This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’...This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.展开更多
In the wireless guidance system, the signals that receiver received has obvious Doppler shift for the high dynamic characteristic of the carrier. A new solution of carrier frequency tracking loop with frequency modify...In the wireless guidance system, the signals that receiver received has obvious Doppler shift for the high dynamic characteristic of the carrier. A new solution of carrier frequency tracking loop with frequency modifying system is put forward. The characteristic of cross product auto frequency control and the second order loop filter in this loop are analyzed. The simulation shows that this loop can accomplish frequency tracking well in high dynamic circumstance.展开更多
In this paper, a model order reduction strategy is adopted for the static and dynamic behaviour simulation of a high-speed tracked vehicle. The total number of degree of freedom of the structure is condensed through a...In this paper, a model order reduction strategy is adopted for the static and dynamic behaviour simulation of a high-speed tracked vehicle. The total number of degree of freedom of the structure is condensed through a selection of interface degrees of freedom and significant global mode shapes, for an approximated description of vehicle dynamic behaviour. The methodology is implemented in a customised open-source software to reduce the computational efforts. The modelled tracked vehicle includes the sprung mass, the unsprung masses, connected by means of torsional bars, and all the track assemblies, composing the track chain. The proposed research activity presents a comprehensive investigation of the influence of the track chain, combined with longitudinal vehicle speed, on statics and vehicle dynamics, focusing on vertical dynamics. The vehicle response has been investigated both in frequency and time domain. In this last case road-wheel displacements are assumed as inputs for the model, under different working conditions, hence considering several road profiles with different amplitudes and characteristic excitation frequencies. Simulation results have proven a high fidelity in model order reduction approach and a significant contribution of the track chain in the global dynamic behaviour of the tracked vehicle.展开更多
Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a si...Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a simulation-based TDGS model is established,and a surrogate-based model,grid search algorithm-particle swarm optimization-genetic algorithm-multi-output least squares support vector regression,is established.Among them,hyperparameter optimization algorithm’s effectiveness is confirmed through test functions.Subsequently,an adaptive surrogate-based probability density evolution method(PDEM)considering random track geometry irregularity(TGI)is developed.Finally,taking curved train-steel spring floating slab track-U beam as case study,the surrogate-based model trained on simulation datasets not only shows accuracy in both time and frequency domains,but also surpasses existing models.Additionally,the adaptive surrogate-based PDEM shows high accuracy and efficiency,outperforming Monte Carlo simulation and simulation-based PDEM.The reliability assessment shows that the TDGS part peak management indexes,left/right vertical dynamic irregularity,right alignment dynamic irregularity,and track twist,have reliability values of 0.9648,0.9918,0.9978,and 0.9901,respectively.The TDGS mean management index,i.e.,track quality index,has reliability value of 0.9950.These findings show that the proposed framework can accurately and efficiently assess the reliability of curved low-stiffness track-viaducts,providing a theoretical basis for the TGI maintenance.展开更多
A heavy-haul train-track coupled model is developed. Taking the emergency braking of the 2×104 t combined train as example, the train longitudinal impulse, the coupler dynamic behaviors and wheel-rail interaction...A heavy-haul train-track coupled model is developed. Taking the emergency braking of the 2×104 t combined train as example, the train longitudinal impulse, the coupler dynamic behaviors and wheel-rail interactions of vehicles distributing in the different positions are analyzed. The results indicate that under the coupler compressing forces, the couplers of middle locomotives may tilt to the free swing limits, which induces the unidirectional tilt of their connected wagon couplers. Consequently, the coupler longitudinal forces produce the lateral components, and then affect the wheel-rail dynamic interaction. The performance of the middle locomotive and their neighboring freight wagons deteriorate significantly, becoming the most dangerous parts in the combined train. The wagons disconnecting with the locomotives can basically keep their couplers to stabilize in the centering positions, even though the maximum coupler longitudinal force acts on it. And its corresponding running safety also has little changes.展开更多
基金the National Natural Science Foundation of China(61933010)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.
文摘In the wireless guidance system, the signals that receiver received has obvious Doppler shift for the high dynamic characteristic of the carrier. A new solution of carrier frequency tracking loop with frequency modifying system is put forward. The characteristic of cross product auto frequency control and the second order loop filter in this loop are analyzed. The simulation shows that this loop can accomplish frequency tracking well in high dynamic circumstance.
文摘In this paper, a model order reduction strategy is adopted for the static and dynamic behaviour simulation of a high-speed tracked vehicle. The total number of degree of freedom of the structure is condensed through a selection of interface degrees of freedom and significant global mode shapes, for an approximated description of vehicle dynamic behaviour. The methodology is implemented in a customised open-source software to reduce the computational efforts. The modelled tracked vehicle includes the sprung mass, the unsprung masses, connected by means of torsional bars, and all the track assemblies, composing the track chain. The proposed research activity presents a comprehensive investigation of the influence of the track chain, combined with longitudinal vehicle speed, on statics and vehicle dynamics, focusing on vertical dynamics. The vehicle response has been investigated both in frequency and time domain. In this last case road-wheel displacements are assumed as inputs for the model, under different working conditions, hence considering several road profiles with different amplitudes and characteristic excitation frequencies. Simulation results have proven a high fidelity in model order reduction approach and a significant contribution of the track chain in the global dynamic behaviour of the tracked vehicle.
基金Project(52072412)supported by the National Natural Science Foundation of China。
文摘Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a simulation-based TDGS model is established,and a surrogate-based model,grid search algorithm-particle swarm optimization-genetic algorithm-multi-output least squares support vector regression,is established.Among them,hyperparameter optimization algorithm’s effectiveness is confirmed through test functions.Subsequently,an adaptive surrogate-based probability density evolution method(PDEM)considering random track geometry irregularity(TGI)is developed.Finally,taking curved train-steel spring floating slab track-U beam as case study,the surrogate-based model trained on simulation datasets not only shows accuracy in both time and frequency domains,but also surpasses existing models.Additionally,the adaptive surrogate-based PDEM shows high accuracy and efficiency,outperforming Monte Carlo simulation and simulation-based PDEM.The reliability assessment shows that the TDGS part peak management indexes,left/right vertical dynamic irregularity,right alignment dynamic irregularity,and track twist,have reliability values of 0.9648,0.9918,0.9978,and 0.9901,respectively.The TDGS mean management index,i.e.,track quality index,has reliability value of 0.9950.These findings show that the proposed framework can accurately and efficiently assess the reliability of curved low-stiffness track-viaducts,providing a theoretical basis for the TGI maintenance.
基金Projects(51605315,51478399)supported by the National Natural Science Foundation of ChinaProject(2013BAG20B00)supported by the National Key Technology R&D Program of ChinaProject(TPL1707)supported by the Open Project Program of the State Key Laboratory of Traction Power,China
文摘A heavy-haul train-track coupled model is developed. Taking the emergency braking of the 2×104 t combined train as example, the train longitudinal impulse, the coupler dynamic behaviors and wheel-rail interactions of vehicles distributing in the different positions are analyzed. The results indicate that under the coupler compressing forces, the couplers of middle locomotives may tilt to the free swing limits, which induces the unidirectional tilt of their connected wagon couplers. Consequently, the coupler longitudinal forces produce the lateral components, and then affect the wheel-rail dynamic interaction. The performance of the middle locomotive and their neighboring freight wagons deteriorate significantly, becoming the most dangerous parts in the combined train. The wagons disconnecting with the locomotives can basically keep their couplers to stabilize in the centering positions, even though the maximum coupler longitudinal force acts on it. And its corresponding running safety also has little changes.
