In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model ...In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model （which assumes that the frequency of wingbeat is sufficiently higher than that of the body motion, so that the flapping wings＇ degrees of freedom relative to the body can be dropped and the wings can be replaced by wingbeat-cycle-average forces and moments）; the simulation solves the complete equations of motion coupled with the Navier-Stokes equations. Comparison between the theory and the simulation provides a test to the validity of the assumptions in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency （164 Hz） and the other is a model hawkmoth which has relatively low wingbeat frequency （26 Hz）. The results show that the averaged model is valid for the hawkmoth as well as for the dronefly. Since the wingbeat frequency of the hawkmoth is relatively low （the characteristic times of the natural modes of motion of the body divided by wingbeat period are relatively large） compared with many other insects, that the theory based on the averaged model is valid for the hawkmoth means that it could be valid for many insects.展开更多
In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due...In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability展开更多
Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“fi...Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“first flight serving first”is used to allocate the first time,and then the hybrid algorithm of artificial fish swarm and simulated annealing is used to find the optimal solution.That means the fish swarm algorithm with the swallowing behavior is employed to find the optimal solution quickly,and the simulated annealing algorithm is used to obtain a global optimal allocation scheme for the optimal local region.The experimental data show that the maximum utilization of the gate is 27.81%higher than that of the“first come first serve”method when the apron is not limited,and the hybrid algorithm has fewer iterations than the simulated annealing algorithm alone,with the overall passenger transfer tension reducing by 1.615;the hybrid algorithm has faster convergence and better performance than the artificial fish swarm algorithm alone.The experimental results indicate that the hybrid algorithm of fish swarm and simulated annealing can achieve higher utilization rate of gates and lower passenger transfer tension under the idea of“first flight serving first”.展开更多
A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose...A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.展开更多
The existing full-span models of the tiltrotor aircraft adopted the rigid blade model without considering the coupling relationship among the elastic blade, wing and fuselage. To overcome the limitations of the existi...The existing full-span models of the tiltrotor aircraft adopted the rigid blade model without considering the coupling relationship among the elastic blade, wing and fuselage. To overcome the limitations of the existing full-span models and improve the precision of aeroelastic analysis of tiltrotor aircraft in forward flight, the aeroelastic stability analysis model of full-span tiltrotor aircraft in forward flight has been presented in this paper by considering the coupling among elastic blade, wing, fuselage and various components. The analytical model is validated by comparing with the calculation results and experimental data in the existing references. The influence of some structural parameters, such as the fuselage degrees of freedom, relative displacement between the hub center and the gravity center, and nacelle length, on the system stability is also investigated. The results show that the fuselage degrees of freedom decrease the critical stability velocity of tiltrotor aircraft, and the variation of the structural parameters has great influence on the system stability,and the instability form of system can change between the anti-symmetric and symmetric wing motions of vertical and chordwise bending.展开更多
It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that...It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.展开更多
Goals reasoning and management of pilot is a key issue to monitor pilot's behavior and intention. Traditional modeling methods are based on scenarios or situations, such methods will cause the,covering problem due...Goals reasoning and management of pilot is a key issue to monitor pilot's behavior and intention. Traditional modeling methods are based on scenarios or situations, such methods will cause the,covering problem due to redundancy and are incapable of depicting interactions among various goals and plans of pilot. Petri net integrated with belief, desire and intention (BDI) theory (BDI Petri net) is designed to solve this problem. Focusing on the BDI theory, goal states of agent are discussed firstly. Belief, desire and intention are modeled by places and transitions based on the Petri net theory. In order to simplify the network, colored token is introduced to depict various states of belief, and the hierarchy transition is applied to model the intention, together with tokens' flow derrionstrating the interaction among various goals and relationship among belief, desire and intention. A search and rescue mission is used to validate the proposed method and the result indicates that the model can be used to monitor goals and behaviors of pilots.展开更多
In order to take requirements for commercial operations or military missions into better consideration in new flight vehicle design, a tri-hierarchical task classification model of ＂design for operation＂ is proposed...In order to take requirements for commercial operations or military missions into better consideration in new flight vehicle design, a tri-hierarchical task classification model of ＂design for operation＂ is proposed, which takes basic man-object interaction task, complex collaborative operation and large-scale joint operation into account. The corresponding general architecture of evaluation criteria is also depicted. Then a virtual simulation-based approach to implement the evaluations at three hierarchy levels is mainly analyzed with a detailed example, which validates the feasibility and effectiveness of evaluation architecture. Finally, extending the virtual simulation architecture from design to operation training is discussed.展开更多
In modern terrain-following guidance it is an important index for flight vehicle to cruise about safely and normally. On the basis of a constructing method of digital surface model (DSM), the definition, classificatio...In modern terrain-following guidance it is an important index for flight vehicle to cruise about safely and normally. On the basis of a constructing method of digital surface model (DSM), the definition, classification and scale analysis of an isolated obstacle threatening flight safety of terrain-following guidance are made. When the interval of vertical-and cross-sections on DSM is 12. 5 m, the proportion of isolated obstacles to the data amount of DSM model to be loaded is optimal. The main factors influencing the lowest flying height in terrain-following guidance are analyzed, and a primary safe criterion of the lowest flying height over DSM model is proposed. According to their test errors, the lowest flying height over 1:10 000 DSM model can reach 40. 5 m^45. 0 m in terrain-following guidance. It is shown from the simulation results of a typical urban district that the proposed models and methods are reasonable and feasible.展开更多
A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under ...A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under different working conditions through closed-loop identification with power spectrum estimation. Then in controller designing, it makes a trade, off between the strict requirements for magnitude-frequency characteristics and those for phase-frequency characteristics of flight simulators, by converting the indices of magnitude-frequency characteristics of flight simulators into quantitative feedback theory-based tracking specification bounds and using feedforward controller to attain the required phase-flequency characteristics. Simulation and experimental results indicate that, when used to design inner flame controller of flight simulator, the proposed method can fulfill the requirements for wide frequency bandwidth indices. Compared with other controller design methods, it has the property of model-free and transparency.展开更多
This paper aims to provide a parametric design for robust flight controller of the model-scale helicopter. The main contributions lie in two aspects. Firstly,under near-hovering condition,a procedure is presented for ...This paper aims to provide a parametric design for robust flight controller of the model-scale helicopter. The main contributions lie in two aspects. Firstly,under near-hovering condition,a procedure is presented for simplification of the highly nonlinear and under-actuated model of the model-scale helicopter. This nonlinear system is linearized around the trim values of the chosen flight mode,followed by decomposing this high-order linear model into three lower-order subsystems according to the coupling properties among channels.After decomposition,the three subsystems are obtained which include the coupling subsystem between the roll( pitch) motion and the lateral( longitudinal) motion,the subsystem of the yaw motion and the subsystem of the vertical motion. Secondly,by using eigenstructure assignment,the problem of flight controller design can be converted into solving two optimization problems and the linear robust controllers of these subsystems are designed through solving these optimization problems. Besides, this paper contrasts and analyzed the performances of the LQR controller and the parametric controller. The results demonstrate the effectiveness and the robustness against the parametric perturbations of the parametric controller.展开更多
Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performanc...Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings.Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter(IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System(SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.展开更多
A tilt rotor is an aircraft of a special kind, which possesses the characteristics of a helicopter and a fixed-wing airplane. However, there are a great number of important technical problems waiting for settlements. ...A tilt rotor is an aircraft of a special kind, which possesses the characteristics of a helicopter and a fixed-wing airplane. However, there are a great number of important technical problems waiting for settlements. Of them, the flight control system might be a critical one. This article presents the progresses of the research work on the design of flight control system at Nanjing University of Aeronautics and Astronautics (NUAA). The flight control law of the tilt rotor aircraft is designed with the help ...展开更多
在民机自动飞行过程中,飞行导引系统的模式转换是影响安全的重要因素,应对其进行充分的安全性分析。传统安全分析方法主要关注各个组件的失效因素,忽略了由组件间非线性交互产生的安全问题。为此,采用系统理论过程分析(System Theory Pr...在民机自动飞行过程中,飞行导引系统的模式转换是影响安全的重要因素,应对其进行充分的安全性分析。传统安全分析方法主要关注各个组件的失效因素,忽略了由组件间非线性交互产生的安全问题。为此,采用系统理论过程分析(System Theory Process Analysis,STPA)方法,对飞行导引系统模式转换进行系统且完整的分析。同时,鉴于STPA方法中存在需人工分析的部分,引入了基于时间自动机理论的形式化模型检查工具UPPAAL对系统进行建模与验证,以确保控制结构图的正确性,并识别真正不安全控制行为(Unsafe Control Action,UCA),从而避免资源的浪费。最后,提出规范化的致因因素分析框架对通过验证的UCA进行逐一分析。实例证明,所提方法对航空类复杂系统安全性分析具有较好的效果。展开更多
The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimpl...The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.展开更多
基金supported by the National Natural Science Foundation of China (10732030) and the 111 Project (B07009)
文摘In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model （which assumes that the frequency of wingbeat is sufficiently higher than that of the body motion, so that the flapping wings＇ degrees of freedom relative to the body can be dropped and the wings can be replaced by wingbeat-cycle-average forces and moments）; the simulation solves the complete equations of motion coupled with the Navier-Stokes equations. Comparison between the theory and the simulation provides a test to the validity of the assumptions in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency （164 Hz） and the other is a model hawkmoth which has relatively low wingbeat frequency （26 Hz）. The results show that the averaged model is valid for the hawkmoth as well as for the dronefly. Since the wingbeat frequency of the hawkmoth is relatively low （the characteristic times of the natural modes of motion of the body divided by wingbeat period are relatively large） compared with many other insects, that the theory based on the averaged model is valid for the hawkmoth means that it could be valid for many insects.
文摘In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability
基金This paper is supported by The National Nature Science Foundation of China(No.61703426).
文摘Aiming at the problem of gate allocation of transit flights,a flight first service model is established.Under the constraints of maximizing the utilization rate of gates and minimizing the transit time,the idea of“first flight serving first”is used to allocate the first time,and then the hybrid algorithm of artificial fish swarm and simulated annealing is used to find the optimal solution.That means the fish swarm algorithm with the swallowing behavior is employed to find the optimal solution quickly,and the simulated annealing algorithm is used to obtain a global optimal allocation scheme for the optimal local region.The experimental data show that the maximum utilization of the gate is 27.81%higher than that of the“first come first serve”method when the apron is not limited,and the hybrid algorithm has fewer iterations than the simulated annealing algorithm alone,with the overall passenger transfer tension reducing by 1.615;the hybrid algorithm has faster convergence and better performance than the artificial fish swarm algorithm alone.The experimental results indicate that the hybrid algorithm of fish swarm and simulated annealing can achieve higher utilization rate of gates and lower passenger transfer tension under the idea of“first flight serving first”.
基金the support of the Fund of Key Laboratory of Chinaa Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions of China
文摘A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.
基金supported by the National Natural Science Foundation of China (No. 11572150)
文摘The existing full-span models of the tiltrotor aircraft adopted the rigid blade model without considering the coupling relationship among the elastic blade, wing and fuselage. To overcome the limitations of the existing full-span models and improve the precision of aeroelastic analysis of tiltrotor aircraft in forward flight, the aeroelastic stability analysis model of full-span tiltrotor aircraft in forward flight has been presented in this paper by considering the coupling among elastic blade, wing, fuselage and various components. The analytical model is validated by comparing with the calculation results and experimental data in the existing references. The influence of some structural parameters, such as the fuselage degrees of freedom, relative displacement between the hub center and the gravity center, and nacelle length, on the system stability is also investigated. The results show that the fuselage degrees of freedom decrease the critical stability velocity of tiltrotor aircraft, and the variation of the structural parameters has great influence on the system stability,and the instability form of system can change between the anti-symmetric and symmetric wing motions of vertical and chordwise bending.
基金The National Natural Science Foundation of China(No60475039)
文摘It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.
文摘Goals reasoning and management of pilot is a key issue to monitor pilot's behavior and intention. Traditional modeling methods are based on scenarios or situations, such methods will cause the,covering problem due to redundancy and are incapable of depicting interactions among various goals and plans of pilot. Petri net integrated with belief, desire and intention (BDI) theory (BDI Petri net) is designed to solve this problem. Focusing on the BDI theory, goal states of agent are discussed firstly. Belief, desire and intention are modeled by places and transitions based on the Petri net theory. In order to simplify the network, colored token is introduced to depict various states of belief, and the hierarchy transition is applied to model the intention, together with tokens' flow derrionstrating the interaction among various goals and relationship among belief, desire and intention. A search and rescue mission is used to validate the proposed method and the result indicates that the model can be used to monitor goals and behaviors of pilots.
文摘In order to take requirements for commercial operations or military missions into better consideration in new flight vehicle design, a tri-hierarchical task classification model of ＂design for operation＂ is proposed, which takes basic man-object interaction task, complex collaborative operation and large-scale joint operation into account. The corresponding general architecture of evaluation criteria is also depicted. Then a virtual simulation-based approach to implement the evaluations at three hierarchy levels is mainly analyzed with a detailed example, which validates the feasibility and effectiveness of evaluation architecture. Finally, extending the virtual simulation architecture from design to operation training is discussed.
基金This project was supported by the National Natural Science Foundation of China (60072009).
文摘In modern terrain-following guidance it is an important index for flight vehicle to cruise about safely and normally. On the basis of a constructing method of digital surface model (DSM), the definition, classification and scale analysis of an isolated obstacle threatening flight safety of terrain-following guidance are made. When the interval of vertical-and cross-sections on DSM is 12. 5 m, the proportion of isolated obstacles to the data amount of DSM model to be loaded is optimal. The main factors influencing the lowest flying height in terrain-following guidance are analyzed, and a primary safe criterion of the lowest flying height over DSM model is proposed. According to their test errors, the lowest flying height over 1:10 000 DSM model can reach 40. 5 m^45. 0 m in terrain-following guidance. It is shown from the simulation results of a typical urban district that the proposed models and methods are reasonable and feasible.
文摘A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under different working conditions through closed-loop identification with power spectrum estimation. Then in controller designing, it makes a trade, off between the strict requirements for magnitude-frequency characteristics and those for phase-frequency characteristics of flight simulators, by converting the indices of magnitude-frequency characteristics of flight simulators into quantitative feedback theory-based tracking specification bounds and using feedforward controller to attain the required phase-flequency characteristics. Simulation and experimental results indicate that, when used to design inner flame controller of flight simulator, the proposed method can fulfill the requirements for wide frequency bandwidth indices. Compared with other controller design methods, it has the property of model-free and transparency.
文摘This paper aims to provide a parametric design for robust flight controller of the model-scale helicopter. The main contributions lie in two aspects. Firstly,under near-hovering condition,a procedure is presented for simplification of the highly nonlinear and under-actuated model of the model-scale helicopter. This nonlinear system is linearized around the trim values of the chosen flight mode,followed by decomposing this high-order linear model into three lower-order subsystems according to the coupling properties among channels.After decomposition,the three subsystems are obtained which include the coupling subsystem between the roll( pitch) motion and the lateral( longitudinal) motion,the subsystem of the yaw motion and the subsystem of the vertical motion. Secondly,by using eigenstructure assignment,the problem of flight controller design can be converted into solving two optimization problems and the linear robust controllers of these subsystems are designed through solving these optimization problems. Besides, this paper contrasts and analyzed the performances of the LQR controller and the parametric controller. The results demonstrate the effectiveness and the robustness against the parametric perturbations of the parametric controller.
基金co-supported by the Beijing Natural Science Foundation of China (No. 4194074)the National Key R&D Program of China (No. 2017YFC1600605)+1 种基金the Shandong Provincial Natural Science Foundation of China (No. ZR2018BF016)the Beijing Municipal Education Commission Research Program-General Project of China (No. KM201910011011)
文摘Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings.Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter(IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System(SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.
基金National Natural Science Foundation of China (60705034)
文摘A tilt rotor is an aircraft of a special kind, which possesses the characteristics of a helicopter and a fixed-wing airplane. However, there are a great number of important technical problems waiting for settlements. Of them, the flight control system might be a critical one. This article presents the progresses of the research work on the design of flight control system at Nanjing University of Aeronautics and Astronautics (NUAA). The flight control law of the tilt rotor aircraft is designed with the help ...
文摘在民机自动飞行过程中,飞行导引系统的模式转换是影响安全的重要因素,应对其进行充分的安全性分析。传统安全分析方法主要关注各个组件的失效因素,忽略了由组件间非线性交互产生的安全问题。为此,采用系统理论过程分析(System Theory Process Analysis,STPA)方法,对飞行导引系统模式转换进行系统且完整的分析。同时,鉴于STPA方法中存在需人工分析的部分,引入了基于时间自动机理论的形式化模型检查工具UPPAAL对系统进行建模与验证,以确保控制结构图的正确性,并识别真正不安全控制行为(Unsafe Control Action,UCA),从而避免资源的浪费。最后,提出规范化的致因因素分析框架对通过验证的UCA进行逐一分析。实例证明,所提方法对航空类复杂系统安全性分析具有较好的效果。
基金Graduate Innovation and Practice Foundation of Beijing University of Aeronautics amd Astronautics
文摘The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.
