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
Air separators provide safe, clean, and appropriate air flow to engines and are widely used in vehicles with large engines such as ships and submarines. In this operational study, the separation process in a Ranque-Hi...Air separators provide safe, clean, and appropriate air flow to engines and are widely used in vehicles with large engines such as ships and submarines. In this operational study, the separation process in a Ranque-Hilsch vortex tube cleaning （cooling） system is investigated to analyze the impact of the operating gas type on the vortex tube performance; the operating gases used are air, nitrogen, oxygen, carbon dioxide and nitrogen dioxide. The computational fluid dynamic model used is equipped with a three-dimensional structure, and the steady-state condition is applied during computations. The standard k-c turbulence model is employed to resolve nonlinear flow equations, and various key parameters, such as hot and cold exhaust thermal drops, and power separation rates, are described numerically. The results show that nitrogen dioxide creates the greatest separation power out of all gases tested, and the numerical results are validated by good agreement with available experimental data. In addition, a comparison is made between the use of two different boundary conditions, the pressure-far-field and the pressure-outlet, when analyzing complex turbulent flows in the air separators. Results present a comprehensive and practical solution for use in future numerical studies.展开更多
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.
文摘Air separators provide safe, clean, and appropriate air flow to engines and are widely used in vehicles with large engines such as ships and submarines. In this operational study, the separation process in a Ranque-Hilsch vortex tube cleaning （cooling） system is investigated to analyze the impact of the operating gas type on the vortex tube performance; the operating gases used are air, nitrogen, oxygen, carbon dioxide and nitrogen dioxide. The computational fluid dynamic model used is equipped with a three-dimensional structure, and the steady-state condition is applied during computations. The standard k-c turbulence model is employed to resolve nonlinear flow equations, and various key parameters, such as hot and cold exhaust thermal drops, and power separation rates, are described numerically. The results show that nitrogen dioxide creates the greatest separation power out of all gases tested, and the numerical results are validated by good agreement with available experimental data. In addition, a comparison is made between the use of two different boundary conditions, the pressure-far-field and the pressure-outlet, when analyzing complex turbulent flows in the air separators. Results present a comprehensive and practical solution for use in future numerical studies.
