This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits...This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.展开更多
As the proportion of converter-interfaced renewable energy resources in the power system is increasing,the strength of the power grid at the connection point of wind turbine generators(WTGs)is gradually weakening.Exis...As the proportion of converter-interfaced renewable energy resources in the power system is increasing,the strength of the power grid at the connection point of wind turbine generators(WTGs)is gradually weakening.Existing research has shown that when connected with the weak grid,the stability of the traditional grid-following controlled converters will deteriorate,and they are prone to unstable phenomena such as oscillation.Due to the limitations of linear analysis that cannot sufficiently capture the stability phenomena,transient stability must be investigated.So far,standalone time-domain simulations or analytical Lyapunov stability criteria have been used to investigate transient stability.However,the time-domain simulations have proven to be computationally too heavy,while analytical methods are difficult to formulate for larger systems,require many modelling assumptions,and are often conservative in estimating the stability boundary.This paper proposes and demonstrates an innovative approach to estimating the transient stability boundary via combining the linear Lyapunov function and the reverse-time trajectory technique.The proposed methodology eliminates the need of time-consuming simulations and the conservative nature of Lyapunov functions.This study brings out the clear distinction between the stability boundaries with different post-fault active current ramp rate controls.At the same time,it provides a new perspective on critical clearing time for wind turbine systems.The stability boundary is verified using time-domain simulation studies.展开更多
In this article,we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic obstacles.We first introduce the design of the bionic leopard cabinet underwater robot develope...In this article,we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic obstacles.We first introduce the design of the bionic leopard cabinet underwater robot developed in our lab.Then,we model the trajectory planning problem of the bionic underwater robot by combining its dynamics and physical constraints.Furthermore,we conduct global trajectory planning for bionic underwater robots based on the temporal-spatial Bezier curves.In addition,based on the improved proximal policy optimization,local dynamic obstacle avoidance trajectory replanning is carried out.In addition,we design the fuzzy proportional-integral-derivative controller for tracking control of the planned trajectory.Finally,the effectiveness of the real-time trajectory planning and tracking control method is verified by comparative simulation in dynamic environment and semiphysical simulation of UWSim.Among them,the real-time trajectory planning method has advantages in trajectory length,trajectory smoothness,and planning time.The error of trajectory tracking control method is controlled around 0.2 m.展开更多
With the objective of reducing the flight cost and the amount of polluting emissions released in the atmosphere, a new optimization algorithm considering the climb, cruise and descent phases is presented for the refer...With the objective of reducing the flight cost and the amount of polluting emissions released in the atmosphere, a new optimization algorithm considering the climb, cruise and descent phases is presented for the reference vertical flight trajectory. The selection of the reference vertical navigation speeds and altitudes was solved as a discrete combinatory problem by means of a graphtree passing through nodes using the beam search optimization technique. To achieve a compromise between the execution time and the algorithm＇s ability to find the global optimal solution, a heuristic methodology introducing a parameter called ‘‘optimism coefficient was used in order to estimate the trajectory＇s flight cost at every node. The optimal trajectory cost obtained with the developed algorithm was compared with the cost of the optimal trajectory provided by a commercial flight management system（FMS）. The global optimal solution was validated against an exhaustive search algorithm（ESA）, other than the proposed algorithm. The developed algorithm takes into account weather effects, step climbs during cruise and air traffic management constraints such as constant altitude segments, constant cruise Mach, and a pre-defined reference lateral navigation route. The aircraft fuel burn was computed using a numerical performance model which was created and validated using flight test experimental data.展开更多
Aiming at the problem of ignoring the importance of starting point features of trajecory segmentation in existing trajectory compression algorithms,a study was conducted on the preprocessing process of trajectory time...Aiming at the problem of ignoring the importance of starting point features of trajecory segmentation in existing trajectory compression algorithms,a study was conducted on the preprocessing process of trajectory time series.Firstly,an algorithm improvement was proposed based on the segmentation algorithm GRASP-UTS(Greedy Randomized Adaptive Search Procedure for Unsupervised Trajectory Segmentation).On the basis of considering trajectory coverage,this algorithm designs an adaptive parameter adjustment to segment long-term trajectory data reasonably and the identification of an optimal starting point for segmentation.Then the compression efficiency of typical offline and online algorithms,such as the Douglas-Peucker algorithm,the Sliding Window algorithm and its enhancements,was compared before and after segmentation.The experimental findings highlight that the Adaptive Parameters GRASP-UTS segmentation approach leads to higher fitting precision in trajectory time series compression and improved algorithm efficiency post-segmentation.Additionally,the compression performance of the Improved Sliding Window algorithm post-segmentation showcases its suitability for trajectories of varying scales,providing reasonable compression accuracy.展开更多
基金supported by the National Defense Foundation of China(No.403060103)
文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.
文摘As the proportion of converter-interfaced renewable energy resources in the power system is increasing,the strength of the power grid at the connection point of wind turbine generators(WTGs)is gradually weakening.Existing research has shown that when connected with the weak grid,the stability of the traditional grid-following controlled converters will deteriorate,and they are prone to unstable phenomena such as oscillation.Due to the limitations of linear analysis that cannot sufficiently capture the stability phenomena,transient stability must be investigated.So far,standalone time-domain simulations or analytical Lyapunov stability criteria have been used to investigate transient stability.However,the time-domain simulations have proven to be computationally too heavy,while analytical methods are difficult to formulate for larger systems,require many modelling assumptions,and are often conservative in estimating the stability boundary.This paper proposes and demonstrates an innovative approach to estimating the transient stability boundary via combining the linear Lyapunov function and the reverse-time trajectory technique.The proposed methodology eliminates the need of time-consuming simulations and the conservative nature of Lyapunov functions.This study brings out the clear distinction between the stability boundaries with different post-fault active current ramp rate controls.At the same time,it provides a new perspective on critical clearing time for wind turbine systems.The stability boundary is verified using time-domain simulation studies.
基金supported in part by the STI 2030-Major Projects under Grant 2021ZD0114504in part by the National Natural Science Foundation of China under Grants 62276253 and 62203435in part by the Beijing Nova Program under Grants Z211100002121152 and 20230484457.
文摘In this article,we study the trajectory planning and tracking control of a bionic underwater robot under multiple dynamic obstacles.We first introduce the design of the bionic leopard cabinet underwater robot developed in our lab.Then,we model the trajectory planning problem of the bionic underwater robot by combining its dynamics and physical constraints.Furthermore,we conduct global trajectory planning for bionic underwater robots based on the temporal-spatial Bezier curves.In addition,based on the improved proximal policy optimization,local dynamic obstacle avoidance trajectory replanning is carried out.In addition,we design the fuzzy proportional-integral-derivative controller for tracking control of the planned trajectory.Finally,the effectiveness of the real-time trajectory planning and tracking control method is verified by comparative simulation in dynamic environment and semiphysical simulation of UWSim.Among them,the real-time trajectory planning method has advantages in trajectory length,trajectory smoothness,and planning time.The error of trajectory tracking control method is controlled around 0.2 m.
基金the team of the Business-led Network of Centers of Excellence Green Aviation Research & Development Network (GARDN)in particular Mr. Sylvan Cofsky, for the funds received for this project (GARDNⅡ–Project: CMC-21)conducted at The Research Laboratory in Active Controls, Avionics and Aeroservoelasticity (LARCASE) in the framework of the global project ‘‘Optimized Descent and Cruise”
文摘With the objective of reducing the flight cost and the amount of polluting emissions released in the atmosphere, a new optimization algorithm considering the climb, cruise and descent phases is presented for the reference vertical flight trajectory. The selection of the reference vertical navigation speeds and altitudes was solved as a discrete combinatory problem by means of a graphtree passing through nodes using the beam search optimization technique. To achieve a compromise between the execution time and the algorithm＇s ability to find the global optimal solution, a heuristic methodology introducing a parameter called ‘‘optimism coefficient was used in order to estimate the trajectory＇s flight cost at every node. The optimal trajectory cost obtained with the developed algorithm was compared with the cost of the optimal trajectory provided by a commercial flight management system（FMS）. The global optimal solution was validated against an exhaustive search algorithm（ESA）, other than the proposed algorithm. The developed algorithm takes into account weather effects, step climbs during cruise and air traffic management constraints such as constant altitude segments, constant cruise Mach, and a pre-defined reference lateral navigation route. The aircraft fuel burn was computed using a numerical performance model which was created and validated using flight test experimental data.
基金Supported by the Basic Research Projects of Liaoning Provincial Department of Education(LJKQZ20222459)。
文摘Aiming at the problem of ignoring the importance of starting point features of trajecory segmentation in existing trajectory compression algorithms,a study was conducted on the preprocessing process of trajectory time series.Firstly,an algorithm improvement was proposed based on the segmentation algorithm GRASP-UTS(Greedy Randomized Adaptive Search Procedure for Unsupervised Trajectory Segmentation).On the basis of considering trajectory coverage,this algorithm designs an adaptive parameter adjustment to segment long-term trajectory data reasonably and the identification of an optimal starting point for segmentation.Then the compression efficiency of typical offline and online algorithms,such as the Douglas-Peucker algorithm,the Sliding Window algorithm and its enhancements,was compared before and after segmentation.The experimental findings highlight that the Adaptive Parameters GRASP-UTS segmentation approach leads to higher fitting precision in trajectory time series compression and improved algorithm efficiency post-segmentation.Additionally,the compression performance of the Improved Sliding Window algorithm post-segmentation showcases its suitability for trajectories of varying scales,providing reasonable compression accuracy.
