飞机防滑刹车检测系统设计

防滑刹车系统是飞机的重要部分之一,它控制着飞机降落、着陆和减速的全过程;为了提高飞机防滑刹车系统检测的自动化程度、效率和检测精度,使用专用的检测设备是十分必要的;该系统采用独特的设计方法完成了对整个复杂系统的检测,以计算机为核心的方案,使得检测系统的智能化程度和灵活性更好;应用结果表明,该检测系统运行稳定可靠,检测精度高,能满足现有的检测需求。     

Output feedback variable structure control of uncertain linear systems in the presence of actuator dynamics

A new output feedback variable structure control scheme is developed based on a novel passivity idea. This scheme may practically stabilize a class of higher‐relative‐degree uncertain linear systems, and realize output tracking and disturbance attenuation as well. The controller is composed of linear filters and a single relay, without employing real‐time exact differentiators. Under this framework, we also explain how actuator dynamics affect the closed loop behavior. A simulation example shows the simplicity and efficiency of this method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Adaptive fixed-time prescribed performance control of vehicular platoons with unknown dead-zone and actuator saturation

This article focuses on the problem of fixed-time prescribed performance platoon control for heterogeneous vehicles with unknown dead-zone and actuator saturation. First, an equivalent transformation is developed to approximate the actuator nonlinearity (i.e., dead-zone and saturation), which reduces the complexity of controller design. Then, to guarantee the tracking errors converge to the predetermined region in the given time, a modified prescribed performance function is presented. Based on this, a novel adaptive sliding mode control scheme is developed in the context of fixed-time theory, which is proved to be capable of ensuring individual vehicle stability and string stability in fixed time. In addition, under the proposed control scheme, the convergence time is independent of initial conditions of the system. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.     

具有执行器故障的四旋翼无人机有限时间容错控制

本文主要研究了四旋翼无人机在外部干扰、执行器存在部分失效和偏置故障并发情况下有限时间轨迹跟踪的控制问题. 通过分析四旋翼无人机动力学特性, 构建了带有外部干扰、执行器机构故障的动力学模型. 基于鲁棒全局快速终端滑模控制算法, 设计了一种有限时间容错控制器, 提高了系统对故障的响应速度. 其次, 针对常值/时变故障和干扰,在控制器设计中采用改进的连续函数进行补偿, 减少了由切换函数引起的系统抖振, 并基于Lyapunov函数对控制器的稳定性进行了分析. 最后, 通过仿真实验验证了所设计控制器的有效性和可靠性, 同时存在执行器故障和外部干扰的情况下, 无人机能够实现较好的轨迹跟踪性能.     

Stabilization of uncertain networked control systems with actuator saturation and probabilistic cyberattacks

This paper investigates the stabilization of uncertain networked control systems (NCSs) with actuator saturation and cyberattacks. The cyberattacks are governed by a set of independent random variables satisfying Bernoulli distribution. To relieve the network bandwidth load effectively, an event-triggered communication strategy is proposed. By employing Lyapunov stability theory and stochastic analysis techniques, a stability criterion is obtained for the system with actuator saturation and cyberattacks. Moreover, the desired controller gain is derived by solving some matrix inequalities. Finally, the validity and applicability of the criteria are verified through numerical examples.     

基于超级电容的列车制动能量回收控制策略

针对列车电制动回馈能量回收与利用问题,文中通过分析列车运行特性,重点探究了列车运行过程与牵引网电压波动之间的关系。结合牵引变电所供电功率与列车用电功率动态不匹配特性,采用车载式制动能量回收利用系统的方案,提出了基于列车用电功率动态变化的超级电容充放电控制策略。该方案主要由超级电容串并联储能单元和双向DC-DC变换器组成。利用MATLAB进行建模仿真分析,结果表明,该控制策略在有效回收利用列车制动能量的同时抑制了牵引网电压波动,为列车制动能量回收与利用提供了有效的解决方案。     

Mechanical and electrical properties of electrospun CNT/PVDF nanofiber for micro-actuator applications

Electrospun polyvinylidene fluoride (PVDF)-containing carbon nanotubes (CNT) were prepared for use in fabricating actuator materials. Actuating displacement was measured in an electrochemical environment. The electrospun nanofibers were arranged using a drum-type collector, and morphology was investigated using a field emission-scanning electron microscope. The uniformity of dispersion of CNT in the PVDF nanofibers was monitored by electron probe X-ray micro-analysis. Tensile strength and electrical resistivity results were used as an indication of the state of alignment. The electrospun CNT/PVDF nanofiber sheets exhibited better mechanical and electrical properties in the arranged direction. The efficiency and electrical capacities of electrospun CNT/PVDF nanofiber sheet were compared with those of cast PVDF sheets for use in actuator applications in electrochemical environments. The electrospun CNT/PVDF nanofiber sheets exhibited much better actuator performance than PVDF sheets, which are attributed to their superior electrical properties.

Highlights

(1) The interfacial durability of CNT/PVDF nanofibers was enhanced to increase contact area by reinforcing CNT.

(2) The efficiency of CNT/PVDF actuators was improved due to interfacial properties.

(3) Thin thickness drum-type collector was made to enhance nanofiber alignment.

(4) The arranged CNT/PVDF nanofibers exhibited better mechanical and actuating displacements.     

导弹数字舵机多通道信号转换及传输系统设计

针对全数字电动舵机无法直接使用传统的模拟信号及数据传输过程中丢帧、串帧、等待时间过长等问题,设计了一种基于DSP的多通道信号转换及传输系统,该系统采用片外AD及DA转换器实现信号转换,并针对传统通信算法存在的弊端,提出新的方法,实时配置FIFO中断等级,实现存在扰动情况下的无丢帧、无串帧通信,且执行时间37μs,提高了系统的稳定性、实时性。     

压电谐振驱动三足机器人的平面运动

设计并实现了一类利用压电陶瓷片作动,由三条曲梁足支撑的振动驱动机器人.建立了在一条足共振驱动下机器人水平运动的动力学方程,数值计算解释了摩擦作用下的运动机理,寻找到异性摩擦对运动方向、速度的影响和压电激励频率与运动速度间的关系.通过建立圆弧曲梁控制方程求解圆弧型足面内振动的固有频率及振型,设计了三组不同频率的圆弧曲梁足参数,实验制作了机器人模型,利用压电控制三足间振动的共振切换,实现了预想的三个方向的运动以达到平面运动的效果,实验测量了机器人的运动速度与理论计算吻合得较好.     

Measurement and analysis of low-acceleration and long-duration longitudinal events using delivery van

This study investigates longitudinal acceleration events during freight transportation characterized as low-acceleration and long-duration using delivery van type vehicles. In the past several decades, there has been an increase in shipments requiring only single or small pallet load quantities and mixed palletized unit loads comprised of different goods. These loads are often transported in delivery vans without load securing devices, increasing the risk of product loss and damage due to load failures resulting from unit loads shifting. A field data acquisition system was used to observe and record the random acceleration events from five vehicles for 5 days, explicitly targeting the vehicles' braking and acceleration manoeuvres. The study aimed to understand the physical phenomenon and provide new information that can be used during preshipment tests to prevent damage to goods and ensure unit load integrity is maintained throughout the supply chain. The events were statistically analysed to understand their probability of occurrence, severity level, and quantify critical parameters such as event rise and hold times. For the braking manoeuvre, the statistical mean of average deceleration was 0.25 g with a corresponding rise and hold duration of 0.83 and 1.27 s, respectively. During the vehicle's acceleration manoeuvre, the statistical mean of average acceleration was 0.29 g with a rise and hold time of 1.29 and 1.39 s, respectively. Utilizing the field data, composite profiles were developed, and these profiles were compared to the currently available test procedures and previous results of other studies.