共查询到20条相似文献,搜索用时 93 毫秒
1.
针对平流层信息平台-自主飞艇动力学特性与升降舵操纵角之间的非线性关系,建立飞艇俯仰角姿态动力学模型,将离散滑模变结构控制方法应用于飞艇的俯仰角姿态控制,从理论上证明所提控制方法对控制系统的渐近稳定性,而且有效削弱了跟踪误差轨迹在滑动过程中的抖动现象,增强了控制系统的鲁棒性,计算机仿真实验不仅表明所建立的飞艇俯仰角姿态动力学模型是正确的,离散滑模变结构控制方法适于飞艇的俯仰角姿态跟踪误差的控制,而且验证了对本文提出的控制方法的理论分析. 相似文献
2.
《微型机与应用》2019,(2):66-70
平流层飞艇传感数据测量设备用于采集平流层飞艇艇囊的内外压差、飞艇所在环境的大气压和设备供电电池的电压,并将数据处理打包后发送给飞控计算机,为飞艇的安全飞行提供关键参数,同时能够在线记录和存储数据,用于飞艇飞行后数据分析和回放。现基于TMS320F2812和分立器件,自行设计了嵌入式系统,并完成样机的研制。在设计中同时进行了冗余设计,提高数据采集和通信的可靠度。样机实验结果表明其压差数据测量精度为±5 Pa,大气压数据测量精度为±80 Pa,电池电压数据测量精度为±0. 03 V。该设计提高了传感测量的集成度和数据精度,为平流层飞艇的飞行控制提供重要依据。 相似文献
3.
引用基于飞艇的动力学和运动学建立的飞艇姿态数学模型,在飞艇的扰动运动参数相对于基准运动参数偏离较小的情况下,采用小扰动法对该模型进行了线性化,然后在飞艇的外形和质量分布相对于纵向平面是对称和不考虑动力装置转动部件的陀螺效应的假设下,根据控制量的不同分别得到了纵向运动和横向运动的解耦方程。在该模型的基础上,加入PID控制来改善飞艇的动态响应特性,在考虑风速风向变化的情况下,依据自适应控制设计了飞艇的迎风控制器。仿真结果表明,飞艇的偏航角在风速风向的变化下能有效地跟随输入信号的变化,对完成飞艇定点监测森林火灾或飞艇作为定点通讯中继站等任务具有一定的实际应用意义。 相似文献
4.
5.
研究飞艇高空定点优化控制问题,针对飞艇在高空时空气舵面操纵不足、舵效控制力低,为解决上述问题,提出了采用气动力舵面和偏转螺旋桨复合控制的操纵模式对高空飞艇的姿态进行控制的方法.首先给出了采用气动力和螺旋桨拉力矢量组合控制的高空飞艇横侧向数学模型,把气动力舵面和偏转螺旋桨复合控制看作一个双输入单输出系统,采用线性模型跟随方法设计了姿态控制系统,使控制系统的性能尽可能地跟随给定的理想参考模型系统的性能.通过仿真表明偏转螺旋桨操纵控制可以有效弥补空气舵面效率的不足,所设计控制系统具有良好的动态品质,并验证了方案的可行性和方法的有效性. 相似文献
6.
7.
基于PSoC的飞艇艇内温度采集系统设计 总被引:1,自引:0,他引:1
介绍基于PSoC、nRF24L01射频芯片和DS18B20数字温度传感器的智能无线温度采集系统在飞艇上的设计,并对系统实际运行的结果数据进行测试分析,实现温度的测量与数据传输。重点描述了系统采集端软硬件的设计与实现,阐述了软件与硬件的设计要求。本系统功耗低、结构简单、通信效率高,可实现飞艇范围内全方位的温度测量。 相似文献
8.
针对无人飞艇模型复杂的非线性特性和不确定因素干扰姿态控制的问题,采用L1自适应控制方法构建不确定参数模型,进行无人飞艇的纵向姿态控制律设计,提高了飞艇纵向控制抗扰能力。通过建立无人飞艇俯仰运动模型,结合LQR对系统进行反馈配置以改善其稳定性,并将系统配置为典型L1被控对象形式,利用投影算子引入不确定参数对模型修正,得到自适应的控制算法。结果表明,基于反馈优化配置的L1自适应控制算法能够使无人飞艇的俯仰得到良好的瞬态和稳态性能,对系统参数摄动具有较强的鲁棒性,可适用于无人飞艇的姿态控制。 相似文献
9.
针对当前高空飞艇囊体的应变实时测量装置无法同时具备体积小和实时测量的工作属性,创新性地用光学器件和感光元件配合,对工作中飞艇囊体两个固定点的相对位移量进行测量,提出了一种能够在线监测飞艇囊体应变的测量装置,能够实现应变在线测量且测量精度高;采用TCD1500C电荷耦合器件作为数据来源;主芯片采用ZYNQ处理器,ZYNQ能够具备FPGA的并行处理能力和Cortex的数据调度能力,能够处理CCD高速数据;通过自定义IP核,使用PS端与PL端互联AXI协议,实现了高速、大量数据传输;为了得到应变信号,采用了将应变信号转化为位移信号进行采集的方法,之后将位移信号采集存储至SD卡中并周期性显示到上位机上,实现地面对飞艇囊体应变的实时监控;实现了飞艇囊体应变的实时测量并把测量精度提高至0.1%. 相似文献
10.
针对欠驱动飞艇的路径跟踪控制问题,提出了一种基于制导向量场的三维路径跟踪控制方法.首先,引入向量场理论.接着基于牛顿–欧拉方程建立欠驱动飞艇动力学模型.基于所提模型和向量场理论构造制导向量场以获得期望姿态角和期望速度.然后结合反步法和PD控制设计路径跟踪控制器,用指令滤波器对控制器设计过程中虚拟控制的导数进行估计,避免了复杂的解析计算.所设计的控制器是由制导向量场子系统、姿态稳定环和速度跟踪环组成的内外环结构.稳定性分析证明了飞艇的路径跟踪误差最终一致有界.最后仿真结果验证了所提出方法的有效性. 相似文献
11.
A novel path following control method related to the planar and spatial motions for an underactuated autonomous airship is presented. First, the trajectory linearisation control (TLC) theory is briefly described and the dynamic model of the airship is introduced. Then, based on the model, a path following strategy that integrates the guidance-based path following principle and the TLC theory is deduced. The designed control system possesses a cascaded structure composed of a guidance loop, an attitude kinematics loop and a dynamics control loop. Stability analysis shows that the controlled closed-loop system is asymptotically stable. Finally, experimental flight results for the airship following typical paths are illustrated to verify the effectiveness of the proposed approach. 相似文献
12.
Hiroyuki Oguma Isamu Morino Hiroshi Suto Yukio Yoshida Nawo Eguchi Akihiko Kuze 《International journal of remote sensing》2013,34(24):9033-9049
This article describes the results of a field experiment performed to confirm the feasibility of measuring the solar spectra absorbed by carbon dioxide (CO2) using a short wavelength infrared Fourier transform spectrometer (SWIR-FTS) installed onboard an airship. These airship-borne observations, conducted on 7 April 2005, represent the first aircraft-borne spectroscopic experiment on greenhouse gases (GHGs) in Japan and were performed as part of the Greenhouse Gases Observing Satellite (GOSAT) project. To develop and demonstrate an effective retrieval algorithm to derive CO2 column amounts from spectroscopic observations, ground-surface scattered solar absorption spectra were observed by SWIR-FTS installed onboard the airship. This instrument is a breadboard model (BBM) of the Thermal and Near-infrared Sensor for Carbon Observation (TANSO) of GOSAT, which was successfully launched on 23 January 2009. The spectra of CO2 observed using the BBM were compared with the simulated spectra calculated by a radiative transfer code based on airship-borne in situ measurement data, which were obtained at the time of FTS measurements. The two sets of spectra are in agreement within 5%, and we identified solutions to several technical problems related to the FTS instrument, thereby improving the signal-to-noise ratio (SNR). 相似文献
13.
Zhifeng Huang Takahiro Katayama Masako Kanai-Pak Jukai Maeda Yasuko Kitajima Mitsuhiro Nakamura 《Advanced Robotics》2013,27(19):1269-1285
We developed a robot patient for patient transfer training for simulating a patient’s performance during patient transfer and for enabling nurses to practice their nursing skills on it. To realize the robot patient, we focused on addressing the problems of designing its limb actions to enable it to respond to nurses’ operations. RC servos and electromagnetic brakes were installed in the joints to enable the robot to simulate a patient’s limb actions, such as embracing and remaining standing. To enable the robot to automatically respond to nurses’ operations, an identification method for these operations was developed that used voice commands and the features of the limbs’ posture measured by angle sensors installed in the robot’s joints. The robot patient’s performance was examined by a control test in which four experienced nursing teachers performed patient transfer with the robot patient and a human-simulated patient. The results revealed that the robot patient could successfully simulate the actions of a patient’s limbs according to the nursing teachers’ operations and that it is suitable for nursing skill training. 相似文献
14.
扑翼飞行机器人模仿自然界中的飞行生物,通过扑动翅膀拍打空气驱动飞行.它们机动性好、飞行效率高、噪音小,在某些应用场景比传统的固定翼飞机和旋翼飞机更有优势.目前扑翼飞行机器人的研究大多集中在机理研究和理论的建模与控制,鲜有实现室外的自主飞行,难以应对复杂的实际应用需求.在本文中,设计了一种独立驱动的仿鸟扑翼飞行机器人USTBird,通过两个舵机独立驱动左右翅膀可实现无可控尾翼的机动飞行.通过搭载自主设计的微型飞控板、GPS以及惯性导航模块,采用PD控制实现了扑翼飞行机器人的室外自主巡航飞行.设计了针对扑翼机器人的轻型两自由云台,很大程度上消除了机翼扑动飞行引起的图像抖动问题.针对机身振动和GPS测量误差带来的位置误差,采用无迹卡尔曼滤波算法对GPS采集的位置信息进行估计,提升了位置估计精度.设计了面向扑翼飞行机器人的地面站系统.考虑到扑翼飞行机器人存在的转向滞后问题,对偏航角设计双闭环分段PD控制器,最终实现了在外圆半径40 m和内圆半径10 m的圆环内的自主巡航任务. 相似文献
15.
机载天线装机后,受到机身和机翼的遮挡影响以及载机平台的耦合和散射作用,实际覆盖范围会发生变化,从而引起天线方向图的畸变,使得天线的性能偏离预期效果。在暗室内进行整机天线方向图测量不仅要求暗室静区尺寸足够大,而且对暗室低频性能的要求也很高,因此,室外露天测量是一种可替代的方法。设计了装机天线外场环境测试平台,提出了一种装机天线外场天线方向图校准方法,能够对外场装机天线不同频点的方向图等参数进行测试和校准。外场试验结果验证了所提方法的有效性。 相似文献
16.
The existing results on airship dynamic model linearization are usually achieved under the assumption that the airship trim state has a linear velocity with nonzero axial and normal components. This means that the direction of airship velocity is not coincident with the axis in the trim state and the deflection angles of the air rudders are different from their attack angles. However, these differences are not explicitly distinguished when calculating the air rudders’ aerodynamic force. In this paper, to build a more accurate airship dynamic model, aerodynamic forces and moments produced by the air rudders are deduced for the case that the direction of airship velocity is not coincident with the trim axis. A special trim state that all linear and angular velocities are zeros except axial and normal linear velocity, adopted by most research on airship dynamic model linearization, is selected to linearize the six degree airship dynamic model for simplicity and for comparison. Both the control forces of the propelling system and the air rudders are linearized to achieve more control inputs for the linear model. The extra control inputs provided by the propelling system can be used to stabilize the airship when the air rudders are invalid due to low speed of the airship or the constraint of air rudder mechanical strength. The nuance between the new linearized model and those deduced in the literature is discussed. 相似文献
17.
针对一类新型"浮力-压块"驱动的自治飞艇,研究了该类飞艇的动力学建模和动力学特性。在Kirchhoff方程和Newton-Euler理论基础上,通过对飞艇运动及受力分析,建立了包括独立气囊和可运动压块的飞艇六自由度非线性动力学模型,并采用小扰动线性化方法,将飞艇运动分别限制在纵向、横侧向和e2-e3平面内,得到与之对应的三组飞艇线性化方程,其后基于飞艇相关参数和线性化模型,利用Matlab软件平台对飞艇运动模态和输入响应特性进行了分析研究。仿真结果验证了该类飞艇模型的正确性和理论分析的合理性,为其后控制策略设计提供理论依据。 相似文献
18.
19.
大气扰动是影响高空飞艇水平面内运动的重要原因.研究紊流风速对飞艇飞行性能的影响时,大都采用Taylor冻结场假设,但这样建立的紊流风场模型,不适用于飞艇这类低动态飞行器,需要考虑时间变化对紊流风速的影响.首先给出大气紊流的一般性描述,包括相关函数、频谱函数、尺度和强度的选取,然后建立含扰动风参数的水平面内飞艇动力学仿真模型.最后分别将不考虑时间变化的扰动风和考虑时间变化的扰动风加到飞艇动力学模型上,进行仿真分析.仿真结果表明,考虑时间变化后的紊流风速模型能真实反映飞艇对大气紊流响应的随机特性. 相似文献
20.
无人飞艇的基于计算机视觉导航和预设航线跟踪控制 总被引:2,自引:0,他引:2
小型无人飞艇在反恐防暴、灾难监控、大气监测、广告、航拍、交通监控、应急通信中继平台等很多方面都有广阔的应用前景.这些应用都要求飞艇具有自动跟踪预设航线的能力.因此,本文提出了基于计算机视觉导航和优化模糊控制的策略来实现预设航线的自动跟踪.文中首先详细介绍了基于自然标志的视觉导航原理,无人飞艇机载视觉系统通过跟踪这些特征点——易在图像处理中识别的自然标志,例如城市中的高层建筑物,再结合数字地图或GIS,获取它们的位置和几何特征信息,利用针孔模型成像的几何关系解算出飞艇的位置和方向;接着根据无人飞艇的动力学特性,设计了以视觉导航获取的飞艇位置和方向信息作为输入的模糊飞控系统,并用GA算法优化了模糊控制器的成员关系函数.最后进行了验证和分析. 相似文献