Research on Variable Structure and Adaptive Control for Strap-on Rocket

固体捆绑运载火箭变结构自适应控制

陈曦,刘玉玺,汪轶俊

（上海宇航系统工程研究所）

创新点说明：

对于新型固体捆绑火箭而言,由于箭体安装固体助推器,存在推力偏差较大、推力同步性较大的问题,导致火箭的结构干扰增大。安装尾翼外干扰增大,如经过大风区时,风干扰对箭体产生较大的影响。同时考虑建立动力学模型的过程中存在的参数不确定性、参数摄动、三通道间耦合的问题,传统的控制方法难以满足新型固体捆绑火箭的要求,因此本文率先将基于模型参考的变结构自适应控制方法应用于固体捆绑运载火箭上。

研究目的：

本文针对固体捆绑运载火箭控制系统的特点,应用变结构自适应控制理论,设计适用于固体捆绑运载火箭的控制系统,保障固体捆绑运载火箭的正常飞行。

研究方法：

（1）建立固体捆绑运载火箭动力学模型,考虑模型中参数不确定性、未建模动态及通道间耦合;

（2）分析固体捆绑运载火箭存在的干扰,例如：四个固体助推带来的推力偏差、推力不同步性、推力线偏斜,质心横移、芯级、发动机及尾翼安装误差、芯级发动机液体燃料晃动、箭体弹性振动等各类结构误差及风干扰等外干扰;

（3）针对固体捆绑运载火箭设计变结构自适应控制律的设计并证明其稳定性;

（4）Simulink仿真分析验证。

结果：

本文使用变结构自适应控制理论设计的控制系统可全局渐进稳定,三通道姿态角跟踪误差较小,姿态角收敛速度较快,系统性能良好,可有效处理各类结构干扰、外干扰、气动参数不确定性及未建模动态等问题,该控制系统的动态特性及控制品质良好,具有工程应用的前景。

结论：

本文将基于模型参考的变结构自适应控制方法应用于新型固体捆绑运载火箭的控制系统的设计中。给出了仅有俯仰方向有大姿态变动的条件下的火箭动力学偏量模型,并在此基础上设计变结构自适应控制律,同时证明了该控制系统的稳定性。本文通过理论及仿真分析,证明了变结构自适应控制理论在新型固体捆绑运载火箭上的应用可行性,具有一定的工程应用前景。

关键词：运载火箭;模型参考;变结构控制;自适应控制

     

"KQDL系列冲天炉"成果研讨

针对冲天炉,冷风炉、热风炉、水冷却炉存在的问题试制出了"KQDL系列冲天炉".论述了"KQDL系列冲天炉"采用空气冷却、强化预热、单排龙卷风供风原理和特点.通过生产实践与传统冲天炉的比较,认为这种新型冲天炉可给企业带来明显的经济效益,同时可使铁水质量明显提高,这种新型冲天炉有很高的性价比,可使冲天炉的设计更上一层楼.     

Effect of grain size on high-temperature oxidation behavior of Cu-80Ni alloy

1　INTRODUCTIONTheoxidationofunalloyedcopperandnickelhasalreadybeenstudiedindetail.Whilethehigh tem peratureoxidationofCu Nialloys ,alsostudiedanumberoftimestodate[13] ,isanexampleofarela tivelysimpleclassofscalingofbinaryalloysbyasin gleoxidant,becausethemetalsformacontinuousse riesofsolidsolutions ,whiletheiroxides ,CuO ,Cu2 OandNiO ,exhibitsmallmutualsolubilitiesandshowsignificantdifferencesinthethermodynamicstabilityandparabolicgrowthrates .Thus ,copper richalloysformexternalscales…     

Stabilization of One‐Dimensional Schrödinger Equation with Variable Coefficient under Delayed Boundary Output Feedback

This article considers stabilization of a one‐dimensional Schrödinger equation with variable coefficient and boundary observation which suffers from an arbitrary given time delay. We design an observer and predictor to stabilize the system. The state is estimated in the time span where the observation is available, and also predicted in the time interval where the observation is not available. It is shown that the estimated state feedback stabilizes the system exponentially. A numerical simulation is presented to illustrate the effect of the stabilizing controller.     

C语言中有关内存概念的教学研究

为使学生能快速掌握C语言的相关概念,为今后进行程序设计打下良好的基础,针对在教学过程中学生难以理解的几个问题,结合实例探讨了C语言中有关内存概念的教学方法,着重分析了内存与数组、函数参数、变量的作用域和生成期之间的关系。     

Monitoring the Dynamic Process of Formation of Plasmonic Molecular Junctions during Single Nanoparticle Collisions

The capability to study the dynamic formation of plasmonic molecular junction is of fundamental importance, and it will provide new insights into molecular electronics/plasmonics, single‐entity electrochemistry, and nanooptoelectronics. Here, a facile method to form plasmonic molecular junctions is reported by utilizing single gold nanoparticle (NP) collision events at a highly curved gold nanoelectrode modified with a self‐assembled monolayer. By using time‐resolved electrochemical current measurement and surface‐enhanced Raman scattering spectroscopy, the current changes and the evolution of interfacial chemical bonding are successfully observed in the newly formed molecular tunnel junctions during and after the gold NP “hit‐n‐stay” and “hit‐n‐run” collision events. The results lead to an in‐depth understanding of the single NP motion and the associated molecular level changes during the formation of the plasmonic molecular junctions in a single NP collision event. This method also provides a new platform to study molecular changes at the single molecule level during electron transport in a dynamic molecular tunnel junction.     

用BASIC单片机实现油品密度的测量

油品的密度与温度有着确定的对应关系,通过测量温度可以间接测量密度。根据这一关系可以利用小巧的ＢＡＳＩＣ单片机设计一个价廉、实用的密度计。经实验对比,其稳定性较好,反应灵敏,测量较准确,较常规方法更方便快捷     

Approximate dynamic programming solutions with a single network adaptive critic for a class of nonlinear systems

Approximate dynamic programming (ADP) formulation implemented with an adaptive critic (AC)-based neural network (NN) structure has evolved as a powerful technique for solving the Hamilton-Jacobi-Bellman (HJB) equations. As interest in ADP and the AC solutions are escalating with time, there is a dire need to consider possible enabling factors for their implementations. A typical AC structure consists of two interacting NNs, which is computationally expensive. In this paper, a new architecture, called the ‘cost-function-based single network adaptive critic (J-SNAC)’ is presented, which eliminates one of the networks in a typical AC structure. This approach is applicable to a wide class of nonlinear systems in engineering. In order to demonstrate the benefits and the control synthesis with the J-SNAC, two problems have been solved with the AC and the J-SNAC approaches. Results are presented, which show savings of about 50% of the computational costs by J-SNAC while having the same accuracy levels of the dual network structure in solving for optimal control. Furthermore, convergence of the J-SNAC iterations, which reduces to a least-squares problem, is discussed; for linear systems, the iterative process is shown to reduce to solving the familiar algebraic Ricatti equation.     

Array SSL VPN如何保障番禺有线办公网的安全运行

企业办公自动化系统的应用十分广泛,随着互联网的高速发展,WEB应用成为主流,OA系统在互联网上的延伸成为大趋势,本文阐述在WEB应用中如何保障数据和系统安全的手段和方法。     

Development of a sequential robust–tolerance design model for a destructive quality characteristic

Robust design (RD) and tolerance design (TD) have received much attention from researchers and practitioners for more than two decades, and a number of methodologies for modeling and optimizing the RD and TD processes have been studied. However, there is ample room for improvement. Because most existing research considers RD and TD as separate research fields, the primary objective of this paper is to develop a sequential robust–tolerance design method to jointly determine the best factor settings and the closed-form solutions for the optimal specification limits. We then apply the proposed method to a destructive quality characteristic. Finally, a case study and sensitivity analyses are performed for verification purposes, and further studies are discussed.