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    28 September 2020, Volume 54 Issue 9 Previous Issue    Next Issue
    A Variational Bayes-Based Filter with Uncertain Heavy-Tailed Noise
    DONG Xiangxiang, LÜ Runyan, CAI Yunze*
    2020, 54 (9):  881-889.  doi: 10.16183/j.cnki.jsjtu.2020.99.014
    Abstract ( 1319 )   HTML ( 2118 )   PDF (1125KB) ( 383 )   Save

    An adaptive Pearson Type VII based filter was proposed to deal with measurement noise with heavy tailed distribution and uncertain statistical characteristics in nonlinear filtering. In view of the fact that the scale matrix and degree-of-freedom (DOF) parameters of traditional robust Kalman filter are fixed, which cannot adjust adaptively. The Pearson Type VII distribution was selected to model the heavy tailed noise to realize the adaptive estimation of 2-DOF parameters based on Cubature Kalman filter (CKF). Inverse Wishart and Gamma distributions were used to describe prior distributions of the scale matrix, 2-DOF parameters, and auxiliary parameters. Besides, time updating of these parameters was performed through a forgetting factor. Based on the variational Bayesian theory, the variational iteration of joint posterior probability density function formed by states together with the 2-DOF parameters and auxiliary parameters was performed, and the states and noise parameters were estimated simultaneously. The simulation results show that this algorithm has a higher filtering accuracy than the traditional robust CKF under the condition of uncertain heavy tailed noise.

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    Adaptive NN-SM Control for Path Following of Underactuated Surface Vessels
    HE Hongwei, ZOU Zaojian, ZENG Zhihua
    2020, 54 (9):  890-897.  doi: 10.16183/j.cnki.jsjtu.2019.122
    Abstract ( 898 )   HTML ( 21 )   PDF (1251KB) ( 426 )   Save

    A control method combining the neural network (NN) and sliding mode (SM) is proposed for path following of underactuated surface vessels. The line-of-sight (LOS) guidance is used to solve the underactuated problem, and an adaptive state observer of drift angle is designed for counteracting the steady state cross-track error caused by the drift angle. The SM control method is applied to heading control while the NN is included to cope with the uncertainties of control model. The stability of the control system is proved by the Lyapunov theory, and the validity of the proposed controller is verified by comparing the simulation results.

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    Discrete-Time Integral Sliding Mode Predictive Control for Single Input Single Output Systems
    LIU Qiu, ZHAO Dongya
    2020, 54 (9):  898-903.  doi: 10.16183/j.cnki.jsjtu.2020.169
    Abstract ( 899 )   HTML ( 13 )   PDF (589KB) ( 414 )   Save

    Based on the theories of discrete-time sliding mode control and model predictive control, a discrete-time integral sliding mode predictive control algorithm is proposed for a class of single input single output (SISO) control systems with disturbance. The control algorithm proposed combines the advantages of sliding mode control and model predictive control. The integral sliding mode reduces the disturbance effect of the system, which ensures the robustness of the whole system. The design method reduces the requirement on the controller of the system model, and enhances the control performance because the control algorithm does not require strict model forms as well as the characteristics of the system output rolling optimization. The stability analysis and MATLAB software simulations verify the effectiveness of the control algorithm.

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    Learning Predictive Control of Vehicular Automated Cruise Systems Based on Gaussian Process Regression
    HE Defeng, PENG Binbin, GU Yujia, YU Shiming
    2020, 54 (9):  904-909.  doi: 10.16183/j.cnki.jsjtu.2020.173
    Abstract ( 1119 )   HTML ( 27 )   PDF (853KB) ( 466 )   Save

    Aimed at the preceding vehicular acceleration prediction problem in automated cruise systems, a learning predictive control strategy is proposed based on Gaussian process regression to meet people’s requirements for safety, comfort, and economy of vehicles. First, the method of Gaussian process regression is used to build the learning modeling of preceding vehicular acceleration. Then, the learning model is combined with the inter-vehicle kinematics models to define the predictive model of the vehicular automated cruise system. After that, the learning predictive controller is estabilished for the vehicular automated cruise system through optimizing the safety, driving comfort, and economy indexes online. Finally, under accelerating-decelerating classical driving scenarios, the effectiveness of the method proposed is compared with that of the traditional predictive cruise control on the CarSim/Simulink co-simulation platform. The results show that the method proposed is more effective and superior to traditional control strategies.

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    Event-Triggered Generalized Predictive Control of Cyber-Physical Systems Under Denial-of-Service Attacks
    WANG Zhiwen, LIU Wei
    2020, 54 (9):  910-915.  doi: 10.16183/j.cnki.jsjtu.2020.168
    Abstract ( 923 )   HTML ( 10 )   PDF (901KB) ( 276 )   Save

    A generalized predictive control strategy of cyber-physical systems under denial-of-service (DoS) attack is studied. First, an event-triggered communication strategy is designed to reduce the occupation of communication resources based on the periodic sampling strategy of the system. At the same time, in order to reduce the adverse effects of DoS attacks on the system, a data compensation method based on predictive control is proposed. The data of state information lost in system attacks are predicted by the successfully received historical state information in the controller nodes, and the expression of the controller feedback gain is proposed. Then, a closed-loop model of the system under event-triggered predictive control is proposed and sufficient conditions are analyzed. Finally, the effectiveness of the method is proved by the simulation example.

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    Optimal Control of Effluent Ammonia Nitrogen for Municipal Wastewater Treatment Process
    HAN Honggui, YANG Shiheng, ZHANG Lu, QIAO Junfei
    2020, 54 (9):  916-923.  doi: 10.16183/j.cnki.jsjtu.2020.170
    Abstract ( 822 )   HTML ( 13 )   PDF (940KB) ( 264 )   Save

    To improve the treatment effect of effluent ammonia nitrogen in municipal wastewater treatment process, an optimal control method was proposed in this paper. First, the performance index of effluent ammonia nitrogen concentration was analyzed by using the mechanism characteristics. Then, a relationship model with the adaptive kernel function between the performance index and the control variables was established. Next, a particle swarm optimization algorithm was used to obtain the optimal solutions of dissolved oxygen concentration. After that, an adaptive fuzzy neural network controller was designed to complete the tracking control of dissolved oxygen concentration. Finally, the proposed optimal control method was applied to the benchmark simulation model No.1 (BSM1). The results demonstrated that the proposed optimal control method can not only improve the treatment effect of effluent ammonia nitrogen, but also effectively reduce the energy consumption.

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    Simulation on Aeroelasticity of Flexible Propellers Based onRadial Point Interpolation Method
    ZHANG Yu, WANG Xiaoliang
    2020, 54 (9):  924-934.  doi: 10.16183/j.cnki.jsjtu.2019.308
    Abstract ( 850 )   HTML ( 12 )   PDF (5605KB) ( 254 )   Save

    To investigate the aeroelasticity effect and propulsion performance of flexible propellers, the mature computational fluid dynamics (CFD) and computational solid dynamics (CSD) softwares are used as the platform to establish an aeroelasticity analysis framework. The radial point interpolation method (RPIM) is applied to achieve the transmission of displacement, while the transfer of aerodynamic loads is assisted by the principle of virtual displacement. This method can avoid generating singular interpolation matrix. Moreover, it has numerical stability, which is suitable for nodes with arbitrary distribution. Furthermore, it can avoid energy loss during data transmission. The update of fluid domain grid is implemented by using the Delaunay mapping method. The results show that the maximum deformation of blade along the incoming flow direction can reach 9.4% of blade radius, and the deformation in the rotation plane is about 52.1% of flow direction. The deformation exerts a greater positive pressure on the windward side of the propeller, which, in turn, results in a higher thrust and torque in flexible propellers than in rigidity propellers. Their maximum changes can reach 7.2% and 9.9%, respectively. The aeroelasticity effect does not substantially affect the propulsion efficiency. Hence, the aeroelasticity effect has a greater impact on the propulsion performance when the propeller is under high thrust and low speed conditions. It can increase the thrust while basically maintaining the original efficiency.

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    Impacts of Blades Considering Manufacturing Tolerances on Aerodynamic Performance of Compressor
    ZHUANG Haowan, TENG Jinfang, ZHU Mingmin, QIANG Xiaoqing
    2020, 54 (9):  935-942.  doi: 10.16183/j.cnki.jsjtu.2020.150
    Abstract ( 920 )   HTML ( 10 )   PDF (1382KB) ( 335 )   Save

    In order to quantify the comprehensive impact of multi-type geometric manufacturing tolerances of axial compressor blades on performances, a method of constructing three-dimensional blades with multi-type manufacturing tolerances was designed, and the three-dimensional computational fluid dynamics(CFD) numerical simulations of compressor stage samples at the design point were conducted. Then, the uncertainty quantification analysis and sensitivity analysis were conducted. Finally, the typical results of two blade samples with geometric errors, which have the highest efficiency and the lowest efficiency, respectively, were selected to explore the impacts of their geometric variations on the outlet flow field. The results show that when the compressor stage is working at the design point, the average impact of all real blade manufacturing position, twist, and profile errors within the tolerance on blade performances is negligible. The performances include mass flow rate, total pressure ratio, isentropic efficiency, axial thrust, and torque. However, the torque of rotor relatively changes with a range up to -2.90%-2.30%. The mass flow rate and the total pressure ratio of the compressor stage are most sensitive to the sectional twist of the rotor, while the isentropic efficiency is jointly determined by the twist and axial position of the middle section and the position of the bottom section. With the comprehensive influence of geometric errors, the relative errors of the maximum isentropic efficiency in the two cases are up to +0.31% and -0.46% compared with the original case. The geometric variations change the radial distribution of the relative total pressure loss and the entropy distribution at the rotor outlet obviously, and the flow capacity and the pressurizing ability of blade passage are consequently influenced.

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    Yaw Stability Control of Carrier-Based Aircraft Towbarless Tractor Carrier
    QI Jiyan, JIN Jiaqi, FU Jingshun
    2020, 54 (9):  943-952.  doi: 10.16183/j.cnki.jsjtu.2020.99.008
    Abstract ( 1062 )   HTML ( 15 )   PDF (2596KB) ( 333 )   Save

    The yaw stability control of carried-based aircraft towbarless tractor is studied and analyzed. Considering the coupled roll-pitch-heave motion of the carrier, a time varying nonlinear dynamic model is established for the carrier-based aircraft towbarless tractor driven by in-wheel motors. The compensating moment needed for yaw stability control is obtained through the sliding mode controller and self-adaptive fuzzy proportion integration differentiation (PID)controller respectively. The yaw rate values of the ideal reference model can be followed. The two control methods are compared and verified by simulation using MATLAB/Simulink. The simulation results show that the yaw motion characteristics of the carrier-based aircraft towbarless tractor can be well reflected by the established dynamic model. Besides, the yaw rate of the tractor can be well controlled to follow an ideal reference model by the quasi sliding mode control. Moreover, the stability control of the tractor is achieved. Furthermore, the fast response time and the high robustness of system can be guaranteed under the sea state level 5 and below. The carrier-based aircraft towbarless tractor driving stability is effectively enhanced.

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    Guidance, Navigation and Control
    Mechanical Fault Detection Based on Machine Vision and Blind Source Separation
    PENG Cong, LIU Bin, ZHOU Qian
    2020, 54 (9):  953-960.  doi: 10.16183/j.cnki.jsjtu.2020.154
    Abstract ( 902 )   HTML ( 22 )   PDF (2883KB) ( 434 )   Save

    In order to solve the difficulties in extracting the required signal from a complex signal environment, and overcome the shortcomings of traditional methods for signal acquisition and processing, and the uncertain location of multi-source fault vibration signals, the multi-source fault of mechanical rotor is studied, and a fault detection method for rotating machinery based on machine vision and blind source separation is proposed. First, the basic mathematical principles of machine vision and blind source separation problem are introduced. Next, the acquired high-speed video is analyzed based on the blind source signal separation method and the overdetermined visual blind source separation method to achieve the separation and positioning of multi-source vibration signals. The experimental results show that the detection method proposed in this paper can accurately locate the multi-source faults of rotating machinery. This method combines the measurement methods of machine vision with the signal processing method of blind source separation to achieve an effective separation and identification on the multi-source faults.

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    A Damage Probability Calculation Model Based on State Equation of Firing Error for Anti-Aircraft Artillery
    WANG Xiangmin, WANG Jun, XIE Jietao, GUO Zhi
    2020, 54 (9):  961-966.  doi: 10.16183/j.cnki.jsjtu.2020.156
    Abstract ( 881 )   HTML ( 8 )   PDF (793KB) ( 371 )   Save

    Aimed at the damage probability calculation of anti-aircraft artillery weapons when the firing error sequence is correlated, a recursive calculation model of the anti-aircraft artillery damage probability based on the firing error state equation is proposed. In this model, the error sequence, which matches Gaussian process, is used to build the state equation. Then, the weak correlation errors are decomposed into the predictable error and the unpredictable error. In addition, the error correlation is represented by the prediction coefficient. According to the recursive estimation theory, the calculation of the damage probability for the anti-aircraft artillery with correlation of the firing error is presented. The simulation results show that the damage probability calculation results are basically the same as those adopting the national military standard while the error is a first-order autocorrelation stationary sequence. However, the proposed recursive method has a higher accuracy if the error is a high-order autocorrelation stationary sequence.

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    Stability Criteria of Linear Time-Delay Singular Systems Based on Wirtinger-Type Integral Inequality
    ZHU Jinliang, WANG Ting, LI Tao
    2020, 54 (9):  967-972.  doi: 10.16183/j.cnki.jsjtu.2020.147
    Abstract ( 896 )   HTML ( 7 )   PDF (584KB) ( 315 )   Save

    Aimed at the asymptotic stability of linear time-delay singular system,the time-delay interval was evenly divided by using the time-delay division method, and a Lyapunov-Krasovskii functional (LKF) with multiple integral terms was constructed to effectively utilize the time-delay information of each sub-interval. Next, some improved Wirtinger-type integral inequalities were employed to estimate the LKF derivative and obtain a tighter estimation. Then, delay-dependent sufficient conditions were established to ensure the asymptotic stability of the addressed system. Finally, by using three numerical examples, comparisons and simulations were presented to illustrate the efficiency and superiority of the proposed method.

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    Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons
    ZHAO Jianxia, DUAN Haibin, ZHAO Yanjie, FAN Yanming, WEI Chen
    2020, 54 (9):  973-980.  doi: 10.16183/j.cnki.jsjtu.2020.146
    Abstract ( 1246 )   HTML ( 27 )   PDF (1773KB) ( 450 )   Save

    The manned aerial vehicle (MAV) in manned-unmanned aerial vehicle swarm (MUMS) can compensate for the inabilities of unmanned aerial vehicles (UAVs) in complex conditions. Taking the advantage of the information-efficient transmission of hierarchical interaction mechanism of pigeons, a novel method for consensus control of MUMS was proposed. According to the constraints and the human behavior characteristics, a dynamic model of UAVs and a multi-channel operator model were established, based on which, a hierarchical interaction network was constructed. In this network, the flight decisions of MAV affect the individuals with higher ranks. Then these UAVs affect the remaining UAVs through the leadership hierarchical network. Therefore, an adaptive containment control strategy was proposed to reduce the costs, and achieve motion consistency of MUMS. In addition, the stability of the system was analyzed. Moreover, the effectiveness of the proposed method was verified by simulations.

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    Adaptive Control of Non-Affine Pure Feedback Nonlinear Switching Systems
    CHEN Longsheng, WANG Qi, HE Guoyi
    2020, 54 (9):  981-986.  doi: 10.16183/j.cnki.jsjtu.2020.137
    Abstract ( 1022 )   HTML ( 7 )   PDF (697KB) ( 187 )   Save

    Focusing on the issue of adaptive neural tracking control for a class of single input and single output unknown non-affine pure feedback nonlinear switching systems, the mean-value theorem was applied to deal with the non-affine problem successively, and the unknown nonlinear nonlinearities were approximated by radial basis function neural network. Next, the Nussbaum gain technique and the first-order filter were employed to solve the unknown control coefficients and the “explosion of complexity” problem. Finally, a state-feedback controller was proposed by using the common Lyapunov function approach, and the stability of the closed-loop system was analyzed. The proposed controller can decrease the number of learning parameters, and avoid parameter jump when the switch occurs, thus reduces the computational burden. The proposed controller can guarantee that all the signals in the closed-loop system are semi-globally, and the tracking error converges to a small neighborhood of the origin. The simulation results verify the feasibility and effectiveness of the approach.

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    Station Keeping Guidance Strategy Based on Course Constraint for Unmanned Surface Vehicles
    LI Pengbo, YUAN Mingzhe, XIAO Jinchao, XIONG Junfeng
    2020, 54 (9):  987-993.  doi: 10.16183/j.cnki.jsjtu.2020.148
    Abstract ( 890 )   HTML ( 18 )   PDF (1163KB) ( 263 )   Save

    Aimed at the problem that the position and heading angle constrains of under-actuated unmanned surface vehicle (USV) cannot be taken into account at the same time in the position and attitude maintenance control, a strategy based on course constrains for the station keeping control of USV is proposed. First, a new fixed coordinate system based on the desired position and heading of USV is established. The coordinate system is divided into the reachable regions A and B, and unreachable region C. When the USV is in reachable region, it can return to the desired position and heading while it is able to avoid exceeding the desired heading angle range due to the inability to produce a lateral motion. Then different guidance strategies in different regions are used, which strictly restrict the course angle of the USV during the guidance process. Finally, the desired velocity and course angle are generated by the guidance strategy. The controller generates the execution and the USV quickly returns to the desired position and heading. The guidance strategy based on the course constraint incorporates the course constraint from the inner control into the outer guidance. As the USV implements different strategies in different regions, the desired position and heading and the inner loop control realize the station keeping of the USV. The outer loop guidance and inner loop control constraints are combined to take into account the under-actuated characteristics of the USV, which also simplifies the complexity of the controller design. The simulation experiments have proved the feasibility and effectiveness of the guidance strategy.

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    Safe Flight Control of Unmanned Helicopter Under Forest Environment
    MEI Rong
    2020, 54 (9):  994-999.  doi: 10.16183/j.cnki.jsjtu.2020.155
    Abstract ( 782 )   HTML ( 8 )   PDF (851KB) ( 157 )   Save

    Aimed at the limitations of altitude and attitude of the unmanned helicopter with disturbance in the forest environment, a safe tracking sliding mode flight control method is proposed. In order to avoid the threat of tree height faced by the unmanned helicopter and maintain the desired flying attitude, the altitude and attitude limits are considered for the unmanned helicopter, and the error performance transform function method is used to deal with these limits. Based on the backstepping method and the sliding mode method, a robust tracking control method is designed for the unmanned helicopter, and the convergence of all closed-loop system signals is proved by using the Lyapunov method. The simulation results verify the effectiveness of the designed safe control method on sliding mode flight.

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    A Design Method for Flow Distribution in Micro-Combustor Based on Target Flow Fitting
    WANG Wei, LI Aote, YU Junli
    2020, 54 (9):  1000-1006.  doi: 10.16183/j.cnki.jsjtu.2020.145
    Abstract ( 733 )   HTML ( 7 )   PDF (1093KB) ( 279 )   Save

    Adjusting the flow distribution of a combustor by changing the arrangement of jet holes is an important design method to improve the combustion performance of the combustor. Based on the geometrical model and initial simulation results of the micro-combustor in development, the flow-pressure mathematical model of the combustor was established, and a flow rate scaling fitting method was proposed to replace a lot of simulation by calculation, so as to reduce the costs of obtaining the local flow law of the hole. Furthermore, according to the flow-pressure mathematical model of combustor and the local flow law of hole, a jet hole arrangement scheme was designed to meet the requirements of target flow distribution. The results show that the relative error between the flow rate of each row of jet holes in the designed combustor and the target flow rate is reduced to less than 5% in only two times of the design calculation process by using this method, even if the flow rate distribution error of initial example is large. Compared with the traditional method, this method needs less data to summarize the local flow law of hole, and it takes into account the influence of the overall geometry of combustor on the transverse jet.

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