Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and decoration.Thus,the fabrication of hie...Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and decoration.Thus,the fabrication of hierarchical micro/nanograting structures is important for these applications.In this study,a strategy for machining hierarchical micro/nanograting structures is developed by controlling the tool movement trajectory.A coupling Euler-Lagrange finite element model is established to simulate the machining process.The effect of the machining methods on the nanograting formation is demonstrated,and a suitable machining method for reducing the cutting force is obtained.The height of the nanograting decreases with an increase in the tool edge radius.Furthermore,optical variable devices(OVDs)are machined using an array overlap machining approach.Coding schemes for the parallel column unit crossover and column unit in the groove crossover are designed to achieve high-quality machining of OVDs.The coloring of the logo of the Harbin Institute of Technology and the logo of the centennial anniversary of the Harbin Institute of Technology on the surface of metal samples,such as aluminum alloys,is realized.The findings of this study provide a method for the fabrication of hierarchical micro/nanograting structures that can be used to prepare OVDs.展开更多
Variable camber wing technology is one of the important development trends of green aviation at present.Through smooth,seamless,continuous and adaptive change of wing camber,the aerodynamic performance is improved in ...Variable camber wing technology is one of the important development trends of green aviation at present.Through smooth,seamless,continuous and adaptive change of wing camber,the aerodynamic performance is improved in achieving increase in lift and reduction in resistance and noise.Based on the aerodynamic validation model CAE-AVM,Chinese Aeronautical Establishment(CAE)has carried out the design and validation of a variable camber wing,proposed an aerodynamic deformation matrix for the leading and trailing edges of aircraft wings in takeoff,landing and cruise conditions.Various structures and driving schemes are compared,and several key technology problems of leading and trailing edge deformation are solved.A full-size leading edge wind tunnel test piece with a span of 2.7 m and a trailing edge ground function test piece are developed.The deformation and shape maintenance capabilities of the leading edge is verified under real wind load conditions,and the load bearing and deformation capabilities of the trailing edge is verified under simulated follow-on load.The results indicate that the leading and trailing edges of the variable camber wing can achieve the required deformation angle and have a certain load-bearing capacity.Our study can provide some insights into the application of variable camber wing technology for civil aircraft.展开更多
This study proposes a method for calculating the probability distribution of structural responses at different intensities using the endurance time(ET)method.The results can be used to calculate the fragility curve of...This study proposes a method for calculating the probability distribution of structural responses at different intensities using the endurance time(ET)method.The results can be used to calculate the fragility curve of structural collapse.The ET method involves dynamic analysis of a structure under an intensifying record over time.While conventional ET methods can determine the median of the structural response,they lack the ability to calculate its dispersion.To address this limitation,the present study utilizes ET analysis and single-degree-of-freedom(SDOF)systems to develop a method that considers the record-to-record variability for calculating the probability distribution of structural response.The accuracy of this method is evaluated by comparing it with the incremental dynamic analysis(IDA)method using special moment frames.The results demonstrate that the proposed method achieves a reasonably accurate estimation of dispersion while significantly reducing the computational burden(by approximately 95%)compared to the IDA method.展开更多
So far,a clear understanding about the relationship of variable energy band structure with the corresponding charge-discharge process of energy storage materials is still lacking.Here,using optical spectroscopy(red-gr...So far,a clear understanding about the relationship of variable energy band structure with the corresponding charge-discharge process of energy storage materials is still lacking.Here,using optical spectroscopy(red-green-blue(RGB)value,reflectivity,transmittance,UV-vis,XPS,UPS)to studyα-Co(OH)_(2) electrode working in KOH electrolyte as the research object,we provide direct experimental evidence that:(1)The intercalation of OH-ions will reduce the valence/conduction band(VB and CB)and band gap energy(Eg)values;(2)The deintercalation of OH-ions corresponds with the reversion of VB,CB and E_(g) to the initial values;(3)The color of Co(OH)_(2) electrode also exhibit regular variations in RGB value during the charge-discharge process.展开更多
To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controll...To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.展开更多
In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,ef...In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,effectively reduces the structural response in the case of relatively small story drifts,which occur during earthquakes.A predictive instantaneous optimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table tests of a 1/4 scale single story structural model with a full scale control device have been conducted.From the experimental and analytical results,it is shown that when compared to structures without control or with the active variable stiffness control alone, the suggested system exhibits higher efficiency in controlling the structural response,requires less energy input,operates with higher reliability,and can be manufactured at a lower cost and used in a wider range of engineering applications.展开更多
A concept of the independent-continuous topological variable is proposed to establish its corresponding smooth model of structural topological optimization. The method can overcome difficulties that are encountered in...A concept of the independent-continuous topological variable is proposed to establish its corresponding smooth model of structural topological optimization. The method can overcome difficulties that are encountered in conventional models and algorithms for the optimization of the structural topology. Its application to truss topological optimization with stress and displacement constraints is satisfactory, with convergence faster than that of sectional optimizations.展开更多
An elastic beam system formulated by partial differential equations with initial and boundary conditions is investigated in this paper. An evolution equation corresponding with the beam system is established in an app...An elastic beam system formulated by partial differential equations with initial and boundary conditions is investigated in this paper. An evolution equation corresponding with the beam system is established in an appropriate Hilbert space. The spectral analysis and semigroup generation of the system operator of the beam system are discussed. Finally, a variable structural control is proposed and a significant result that the solution of the system is exponentially stable under a variable structural control with some appropriate conditions is obtained.展开更多
Natural frequency and dynamic stiffness under transient loading are two key performances for structural design related to automotive,aviation and construction industries.This article aims to tackle the multi-objective...Natural frequency and dynamic stiffness under transient loading are two key performances for structural design related to automotive,aviation and construction industries.This article aims to tackle the multi-objective topological optimization problem considering dynamic stiffness and natural frequency using modified version of bi-directional evolutionary structural optimization(BESO).The conventional BESO is provided with constant evolutionary volume ratio(EVR),whereas low EVR greatly retards the optimization process and high EVR improperly removes the efficient elements.To address the issue,the modified BESO with variable EVR is introduced.To compromise the natural frequency and the dynamic stiffness,a weighting scheme of sensitivity numbers is employed to form the Pareto solution space.Several numerical examples demonstrate that the optimal solutions obtained from the modified BESO method have good agreement with those from the classic BESO method.Most importantly,the dynamic removal strategy with the variable EVR sharply springs up the optimization process.Therefore,it is concluded that the modified BESO method with variable EVR can solve structural design problems using multi-objective optimization.展开更多
This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the co...This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the congestion-avoidance flow-control mode of transmission control protocol (TCP), we present delay control algorithms for active queue management (AQM) and discuss the parameter tuning of the algorithms. The NS (network simulator) simulation results show that the proposed control scheme for the nonlinear TCP/AQM model has good performance and robustness with respect to the uncertainties of the round-trip time (RTT) and the number of active TCP sessions. Compared to other similar schemes, our algorithms perform better in terms of packet loss ratio, throughput and butter fluctuation.展开更多
The purpose of this paper is to design control loop and guidance loop for the homing missile, to prove that the modified variable structure proportional navigation (VSPN) can be used in passive homing guidance system,...The purpose of this paper is to design control loop and guidance loop for the homing missile, to prove that the modified variable structure proportional navigation (VSPN) can be used in passive homing guidance system, and to compare the VSPN with the proportional navigation (PN). Angular rate and linear acceleration are fed back to improve the stability and robust of autopilot, VSPN and PN are compared in mathematics simulation of homing missile in attacking tanks and helicopters. The damp and the stability of the missile body are increased. The VSPN cuts down the overload of guidance phase dramatically, makes the ballistic trajectory straighter than PN and leads to smaller missdistance. The VSPN can be used for passive homing guidance system, and is especially suitable for attacking helicopter.展开更多
To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areody...To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areodynamic floating. The model reference adaptive control was combined with the variable structure control to design a model reference variable structure (MRVS) control system whose control structure is simple and can be realized easily. The simulation results indicate that MRVS can complete the task of transferring guidance command and suppress the distrubances effectively.展开更多
The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (...The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (VSC),two-level and decentralized variable structure control laws for this kind of systems are presented respectively,which achieve asymptotically stabilization despite the uncertainties and disturbances. At last,sirnulation of the disturbed two-pendulum system is given to illustrate the feasibility of proposed technique.展开更多
This article aims to develop a head pursuit （HP） guidance law for three-dimensional hypervelocity interception, so that the effect of the perturbation induced by seeker detection can be reduced. On the basis of a no...This article aims to develop a head pursuit （HP） guidance law for three-dimensional hypervelocity interception, so that the effect of the perturbation induced by seeker detection can be reduced. On the basis of a novel HP three-dimensional guidance model, a nonlinear variable structure guidance law is presented by using Lyapunov stability theory. The guidance law positions the interceptor ahead of the target on its tlight trajectory, and the speed of the interceptor is required to be lower than that of the target, A numerical example of maneuvering ballistic target interception verifies the rightness of the guidance model and the effectiveness of the proposed method.展开更多
The mathematical model of a transport aircraft would be subjected to a sudden change when heavy cargo is dropped off in airdropping, which exerts serious influences upon the safety of the aircraft. A variable structur...The mathematical model of a transport aircraft would be subjected to a sudden change when heavy cargo is dropped off in airdropping, which exerts serious influences upon the safety of the aircraft. A variable structure controller is specially designed for handling the airdrop process. The nonlinear system is linearized by input-output feedback linearization using differential geometry theories. On this basis, an inner loop system for velocity and attitude tracking control is designed by using the exponentially approaching rule of the variable structure theory. The whole flight control system is integrated with the outer loop flight altitude control. Digital simulation evidences the applicability of the system to potentially catastrophic course in airdropping heavy cargo and provides robustness against system parameter perturbation.展开更多
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years...Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.展开更多
An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive f...An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of ta...The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.展开更多
The objective is to design a variable structure proportional navigation law for the passive homingmissile so that the missile can hit the target with a minimum miss-distance and desired impact attitude anglewithin the...The objective is to design a variable structure proportional navigation law for the passive homingmissile so that the missile can hit the target with a minimum miss-distance and desired impact attitude anglewithin the required overlcad when it flies at a lower trajectory.This paper utilized the variable structure propor-tional navigation with terminal impact attitude angular constraint,and made estimation about the distance rateand distance between the missile and target,which broke the limitation of a passive homing seeker.Furthermore,the paper let the switch gain vary adaptively with time to avoid any larger initial overload.The mathematicalsimulation was completed by some studied passive homing missile's dynamic model,and the simulation resultsshowed that the navigation law of the passive homing missile can make the missile get the required miss-distance and desired impact attitude angle against tanks at lower trajectories and within the maximum overload;also this guidance law is much robust to the estimation eror of distance and distance rate.展开更多
Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By app...Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the stability of origin can be guaranteed, and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation laws, the problem that the system control input is restricted is also considered, which is very important in practical systems. Finally a simulation example shows the effectiveness of the two approximation laws proposed.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52035004,52105434).
文摘Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and decoration.Thus,the fabrication of hierarchical micro/nanograting structures is important for these applications.In this study,a strategy for machining hierarchical micro/nanograting structures is developed by controlling the tool movement trajectory.A coupling Euler-Lagrange finite element model is established to simulate the machining process.The effect of the machining methods on the nanograting formation is demonstrated,and a suitable machining method for reducing the cutting force is obtained.The height of the nanograting decreases with an increase in the tool edge radius.Furthermore,optical variable devices(OVDs)are machined using an array overlap machining approach.Coding schemes for the parallel column unit crossover and column unit in the groove crossover are designed to achieve high-quality machining of OVDs.The coloring of the logo of the Harbin Institute of Technology and the logo of the centennial anniversary of the Harbin Institute of Technology on the surface of metal samples,such as aluminum alloys,is realized.The findings of this study provide a method for the fabrication of hierarchical micro/nanograting structures that can be used to prepare OVDs.
基金supported by the National Research Project“Variable Camber Wing Technology(VCAN)”,China。
文摘Variable camber wing technology is one of the important development trends of green aviation at present.Through smooth,seamless,continuous and adaptive change of wing camber,the aerodynamic performance is improved in achieving increase in lift and reduction in resistance and noise.Based on the aerodynamic validation model CAE-AVM,Chinese Aeronautical Establishment(CAE)has carried out the design and validation of a variable camber wing,proposed an aerodynamic deformation matrix for the leading and trailing edges of aircraft wings in takeoff,landing and cruise conditions.Various structures and driving schemes are compared,and several key technology problems of leading and trailing edge deformation are solved.A full-size leading edge wind tunnel test piece with a span of 2.7 m and a trailing edge ground function test piece are developed.The deformation and shape maintenance capabilities of the leading edge is verified under real wind load conditions,and the load bearing and deformation capabilities of the trailing edge is verified under simulated follow-on load.The results indicate that the leading and trailing edges of the variable camber wing can achieve the required deformation angle and have a certain load-bearing capacity.Our study can provide some insights into the application of variable camber wing technology for civil aircraft.
文摘This study proposes a method for calculating the probability distribution of structural responses at different intensities using the endurance time(ET)method.The results can be used to calculate the fragility curve of structural collapse.The ET method involves dynamic analysis of a structure under an intensifying record over time.While conventional ET methods can determine the median of the structural response,they lack the ability to calculate its dispersion.To address this limitation,the present study utilizes ET analysis and single-degree-of-freedom(SDOF)systems to develop a method that considers the record-to-record variability for calculating the probability distribution of structural response.The accuracy of this method is evaluated by comparing it with the incremental dynamic analysis(IDA)method using special moment frames.The results demonstrate that the proposed method achieves a reasonably accurate estimation of dispersion while significantly reducing the computational burden(by approximately 95%)compared to the IDA method.
基金supported by the National Natural Science Foundation of China(Nos.51972146,52072150).
文摘So far,a clear understanding about the relationship of variable energy band structure with the corresponding charge-discharge process of energy storage materials is still lacking.Here,using optical spectroscopy(red-green-blue(RGB)value,reflectivity,transmittance,UV-vis,XPS,UPS)to studyα-Co(OH)_(2) electrode working in KOH electrolyte as the research object,we provide direct experimental evidence that:(1)The intercalation of OH-ions will reduce the valence/conduction band(VB and CB)and band gap energy(Eg)values;(2)The deintercalation of OH-ions corresponds with the reversion of VB,CB and E_(g) to the initial values;(3)The color of Co(OH)_(2) electrode also exhibit regular variations in RGB value during the charge-discharge process.
基金Supported by the National Natural Science Foundation of China (No.60574038) and the Open Project Program of the State KeyLaboratory of Bioreactor Engineering/ECUST.
文摘To track the rapidly changing temperature profiles of thermal cycling of polymerase chain reaction （PCR） accurately, an innovative feedforward variable structural proportional-integral-derivative （FVSPID） controller was developed. Based on the step response test data of the heat block, a reduced first order model was estabfished at different operating points. Based on the reduced model, the FVSPID controller combined a feedforward path with the variable structural proportional-integral-derivative （PID） control. The modified feedforward action provided directly the optimal predictive power for the desired setpoint to speed up the dynamic response. To cooperate with the feedforward action, a variable structural PID was applied, where the P mode was used in the case of the largest errors to speed up response, whereas the PD mode was used in the case of larger errors to suppress overshoot, and finally the PID mode was applied for small error conditions to eliminate the steady state offset. Experimental results illustrated that compared to the conventional PID controller, the FVSPID controller can not only reduce the time taken to complete a standard PCR protocol, but also improve the accuracy of gene amplification.
文摘In this paper,a new system of semi active structural control with active variable stiffness and damping (AVSD) is suggested.This new system amplifies the structural displacement to dissipate more energy,and in turn,effectively reduces the structural response in the case of relatively small story drifts,which occur during earthquakes.A predictive instantaneous optimal control algorithm is established for a SDOF structure equipped with an AVSD system Comparative shaking table tests of a 1/4 scale single story structural model with a full scale control device have been conducted.From the experimental and analytical results,it is shown that when compared to structures without control or with the active variable stiffness control alone, the suggested system exhibits higher efficiency in controlling the structural response,requires less energy input,operates with higher reliability,and can be manufactured at a lower cost and used in a wider range of engineering applications.
基金The project supported by State Key Laboratory of Structural Analyses of Industrial Equipment
文摘A concept of the independent-continuous topological variable is proposed to establish its corresponding smooth model of structural topological optimization. The method can overcome difficulties that are encountered in conventional models and algorithms for the optimization of the structural topology. Its application to truss topological optimization with stress and displacement constraints is satisfactory, with convergence faster than that of sectional optimizations.
文摘An elastic beam system formulated by partial differential equations with initial and boundary conditions is investigated in this paper. An evolution equation corresponding with the beam system is established in an appropriate Hilbert space. The spectral analysis and semigroup generation of the system operator of the beam system are discussed. Finally, a variable structural control is proposed and a significant result that the solution of the system is exponentially stable under a variable structural control with some appropriate conditions is obtained.
基金funded by the National Natural Science Foundation of China(Grant No.51505096)the Natural Science Foundation of Heilongjiang Province(Grant No.LH2020E064).
文摘Natural frequency and dynamic stiffness under transient loading are two key performances for structural design related to automotive,aviation and construction industries.This article aims to tackle the multi-objective topological optimization problem considering dynamic stiffness and natural frequency using modified version of bi-directional evolutionary structural optimization(BESO).The conventional BESO is provided with constant evolutionary volume ratio(EVR),whereas low EVR greatly retards the optimization process and high EVR improperly removes the efficient elements.To address the issue,the modified BESO with variable EVR is introduced.To compromise the natural frequency and the dynamic stiffness,a weighting scheme of sensitivity numbers is employed to form the Pareto solution space.Several numerical examples demonstrate that the optimal solutions obtained from the modified BESO method have good agreement with those from the classic BESO method.Most importantly,the dynamic removal strategy with the variable EVR sharply springs up the optimization process.Therefore,it is concluded that the modified BESO method with variable EVR can solve structural design problems using multi-objective optimization.
文摘This paper analyzes the fuzzy variable structure control algorithms for delay systems and describes the compensation mechanism of the integral factor to the effect of the delay. Based on the linearized model of the congestion-avoidance flow-control mode of transmission control protocol (TCP), we present delay control algorithms for active queue management (AQM) and discuss the parameter tuning of the algorithms. The NS (network simulator) simulation results show that the proposed control scheme for the nonlinear TCP/AQM model has good performance and robustness with respect to the uncertainties of the round-trip time (RTT) and the number of active TCP sessions. Compared to other similar schemes, our algorithms perform better in terms of packet loss ratio, throughput and butter fluctuation.
文摘The purpose of this paper is to design control loop and guidance loop for the homing missile, to prove that the modified variable structure proportional navigation (VSPN) can be used in passive homing guidance system, and to compare the VSPN with the proportional navigation (PN). Angular rate and linear acceleration are fed back to improve the stability and robust of autopilot, VSPN and PN are compared in mathematics simulation of homing missile in attacking tanks and helicopters. The damp and the stability of the missile body are increased. The VSPN cuts down the overload of guidance phase dramatically, makes the ballistic trajectory straighter than PN and leads to smaller missdistance. The VSPN can be used for passive homing guidance system, and is especially suitable for attacking helicopter.
文摘To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areodynamic floating. The model reference adaptive control was combined with the variable structure control to design a model reference variable structure (MRVS) control system whose control structure is simple and can be realized easily. The simulation results indicate that MRVS can complete the task of transferring guidance command and suppress the distrubances effectively.
文摘The robust stabilizating control problem for a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and decentralized variable structure control (VSC),two-level and decentralized variable structure control laws for this kind of systems are presented respectively,which achieve asymptotically stabilization despite the uncertainties and disturbances. At last,sirnulation of the disturbed two-pendulum system is given to illustrate the feasibility of proposed technique.
文摘This article aims to develop a head pursuit （HP） guidance law for three-dimensional hypervelocity interception, so that the effect of the perturbation induced by seeker detection can be reduced. On the basis of a novel HP three-dimensional guidance model, a nonlinear variable structure guidance law is presented by using Lyapunov stability theory. The guidance law positions the interceptor ahead of the target on its tlight trajectory, and the speed of the interceptor is required to be lower than that of the target, A numerical example of maneuvering ballistic target interception verifies the rightness of the guidance model and the effectiveness of the proposed method.
文摘The mathematical model of a transport aircraft would be subjected to a sudden change when heavy cargo is dropped off in airdropping, which exerts serious influences upon the safety of the aircraft. A variable structure controller is specially designed for handling the airdrop process. The nonlinear system is linearized by input-output feedback linearization using differential geometry theories. On this basis, an inner loop system for velocity and attitude tracking control is designed by using the exponentially approaching rule of the variable structure theory. The whole flight control system is integrated with the outer loop flight altitude control. Digital simulation evidences the applicability of the system to potentially catastrophic course in airdropping heavy cargo and provides robustness against system parameter perturbation.
基金Supported by National Natural Science Foundation of China(Grant Nos.51705066,51805128)Sichuan Science and Technology Program(Grant No.2019YFG0343)Fundamental Research Funds for the Central Universities of China(Grant Nos.ZYGX2019J041,ZYGX2016KYQD137).
文摘Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.
基金co-supported by National Natural Science Foundation of China (Nos. 91116017, 60974106 and 11102080)Funding for Outstanding Doctoral Dissertation in NUAA (No. BCXJ10-04)
文摘An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.
文摘The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.
文摘The objective is to design a variable structure proportional navigation law for the passive homingmissile so that the missile can hit the target with a minimum miss-distance and desired impact attitude anglewithin the required overlcad when it flies at a lower trajectory.This paper utilized the variable structure propor-tional navigation with terminal impact attitude angular constraint,and made estimation about the distance rateand distance between the missile and target,which broke the limitation of a passive homing seeker.Furthermore,the paper let the switch gain vary adaptively with time to avoid any larger initial overload.The mathematicalsimulation was completed by some studied passive homing missile's dynamic model,and the simulation resultsshowed that the navigation law of the passive homing missile can make the missile get the required miss-distance and desired impact attitude angle against tanks at lower trajectories and within the maximum overload;also this guidance law is much robust to the estimation eror of distance and distance rate.
基金This work was supported by the National Natural Science Foundation of China (No.60274099) and the Foundation of Key Laboratory of Process Industry Automation, Ministry of Education
文摘Two approximation laws of sliding mode for discrete-time variable structure control systems are proposed to overcome the limitations of the exponential approximation law and the variable rate approximation law. By applying the proposed approximation laws of sliding mode to discrete-time variable structure control systems, the stability of origin can be guaranteed, and the chattering along the switching surface caused by discrete-time variable structure control can be restrained effectively. In designing of approximation laws, the problem that the system control input is restricted is also considered, which is very important in practical systems. Finally a simulation example shows the effectiveness of the two approximation laws proposed.
