduced to 44% of the original value for sine signal road surface,and the mean square root of acceleration of suspension system can be reduced to 21% for random road surface.Therefore,the proposed fuzzy logic control is an efficient method for the suspension systems of track vehicles.     

高空无人侦察机生存力仿真研究

文章分析了高空无人侦察机的敏感性、易损性与生存力之间的关系.建立了高空无人侦察机生存力模型.通过仿真对高空无人侦察机生存力及主要影响因素--高空无人侦察机的航路捷径、飞行高度、飞行速度及雷达散射截面积RCS进行了研究.仿真结果表明,高空无人侦察机生存概率随航路捷径的增大、飞行高度的增高、飞行速度的提高及RCS的减缩呈阶梯状增加;而在相同生存概率的条件下,上述的生存力增强措施均能增加高空无人侦察机的突防距离.     

一种用于AUV导航控制软件开发与系统测试的半实物仿真系统

设计并完成了用于自主水下航行器(AUV)导航控制软件的开发与系统测试的半实物仿真系统。该半实物仿真系统由实时仿真计算机和真实的导航控制计算机构成,实时仿真计算机完成AUV空间运动的实时积分解算,并利用多功能数据采集卡和串行通讯端口模拟AUV导航控制系统中的传感器和操舵机构的工作,为导航控制计算机提供全真的软硬件工作环境,使开发人员在此基础上能够完成导航控制软件全部功能的开发,并进行全面、有效的系统级软件测试,具有非常高的工程实用价值。尤其在实航试验中,可以立即在现场对修改后的导航控制软件进行测试,极大地降低了由软件修改带来的试验风险。     

基于定量反馈理论的攻击型无人机鲁棒飞行控制系统设计

针对攻击型无人机这一类参数大范围时变并且带有参数有界不确定性的对象,提出了一种基于定量反馈理论(Quantitative Feedback Theory,QFT)与预定增益控制理论相结合的飞行控制系统设计新方法,并基于该方法设计了攻击型无人机俯仰通道鲁棒飞行控制系统。仿真结果表明,所设计的飞行控制系统对于无人机全飞行包线内参数变化及参数有界摄动具有强鲁棒性。     

缺少控制点的无人机遥感影像几何畸变校正算法

针对无人机遥感影像存在多种几何畸变,设计了缺少地面控制点的无人机遥感影像几何校正算法。在改进角点匹配算法的基础上,提出以分块的方式提取图像中心区域角点作为基准控制点对另一幅图像进行几何校正的算法。该算法先以两个图像A和B中心点连线的中垂线划分重叠区域为K1和K2两块,取图像A上靠近中心点的重叠区域块K1A为基准,选取K1A内有效角点为基准控制点,以图像B上对应的角点为待校正控制点;然后求出基准控制点和待校正控制点间的多项式对应关系式,校正重叠区域块K1B上的每个像素,以类似的方法校正另一块重叠区域K2。实验结果表明,通过算法校正后的无人机遥感影像,几何畸变残差明显减小。     

某型无人机舵控系统的设计与仿真

基于某型无人机飞行控制地面仿真验证系统的需要,分析了其舵机控制系统各组成部分的原理,利用Simulink工具箱建立了电传舵控系统的数学模型,对转速控制律和位置控制律进行了设计.对带有转速控制回路和未加转速控制回路的舵机控制系统以及加入扰动后的舵机控制系统分别进行了仿真验证.仿真结果表明：所设计的舵机控制系统动态性能及跟踪性能好,抗干扰能力强,能够满足某型无人机飞行控制的要求及飞行控制地面仿真验证系统的需要,为该系统的研究提供了技术保障.     

Human-Robot Interface for Unmanned Aerial Vehicle via a Leap Motion

The unmanned aircraft vehicles industry is in the ascendant while traditional interaction ways for an unmanned aerial vehicle (UAV) are not intuitive enough. It is difficult for a beginner to control a UAV, therefore natural interaction methods are preferred. This paper presents a novel interactive control method for a UAV through operator''s gesture, and explores the natural interaction method for the UAV. The proposed system uses the leap motion controller as an input device acquiring the gesture position and orientation data. It is found that the proposed human-robot interface can track the movement of the operator with satisfactory accuracy. The biggest advantage of the proposed method is its capability to control the UAV by just one hand instead of a joystick. A series of experiments verified the feasibility of the proposed human-robot interface. The results demonstrate that non-professional operators can easily operate a remote UAV by just using this system.     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing de fects caused by the complicated logical structure and multiple-functional build up of the electronic control unit(ECU)in modern diesel engines, and to diminis h potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A ty...     

Hardware-in-the-Loop Research on the Electronic Control Unit for Diesel Engines

A hardware-in-the-loop simulating platform is developed to avoid designing defects caused by the complicated logical structure and multiple-functional buildup of the electronic control unit(ECU)in modern diesel engines, and to diminish potential damages on components or human exposure to dangers in R&D endeavor. This platform consists of a computer installed with software Matlab/Simulink/RTW and dSPACE/ControlDesk; a diesel engine ECU, and a dSPACE autobox which runs a real-time diesel engine model. A typical model of diesel engine with turbocharger and intercooler is presented. Based on this model our research is carried out with a real ECU to test its software control strategies. Results show that by using the diesel engine model downloaded inside, the hardware-in-the-loop platform can simulate diesel engine's working conditions and generate all kinds of sensor signals which ECU needs on a real-time basis. So the ECU control strategies can be validated and relevant parameters roughly calibrated.     

Vehicle Dynamics Modeling and Simulation for ACC

A 7 degree-of-freedom (DOF) 4 wheels vehicle dynamics model based on Matlab-Simulink is established,and 7 DOF vehicle dynamics equations in the form of nonlinear state-space standards are given.The characters of the electronic throttle and the active braking system have been analyzed.And the electronic throttle model and the active braking system model are built according to the test results respectively.Off-line simulation results indicate that the model is suitable for the vehicle adaptive cruise control ...     

无人机飞行控制系统优化设计

在小型无人机飞行控制系统经典设计的基础上,结合实际工程需要,应用多目标参数最优化方法对飞行控制系统进行优化设计。实际工程应用表明,优化设计明显改善了小型无人机飞行品质,保证了系统任务的可靠执行。     

磁流变阻尼器驱动的智能车辆悬挂控制及实验

针对由新型的磁流变阻尼器驱动的智能车辆悬挂设计要求,提出了一种基于天棚阻尼律实现不对称阻尼特性的半主动控制方案,能有效地抑制驱动电流的“开-关”冲击特性和磁流变阻尼器滞环特性产生的不良影响.将该控制器与四分之一车辆模型相结合,在变幅度谐波、平滑脉冲和随机信号激励下,对该半主动控制器的性能进行了仿真分析,并通过设计的硬件在环测试系统进行了系统的实验研究.结果验证了所提出的智能车辆悬挂设计能理想地实现车辆驾乘舒适性、与路面可靠接触、悬挂空间等多目标悬挂性能,以及对簧载质量变化的鲁棒特性.     

机动车尾气防治平台设计

针对我国机动车尾气防治平台研究缺失的问题,以西安国际化大都市建设为背景,以西安市机动车尾气排放现状为依据,系统阐述了机动车尾气防治的必要性,剖析了机动车尾气防治平台的设计需求,设计了机动车尾气防治平台.该平台由数据采集模块、数据分析与处理模块、决策支持模块三个模块组成,具体包括路(抽)检及超标车辆维护治理跟踪、机动车排气污染防治对外信息发布等13个子系统.实践表明该平台具有很强的兼容性、可扩展性与可操作性,可为城市机动车尾气治理提供科学合理的理论框架和参考依据.     

可重复使用运载器变结构姿态控制算法设计

详细介绍了混合使用气动舵面和反作用控制系统的变结构姿态控制系统的设计方法。该控制算法用于可重复使用运载器,对于具有高空域大马赫飞行、机动明显、通路间耦合严重的非线性不确定时为系统具有良好的控制精度和抗干扰鲁棒性。同时基于可重复使用运载器空间飞行轨迹、使用执行机构特性等因素,进行数学模型和控制律的简化设计和相应处理。仿真结果初步显示了基于变结构设计的PLV姿态控制算法可以确保对指令精确、鲁棒和解耦的跟踪能力,姿态误差小于1°,姿态响应超调量小于5%。     

再入飞行器变质心/RCS复合控制策略研究

再入飞行器采用变质心控制不但可以保持较好的气动外形,还可以降低能量消耗增大载荷能力,但该控制对气动力依赖较强,在气动力不足时需要借助其它控制系统来实现精确控制要求。文章研究了全空域飞行情况下变质心/RCS复合控制策略。通过对控制受限情况下变质心控制系统力矩配平和闭环响应快速性能的分析,将变质心控制的可行性转化为重压心距不等式组解的存在性,并基于此工程估算方法给出从变质心控制切换为RCS控制的复合控制策略。最后,通过对某再入飞行器一条典型机动弹道的仿真实验,验证了复合控制策略的有效性。     

沥青路面养护车控制系统设计及研究

阐述了一种路面养护车的控制系统。该控制系统采用先进的西门子S7-200型PLC,并结合多枚温度传感器实现了对养护车的控制。在控制系统的硬件电路和控制要求的基础上,设计出软件的流程图,并利用STEP7-Micro/WIN 32软件开发出控制软件。