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改进扩张状态观测器的无人机自抗扰控制器
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作者 包家汉 胡政 +2 位作者 黄建中 徐张宝 贾晨露 《电光与控制》 北大核心 2025年第11期1-6,25,共7页
高空四旋翼无人机(UAV)悬停作业时存在气流等叠加外力,干扰其飞行稳定性。基于传统fal函数的扩张状态观测器(ESO)存在估计精度不足和初始微分峰值等问题,制约了无人机自抗扰控制(ADRC)的性能。为此,提出一种光滑且处处可导,并具有饱和... 高空四旋翼无人机(UAV)悬停作业时存在气流等叠加外力,干扰其飞行稳定性。基于传统fal函数的扩张状态观测器(ESO)存在估计精度不足和初始微分峰值等问题,制约了无人机自抗扰控制(ADRC)的性能。为此,提出一种光滑且处处可导,并具有饱和特性的非线性函数Tfal替代fal函数,改善ESO对状态量及扰动的估计精度和稳定性。采用Lyapunov函数证明了ESO误差系统渐近稳定。仿真实验证明,改进的ESO可以抑制观测初期的峰值振荡,提高估计精度及ADRC的抗扰性能。无人机姿态控制实机试验验证了该ADRC控制器可以快速克服随机扰动的影响,保持稳态精度,为高空清洗智能无人机的研发提供了控制基础。 展开更多
关键词 四旋翼无人机 自抗扰控制 扩张状态观测器 LYAPUNOV函数 tfal函数
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基于改进fal函数的四旋翼无人机姿态运动控制 被引量:1
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作者 刘文婧 陈腾宇 +1 位作者 湛春颖 王少锋 《科学技术与工程》 北大核心 2025年第6期2453-2460,共8页
对于四旋翼无人机在姿态上的运动控制,目前主要方法是对自抗扰控制(active disturbance rejection control,ADRC)系统的应用。针对此系统在处理具有传感器噪声的复杂干扰时,以往的fal函数设计在应用上仍有许多缺陷。扩张状态观测器(exte... 对于四旋翼无人机在姿态上的运动控制,目前主要方法是对自抗扰控制(active disturbance rejection control,ADRC)系统的应用。针对此系统在处理具有传感器噪声的复杂干扰时,以往的fal函数设计在应用上仍有许多缺陷。扩张状态观测器(extended state observer,ESO)在传统fal函数的作用下,其工作过程中存在观测的精度不足以及抖振发生率较高等问题。因此,在以往fal函数的基础上改进出了一种新型的非线性光滑tfal函数,并以此函数研究ESO,最后,将其他ADRC方法与此方法置于MATLAB/Simulink软件进行比较仿真,新设计的tfal函数表现出更好的收敛性。基于tfal设计的新型ESO,在误差估计和误差跟随性能上有着明显提升。同时相比于改进函数galn和传统函数fal,新型ESO下姿态自抗扰控制系统,其跟踪能力分别提升了2.3%和4%,抗干扰性能分别提升了50%和67%。 展开更多
关键词 tfal函数 四旋翼飞行器 姿态控制
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Enhancing hydrothermal stability of framework Al in ZSM-5:From the view on the transformation between P and Al species by solid-state NMR spectroscopy 被引量:7
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作者 Lei Han Ying Ouyang +2 位作者 Enhui Xing Yibin Luo Zhijian Da 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2020年第12期3052-3060,共9页
HZSM-5,with good surface acidity and shape selectivity,was reported as hydrocarbon cracking catalyst for multiple decades,however the hydrothermal stability,especially dealumination of tetrahedrally coordinated framew... HZSM-5,with good surface acidity and shape selectivity,was reported as hydrocarbon cracking catalyst for multiple decades,however the hydrothermal stability,especially dealumination of tetrahedrally coordinated framework aluminum(TFAl),has been proved extensively as one of the major challenges during reactionregeneration process.Phosphorus was proposed to stabilize TFAl and indeed it enhanced the hydrothermal stability.Unfortunately,most of the phosphorus species would remain outside of the zeolite pore,mainly as polyphosphate species,and block the micropore severely,with only a limited portion introduced into the channel being able to interact with TFAl.Enlarging the pore size by alkali treatment(desilication)is one of the most convinced methods,but the details about specific P species during alkali treatment and its transformation upon hydrothermal activation is not acquired,thus the mechanism has not been fully understood.Herein,the P-containing species and its transformation during direct P modification and acid/alkali treatment followed by Pmodification have been studied,and the mechanism on the interaction between P and Al species has been investigated,using several analytical methods,especially Solid-state nuclear magnetic resonance(SSNMR)spectroscopy.It was found that the combination of desilication and subsequent phosphorus modification can enhance the activity of the ZSM-5 for the cracking of ethylcyclohexane,due to the better hydrothermal stabilization of acid sites by the enhanced interaction between phosphorus and TFAl,resulting from the improved accessibility of TFAl because of the successful generation of mesoporosity.Whereas the acid treatment followed by phosphorus modification,with declined retention of crystallinity and P/Al ratio,monoclinic/orthorhombic transition during steam activation,and the failed generation of mesopores,would cause obvious aggregation of the phosphorus species and could not improve the hydrothermal stability of the ZSM-5 effectively,and the direct phosphatation turned out much worse.Finally,a specific index that the intensity of the signal at 39 in 27Al MAS NMR spectra before steam activation was proposed as the indicator for determining the efficiency of phosphorus modification.And the proposed mechanism on the interaction between phosphorus and TFAl during the phosphorus modification could also be applicable in other zeolites. 展开更多
关键词 Phosphorus modification tfal NaOH/alkali treatment Interaction ZSM-5
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