Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based c...Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.展开更多
This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents differe...This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.展开更多
The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is studied.In order to improve the tracking performance of UAV aerial refueling docking,aguidance algo...The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is studied.In order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop commands.In flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic inversion.The throttle control is also derived from dynamic inversion method.Moreover,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and disturbance.Nonlinear digital simulations are carried out.The results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.展开更多
This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rot...This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rotate. A nonlinear dynamic model of the quadrotor is provided, and a controller based on the improved dynamic inverse is synthesized for the purpose of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation that can balance the deviation of model inaccuracy well.展开更多
As an important indicator parameter of fluid identification,fluid factor has always been a concern for scholars.However,when predicting Russell fluid factor or effective pore-fluid bulk modulus,it is necessary to intr...As an important indicator parameter of fluid identification,fluid factor has always been a concern for scholars.However,when predicting Russell fluid factor or effective pore-fluid bulk modulus,it is necessary to introduce a new rock skeleton parameter which is the dry-rock VP/VS ratio squared(DVRS).In the process of fluid factor calculation or inversion,the existing methods take this parameter as a static constant,which has been estimated in advance,and then apply it to the fluid factor calculation and inversion.The fluid identification analysis based on a portion of the Marmousi 2 model and numerical forward modeling test show that,taking the DVRS as a static constant will limit the identification ability of fluid factor and reduce the inversion accuracy.To solve the above problems,we proposed a new method to regard the DVRS as a dynamic variable varying with depth and lithology for the first time,then apply it to fluid factor calculation and inversion.Firstly,the exact Zoeppritz equations are rewritten into a new form containing the fluid factor and DVRS of upper and lower layers.Next,the new equations are applied to the four parameters simultaneous inversion based on the generalized nonlinear inversion(GNI)method.The testing results on a portion of the Marmousi 2 model and field data show that dynamic DVRS can significantly improve the fluid factor identification ability,effectively suppress illusion.Both synthetic and filed data tests also demonstrate that the GNI method based on Bayesian deterministic inversion(BDI)theory can successfully solve the above four parameter simultaneous inversion problem,and taking the dynamic DVRS as a target inversion parameter can effectively improve the inversion accuracy of fluid factor.All these results completely verified the feasibility and effectiveness of the proposed method.展开更多
Nonlinear dynamic inversion(NDI)has been applied to the control law design of quad-rotors mainly thanks to its good robustness and simplicity of parameter tuning.However,the weakness of relying on accurate model great...Nonlinear dynamic inversion(NDI)has been applied to the control law design of quad-rotors mainly thanks to its good robustness and simplicity of parameter tuning.However,the weakness of relying on accurate model greatly restrains its application on quad-rotors,especially nano quad-rotors(NQRs).NQRs are easy to be influenced by uncertainties such as model uncertainties(mainly from complicated aerodynamic interferences,strong coupling in roll-pitch-yaw channels and inaccurate aerodynamic prediction of rotors)and external uncertainties(mainly from winds or gusts),particularly persistent ones.Therefore,developing accurate model for altitude and attitude control of NQRs is difficult.To solve this problem,in this paper,an improved nonlinear dynamic inversion(INDI)method is developed,which can reject the above-mentioned uncertainties by estimating them and then counteracting in real time using linear extended state observer(LESO).Comparison with the traditional NDI(TNDI)method was carried out numerically,and the results show that,in coping with persistent uncertainties,the INDI-based method presents significant superiority.展开更多
For the problem of sensor faults and actuator faults in aircraft attitude control,this paper proposes a fault tolerant control(FTC)scheme based on extended state observer(ESO)and nonlinear dynamic inversion(NDI).First...For the problem of sensor faults and actuator faults in aircraft attitude control,this paper proposes a fault tolerant control(FTC)scheme based on extended state observer(ESO)and nonlinear dynamic inversion(NDI).First,two ESOs are designed to estimate sensor faults and actuator faults respectively.Second,the angular rate signal is reconstructed according to the estimation of sensor faults.Third,in angular rate loop,NDI is designed based on reconstruction of angular rate signals and estimation of actuator faults.The FTC scheme proposed in this paper is testified through numerical simulations.The results show that it is feasible and has good fault tolerant ability.展开更多
A type of nonlinear dynamic inversion control with adaptive compensation is proposed in order to overcome its over sensitivity to parameter uncertainty and disturbance for flight control system using nonlinear dynam...A type of nonlinear dynamic inversion control with adaptive compensation is proposed in order to overcome its over sensitivity to parameter uncertainty and disturbance for flight control system using nonlinear dynamic inversion. This control strategy is different from the general strategy of a nonlinear adaptive control by taking into consideration both parameter uncertainty and external disturbance, the two major uncertain forms in flight control. Finally, an analysis of the stabilily of this control structure is given.展开更多
A new dynamic inversion method, which can simultaneously use many waves and multicomponent observation data and is suitable for directly inversing elastic parameters and density of media or wave velocities, is dev...A new dynamic inversion method, which can simultaneously use many waves and multicomponent observation data and is suitable for directly inversing elastic parameters and density of media or wave velocities, is developed based on dynamic equations in anisotropic media. Because full wave field information is utilized as much as possible in the method, the inversion results are more reliable than that of kinematic inversion. Based on the qSH wave equation in the transversely isotropic medium and started from different initial models, seismic wave velocities are inversed by using this method, so that the validity of the method is affirmed and its suitable range is obtained. It shows that the inversion results are still very precise when the perturbational deviation of initial model parameters arrives to 12.3 percent. Besides, vectorized and parallelized calculations of the method can be easily implemented because of its special construction.展开更多
The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics is singularly perturbed, that is, the relative degree is ill-defined. For these systems, we show that there e...The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics is singularly perturbed, that is, the relative degree is ill-defined. For these systems, we show that there exists an inherent limitation in the bandwidth of a reference trajectory to be tracked when a well-conditioned feedforward input via stable inversion is sought. We assert that, when the violation of this limitation occurs, the so-called reference trajectory redesign is called for. Our analysis results can provide an explicit assessment as well as useful guidance for the reference trajectory redesign if needed.展开更多
This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint...This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint.The proposed AGDI control law will be comprised of two control elements.The baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control objectives.The control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized inversion.To boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode principle.In discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering reduction.The closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is guaranteed.Rigorous computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.展开更多
Global optimization is an essential approach to any inversion problem.Recently,the grey wolf optimizer(GWO)has been proposed to optimize the global minimum,which has been quickly used in a variety of inv-ersion proble...Global optimization is an essential approach to any inversion problem.Recently,the grey wolf optimizer(GWO)has been proposed to optimize the global minimum,which has been quickly used in a variety of inv-ersion problems.In this study,we proposed a parameter-shifted grey wolf optimizer(psGWO)based on the conven-tional GWO algorithm to obtain the global minimum.Com-pared with GWO,the novel psGWO can effectively search targets toward objects without being trapped within the local minimum of the zero value.We confirmed the effectiveness of the new method in searching for uniform and random objectives by using mathematical functions released by the Congress on Evolutionary Computation.The psGWO alg-orithm was validated using up to 10,000 parameters to dem-onstrate its robustness in a large-scale optimization problem.We successfully applied psGWO in two-dimensional(2D)synthetic earthquake dynamic rupture inversion to obtain the frictional coefficients of the fault and critical slip-weakening distance using a homogeneous model.Furthermore,this alg-orithm was applied in inversions with heterogeneous dist-ributions of dynamic rupture parameters.This implementation can be efficiently applied in 3D cases and even in actual earthquake inversion and would deepen the understanding of the physics of natural earthquakes in the future.展开更多
The purpose of using life extending control for Black Hawk UH-60 helicopter is to make a trade-off between the handling qualities and the service life of critical components. An increase in service life span results i...The purpose of using life extending control for Black Hawk UH-60 helicopter is to make a trade-off between the handling qualities and the service life of critical components. An increase in service life span results in enhanced safety and the reduction in maintenance costs. This paper presents a design methodology of life extending control for structural durability and high performance of mechanical system, which is based on an explicit dynamic inversion control scheme. A real-time nonlinear fatigue crack growth model is built to predict fatigue damage resulting from the impact of cyclic bending stress on rotor shaft, which serves as an indicator of service life. The 4-axis gainscheduled flight controller, whose gains are adjusted as a function of damage and flight velocity, is designed to regulate roll attitude, pitch attitude, vertical velocity and yaw rate. The nonlinear system simulation results show that the responses can meet the requirements on ADS-33 Level 1 handling qualities and that the 4-axis decoupling control is realized. As the damage increases, the tracking performance is slightly degraded, which results in smaller transients in bending moment response.展开更多
In this study,we attempted to perform an earthquake source dynamic inversion to obtain dynamic parameters on fault system with complex geometry.The forward modeling of the spontaneous rupture process is carried out us...In this study,we attempted to perform an earthquake source dynamic inversion to obtain dynamic parameters on fault system with complex geometry.The forward modeling of the spontaneous rupture process is carried out using a boundary integral equation method(BIEM)based on unstructured meshing,and the inversion method is implemented by a genetic algorithm based on a parallel acceleration of the GPU.The source model in this study is a branched fault,which is described by two physical parameters,the initial stress T0 and the critical slip-weakening distance Dc.We investigated the effect of the inherited parameters on the accuracy and convergence of the inversion simulation.Numerical results showed that if a set of parameters are assigned properly,the inversion of rupture parameters is accurate and converges fast.It is easy to converge to a local optimal solution during the inversion process if inappropriate inherited parameters are selected.Compared with T0,D。has better convergence and accuracy in.the inversion process.展开更多
Offshore carbon capture, utilization, and storage(OCCUS) is regarded as a crucial technology for mitigating greenhouse gas emissions.Quantitative monitoring maps of sealed carbon dioxide are necessary in a comprehensi...Offshore carbon capture, utilization, and storage(OCCUS) is regarded as a crucial technology for mitigating greenhouse gas emissions.Quantitative monitoring maps of sealed carbon dioxide are necessary in a comprehensive OCCUS project. A potential high-resolution method for the aforementioned purpose lies in the full-waveform inversion(FWI) of time-lapse seismic data. However, practical applications of FWI are severely restricted by the well-known cycle-skipping problem. A new time-lapse FWI method using cross-correlation-based dynamic time warping(CDTW) is proposed to detect changes in the subsurface property due to carbon dioxide(CO_(2)) injection and address the aforementioned issue. The proposed method, namely CDTW, which combines the advantages of cross-correlation and dynamic time warping, is employed in the automatic estimation of the discrepancy between the seismic signals simulated using the baseline/initial model and those acquired. The proposed FWI method can then back-project the estimated discrepancy to the subsurface space domain, thereby facilitating retrieval of the induced subsurface property change by taking the difference between the inverted baseline and monitor models. Numerical results on pairs of signals prove that CDTW can obtain reliable shifts under amplitude modulation and noise contamination conditions. The performance of CDTW substantially outperforms that of the conventional dynamic time warping method. The proposed time-lapse fullwaveform inversion(FWI) method is applied to the Frio-2 CO_(2) storage model. The baseline and monitor models are inverted from the corresponding time-lapse seismic data. The changes in velocity due to CO_(2) injection are reconstructed by the difference between the baseline and the monitor models.展开更多
This paper presents an inverse problem in analytical dynamics. The inverse problem is to construct the Lagrangian when the integrals of a system are given. Firstly, the differential equations are obtained by using the...This paper presents an inverse problem in analytical dynamics. The inverse problem is to construct the Lagrangian when the integrals of a system are given. Firstly, the differential equations are obtained by using the time derivative of the integrals. Secondly, the differential equations can be written in the Lagrange equations under certain conditions and the Lagrangian can be obtained. Finally, two examples are given to illustrate the application of the result.展开更多
The precise integration method proposed for linear time-invariant homogeneous dynamic systems can provide accurate numerical results that approach an exact solution at integration points. However, difficulties arise w...The precise integration method proposed for linear time-invariant homogeneous dynamic systems can provide accurate numerical results that approach an exact solution at integration points. However, difficulties arise when the algorithm is used for non-homogeneous dynamic systems due to the inverse matrix calculation required. In this paper, the structural dynamic equalibrium equations are converted into a special form, the inverse matrix calculation is replaced by the Crout decomposition method to solve the dynamic equilibrium equations, and the precise integration method without the inverse matrix calculation is obtained. The new algorithm enhances the present precise integration method by improving both the computational accuracy and efficiency. Two numerical examples are given to demonstrate the validity and efficiency of the proposed algorithm.展开更多
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
Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most stud?ies on overtaking safety have neglected research into driver control input. A novel method is proposed to o...Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most stud?ies on overtaking safety have neglected research into driver control input. A novel method is proposed to obtain the driver control input during the overtaking process. Meanwhile, to improve the safety of overtaking, two types of safe distances, and the time of the overtaking are considered. Path constraints are established when considering the two types of safe distances. An optimal control model is established to solve the minimum time maneuver under multiple constraints. Using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear pro?gramming problem, which is then solved through sequential quadratic programming(SQP). In addition, the e ective?ness of the proposed method is verified based on the results of a Carsim simulation. The simulation results show that by adopting an inverse dynamics method to solve the manipulation problem of the vehicle’s minimum overtaking time, the manipulation capability of a vehicle in completing an overtaking safely within the minimum time can be obtained. This method can provide a reference for research into the active safety of manned and unmanned vehicles.展开更多
Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relatio...Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions（FRFs） to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.展开更多
文摘Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.
文摘This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.
基金supported by the National Natural Science Foundation of China(No.61273050)the Aeronautical Science Foundation of China(No.20121352026)
文摘The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is studied.In order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop commands.In flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic inversion.The throttle control is also derived from dynamic inversion method.Moreover,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and disturbance.Nonlinear digital simulations are carried out.The results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.
文摘This paper presents trajectory tracking control works concerning quadrotor aerial robot with rigid cross structure. The quadrotor consists of four propellers which are two paired clockwise rotate and anticlockwise rotate. A nonlinear dynamic model of the quadrotor is provided, and a controller based on the improved dynamic inverse is synthesized for the purpose of stabilization and trajectory tracking. The proposed control strategy has been tested in simulation that can balance the deviation of model inaccuracy well.
基金the National Natural Science Foundation of China(41904116,41874156,42074167 and 42204135)the Natural Science Foundation of Hunan Province(2020JJ5168)the China Postdoctoral Science Foundation(2021M703629)for their funding of this research.
文摘As an important indicator parameter of fluid identification,fluid factor has always been a concern for scholars.However,when predicting Russell fluid factor or effective pore-fluid bulk modulus,it is necessary to introduce a new rock skeleton parameter which is the dry-rock VP/VS ratio squared(DVRS).In the process of fluid factor calculation or inversion,the existing methods take this parameter as a static constant,which has been estimated in advance,and then apply it to the fluid factor calculation and inversion.The fluid identification analysis based on a portion of the Marmousi 2 model and numerical forward modeling test show that,taking the DVRS as a static constant will limit the identification ability of fluid factor and reduce the inversion accuracy.To solve the above problems,we proposed a new method to regard the DVRS as a dynamic variable varying with depth and lithology for the first time,then apply it to fluid factor calculation and inversion.Firstly,the exact Zoeppritz equations are rewritten into a new form containing the fluid factor and DVRS of upper and lower layers.Next,the new equations are applied to the four parameters simultaneous inversion based on the generalized nonlinear inversion(GNI)method.The testing results on a portion of the Marmousi 2 model and field data show that dynamic DVRS can significantly improve the fluid factor identification ability,effectively suppress illusion.Both synthetic and filed data tests also demonstrate that the GNI method based on Bayesian deterministic inversion(BDI)theory can successfully solve the above four parameter simultaneous inversion problem,and taking the dynamic DVRS as a target inversion parameter can effectively improve the inversion accuracy of fluid factor.All these results completely verified the feasibility and effectiveness of the proposed method.
基金supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)the Advanced Research Project of Army Equipment Development(No.301020803)
文摘Nonlinear dynamic inversion(NDI)has been applied to the control law design of quad-rotors mainly thanks to its good robustness and simplicity of parameter tuning.However,the weakness of relying on accurate model greatly restrains its application on quad-rotors,especially nano quad-rotors(NQRs).NQRs are easy to be influenced by uncertainties such as model uncertainties(mainly from complicated aerodynamic interferences,strong coupling in roll-pitch-yaw channels and inaccurate aerodynamic prediction of rotors)and external uncertainties(mainly from winds or gusts),particularly persistent ones.Therefore,developing accurate model for altitude and attitude control of NQRs is difficult.To solve this problem,in this paper,an improved nonlinear dynamic inversion(INDI)method is developed,which can reject the above-mentioned uncertainties by estimating them and then counteracting in real time using linear extended state observer(LESO).Comparison with the traditional NDI(TNDI)method was carried out numerically,and the results show that,in coping with persistent uncertainties,the INDI-based method presents significant superiority.
基金supported by the Chinese Aviation Science Fund(20160757001)the National Natural Science Foundation of China(10577012)。
文摘For the problem of sensor faults and actuator faults in aircraft attitude control,this paper proposes a fault tolerant control(FTC)scheme based on extended state observer(ESO)and nonlinear dynamic inversion(NDI).First,two ESOs are designed to estimate sensor faults and actuator faults respectively.Second,the angular rate signal is reconstructed according to the estimation of sensor faults.Third,in angular rate loop,NDI is designed based on reconstruction of angular rate signals and estimation of actuator faults.The FTC scheme proposed in this paper is testified through numerical simulations.The results show that it is feasible and has good fault tolerant ability.
文摘A type of nonlinear dynamic inversion control with adaptive compensation is proposed in order to overcome its over sensitivity to parameter uncertainty and disturbance for flight control system using nonlinear dynamic inversion. This control strategy is different from the general strategy of a nonlinear adaptive control by taking into consideration both parameter uncertainty and external disturbance, the two major uncertain forms in flight control. Finally, an analysis of the stabilily of this control structure is given.
文摘A new dynamic inversion method, which can simultaneously use many waves and multicomponent observation data and is suitable for directly inversing elastic parameters and density of media or wave velocities, is developed based on dynamic equations in anisotropic media. Because full wave field information is utilized as much as possible in the method, the inversion results are more reliable than that of kinematic inversion. Based on the qSH wave equation in the transversely isotropic medium and started from different initial models, seismic wave velocities are inversed by using this method, so that the validity of the method is affirmed and its suitable range is obtained. It shows that the inversion results are still very precise when the perturbational deviation of initial model parameters arrives to 12.3 percent. Besides, vectorized and parallelized calculations of the method can be easily implemented because of its special construction.
基金the National Natural Science Foundation of China (No.60473120)the Natural Science Foundation of Guangdong(No.6023190)the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry of China.
文摘The ill-conditioned stable inversion is studied for slightly nonminimum phase systems whose zero dynam- ics is singularly perturbed, that is, the relative degree is ill-defined. For these systems, we show that there exists an inherent limitation in the bandwidth of a reference trajectory to be tracked when a well-conditioned feedforward input via stable inversion is sought. We assert that, when the violation of this limitation occurs, the so-called reference trajectory redesign is called for. Our analysis results can provide an explicit assessment as well as useful guidance for the reference trajectory redesign if needed.
基金This research work was funded by Institutional Fund Projects under Grant No.(IFPHI-106-135-2020).
文摘This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible joint.The proposed AGDI control law will be comprised of two control elements.The baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control objectives.The control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized inversion.To boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode principle.In discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering reduction.The closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is guaranteed.Rigorous computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.
基金This study is supported by the National Natural Science Foundation of China(Nos.41922024 and 42174057)Shenzhen Key Laboratory of Deep Offshore Oil and Gas Exploration Technology(No.ZDS-YS20190902093007855)Shenzhen Science and Technology Program(No.KQTD20170810111725321).
文摘Global optimization is an essential approach to any inversion problem.Recently,the grey wolf optimizer(GWO)has been proposed to optimize the global minimum,which has been quickly used in a variety of inv-ersion problems.In this study,we proposed a parameter-shifted grey wolf optimizer(psGWO)based on the conven-tional GWO algorithm to obtain the global minimum.Com-pared with GWO,the novel psGWO can effectively search targets toward objects without being trapped within the local minimum of the zero value.We confirmed the effectiveness of the new method in searching for uniform and random objectives by using mathematical functions released by the Congress on Evolutionary Computation.The psGWO alg-orithm was validated using up to 10,000 parameters to dem-onstrate its robustness in a large-scale optimization problem.We successfully applied psGWO in two-dimensional(2D)synthetic earthquake dynamic rupture inversion to obtain the frictional coefficients of the fault and critical slip-weakening distance using a homogeneous model.Furthermore,this alg-orithm was applied in inversions with heterogeneous dist-ributions of dynamic rupture parameters.This implementation can be efficiently applied in 3D cases and even in actual earthquake inversion and would deepen the understanding of the physics of natural earthquakes in the future.
基金Supported by the National Natural Science Foundation of China(No.61170328)
文摘The purpose of using life extending control for Black Hawk UH-60 helicopter is to make a trade-off between the handling qualities and the service life of critical components. An increase in service life span results in enhanced safety and the reduction in maintenance costs. This paper presents a design methodology of life extending control for structural durability and high performance of mechanical system, which is based on an explicit dynamic inversion control scheme. A real-time nonlinear fatigue crack growth model is built to predict fatigue damage resulting from the impact of cyclic bending stress on rotor shaft, which serves as an indicator of service life. The 4-axis gainscheduled flight controller, whose gains are adjusted as a function of damage and flight velocity, is designed to regulate roll attitude, pitch attitude, vertical velocity and yaw rate. The nonlinear system simulation results show that the responses can meet the requirements on ADS-33 Level 1 handling qualities and that the 4-axis decoupling control is realized. As the damage increases, the tracking performance is slightly degraded, which results in smaller transients in bending moment response.
基金the National Natural Science Foundation of China(No.41874047)the High-performance Computing Platform of Peking University.
文摘In this study,we attempted to perform an earthquake source dynamic inversion to obtain dynamic parameters on fault system with complex geometry.The forward modeling of the spontaneous rupture process is carried out using a boundary integral equation method(BIEM)based on unstructured meshing,and the inversion method is implemented by a genetic algorithm based on a parallel acceleration of the GPU.The source model in this study is a branched fault,which is described by two physical parameters,the initial stress T0 and the critical slip-weakening distance Dc.We investigated the effect of the inherited parameters on the accuracy and convergence of the inversion simulation.Numerical results showed that if a set of parameters are assigned properly,the inversion of rupture parameters is accurate and converges fast.It is easy to converge to a local optimal solution during the inversion process if inappropriate inherited parameters are selected.Compared with T0,D。has better convergence and accuracy in.the inversion process.
文摘Offshore carbon capture, utilization, and storage(OCCUS) is regarded as a crucial technology for mitigating greenhouse gas emissions.Quantitative monitoring maps of sealed carbon dioxide are necessary in a comprehensive OCCUS project. A potential high-resolution method for the aforementioned purpose lies in the full-waveform inversion(FWI) of time-lapse seismic data. However, practical applications of FWI are severely restricted by the well-known cycle-skipping problem. A new time-lapse FWI method using cross-correlation-based dynamic time warping(CDTW) is proposed to detect changes in the subsurface property due to carbon dioxide(CO_(2)) injection and address the aforementioned issue. The proposed method, namely CDTW, which combines the advantages of cross-correlation and dynamic time warping, is employed in the automatic estimation of the discrepancy between the seismic signals simulated using the baseline/initial model and those acquired. The proposed FWI method can then back-project the estimated discrepancy to the subsurface space domain, thereby facilitating retrieval of the induced subsurface property change by taking the difference between the inverted baseline and monitor models. Numerical results on pairs of signals prove that CDTW can obtain reliable shifts under amplitude modulation and noise contamination conditions. The performance of CDTW substantially outperforms that of the conventional dynamic time warping method. The proposed time-lapse fullwaveform inversion(FWI) method is applied to the Frio-2 CO_(2) storage model. The baseline and monitor models are inverted from the corresponding time-lapse seismic data. The changes in velocity due to CO_(2) injection are reconstructed by the difference between the baseline and the monitor models.
基金Project supported by the National Natural Science Foundation of China （Grant Nos 10272021, 10572021） and the Doctoral Programme Foundation of Institution of Higher Education of China （Grant No 20040007022）.
文摘This paper presents an inverse problem in analytical dynamics. The inverse problem is to construct the Lagrangian when the integrals of a system are given. Firstly, the differential equations are obtained by using the time derivative of the integrals. Secondly, the differential equations can be written in the Lagrange equations under certain conditions and the Lagrangian can be obtained. Finally, two examples are given to illustrate the application of the result.
文摘The precise integration method proposed for linear time-invariant homogeneous dynamic systems can provide accurate numerical results that approach an exact solution at integration points. However, difficulties arise when the algorithm is used for non-homogeneous dynamic systems due to the inverse matrix calculation required. In this paper, the structural dynamic equalibrium equations are converted into a special form, the inverse matrix calculation is replaced by the Crout decomposition method to solve the dynamic equilibrium equations, and the precise integration method without the inverse matrix calculation is obtained. The new algorithm enhances the present precise integration method by improving both the computational accuracy and efficiency. Two numerical examples are given to demonstrate the validity and efficiency of the proposed algorithm.
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.
基金Supported by National Natural Science Foundation of China(Grant No.11672127)Fundamental Research Funds for the Central Universities of China(Grant No.NP2016412)
文摘Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most stud?ies on overtaking safety have neglected research into driver control input. A novel method is proposed to obtain the driver control input during the overtaking process. Meanwhile, to improve the safety of overtaking, two types of safe distances, and the time of the overtaking are considered. Path constraints are established when considering the two types of safe distances. An optimal control model is established to solve the minimum time maneuver under multiple constraints. Using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear pro?gramming problem, which is then solved through sequential quadratic programming(SQP). In addition, the e ective?ness of the proposed method is verified based on the results of a Carsim simulation. The simulation results show that by adopting an inverse dynamics method to solve the manipulation problem of the vehicle’s minimum overtaking time, the manipulation capability of a vehicle in completing an overtaking safely within the minimum time can be obtained. This method can provide a reference for research into the active safety of manned and unmanned vehicles.
基金Supported by National Natural Science Foundation of China(Grant No.51475211)
文摘Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions（FRFs） to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.
