Arc motion and splitting of vacuum arc at intermediate frequency（400-800 Hz） were investigated under transverse magnetic field（TMF）.The experiment was performed on cup-type TMF contacts with contact diameter of 40...Arc motion and splitting of vacuum arc at intermediate frequency（400-800 Hz） were investigated under transverse magnetic field（TMF）.The experiment was performed on cup-type TMF contacts with contact diameter of 40 mm and a contact gap of 4 mm in a single-frequency circuit.With high-speed photography we characterized the arc appearance at different arc currents from 3.3 kA-rms to 10 kA-rms at intermediate frequencies.As arc current increases from3.3 kA-rms to 10 kA-rms the arc appearance changes obviously.When current value is 3.3 kArms（current frequency 400-800 Hz）,there is almost no splitting arc;when the current exceeds5 kA-rms（current frequency 400-800 Hz）,the arc rotates at a speed above 20 m/s,accompanied by an observable splitting arc.The splitting arc could be observed at different frequencies and the arc-voltage had no noises when splitting occurred.The motion direction and the velocity of arc column were studied.Finally,the formation of a split arc was discussed.展开更多
A new magnetic hydro-dynamics model for nozzle arc emphasizing the interaction of arc with PTFE （polytetrafluorethylene） vapour is established based on the conservation equations. The interruption of auto-expansion ...A new magnetic hydro-dynamics model for nozzle arc emphasizing the interaction of arc with PTFE （polytetrafluorethylene） vapour is established based on the conservation equations. The interruption of auto-expansion circuit breaker is simulated numerically by finite element method and the influence of PTFE vapour on the arc is analysed with this model. The results reveal that the flow field inside the arc chamber is determined by the arc current, the arcing time, the nozzle arc and the clogging of its thermal boundary. The establishment of quenching pressure relies on both SF6 gas and PTFE vapour that absorbed arc energy in the nozzle. The PTFE vapour leads to an increase in the pressure of nozzle arc obviously, and a decrease in the temperature of arc. But it enhances the temperature of arc at zero current and slows down the decreasing rate of arc temperature as the current decreases.展开更多
The GaInSn liquid metal current limiter based on the fluid pinch effect has broad application prospects due to its particular properties. However, the limited rated current and abil- ity of power dissipation are the c...The GaInSn liquid metal current limiter based on the fluid pinch effect has broad application prospects due to its particular properties. However, the limited rated current and abil- ity of power dissipation are the critical problems for its wide application. Firstly, the temperature distribution of the liquid metal current limiter （LMCL） was obtained by experiments with a rated current of 1 kA and the arc ignition phenomenon was observed with 1.5 kA, which indicates that the rated current is mainly limited by the arc rather than the high temperature compared to the traditional switchgears. Furthermore, an improved method is proposed by adding the paralleled pure resistance, impedance or another LMCL element to protect the setup from the fault energy concentration in the setup. The problem of a slower arc voltage increasing rate can be solved by adding a paralleled impedance with suitable parameters. Finally, the current limiting properties based on the improved method were investigated and the alternating oscillating current was found between two paralleled LMCL elements owing to their deviation of arc ignition in reality.展开更多
A quantum evolutionary computation （QEC） algorithm with particle swarm optimization （PSO） and two-crossovers is proposed to overcome identified limitations. PSO is adopted to update the Q-bit automatically, and tw...A quantum evolutionary computation （QEC） algorithm with particle swarm optimization （PSO） and two-crossovers is proposed to overcome identified limitations. PSO is adopted to update the Q-bit automatically, and two-crossovers are applied to improve the convergence quality in the basic QEC model. This hybrid strategy can effectively employ both the ability to jump out of the local minima and the capacity of searching the global optimum. The performance of the proposed approach is compared with basic QEC on the standard unconstrained scalable benchmark problem that numerous hard combinatorial optimization problems can be formulated. The experimental results show that the proposed method outperforms the basic QEC quite significantly.展开更多
A 3D Magnetohydrodynamics （MHD） arc model in conjunction with an arc move- ment model is applied to simulate the arc rotation as well as to solve its effect on the pressure in an auto-expansion circuit breaker. The ...A 3D Magnetohydrodynamics （MHD） arc model in conjunction with an arc move- ment model is applied to simulate the arc rotation as well as to solve its effect on the pressure in an auto-expansion circuit breaker. The rotation of the arc driven by an external electromagnetic force is simulated in the case with 200 kA of the short circuit current and 16 ms of arc duration. The arc rotating process and the speed of arc rotation have been obtained in the simulation. A comparison of the pressure in the expansion volume with and without an external magnetic field has been carried out based on the calculation results of two cases. The results of the simulation reveal that the arc rotation, which causes more energy exchange between the arc and its sur- rounding gas, can evidently bring about the pressurization in the expansion volume, which would contribute to more effective arc quenching at current zero and further reducing operation power.展开更多
Nonlinear acoustic-optical effect is discovered by using a low-frequency liquid surface acoustic wave with great amplitude.There are higher harmonics in diffracted light and the intensity of the higher harmonic has th...Nonlinear acoustic-optical effect is discovered by using a low-frequency liquid surface acoustic wave with great amplitude.There are higher harmonics in diffracted light and the intensity of the higher harmonic has the relation of Bessel's function with the amplitude.The light patterns diffracted by the wave can be classified into the ordinary and extraordinary beams which are corresponding to small and great amplitudes of the waves.The ordinary and extraordinary patterns are observed experimentally and the critical amplitude value is found.展开更多
In this report,two new contact structures of a vacuum interrupter with a sinusoidal curved surface are proposed to improve the capability by increasing the surface area.The experimental investigation of vacuum arc at ...In this report,two new contact structures of a vacuum interrupter with a sinusoidal curved surface are proposed to improve the capability by increasing the surface area.The experimental investigation of vacuum arc at intermediate frequency(360-800 Hz)was conducted and the results were compared with a butt contact with the same contact diameter(41 mm)and the same material.By analyzing the arc behavior,arc voltage characteristics,arc energy,current interrupting capacity,ablation of the anode contact and condensation of the arc products at a 3 mm gap,the differences in their vacuum arc characteristics were determined.The correlations of their arc energy with the amplitude and the frequency of the current were also achieved.Analysis suggests that the ruled curved contact has strong application potentiality because of its low arc energy,low arc voltage noise and arc voltage peak,light ablation on the surface of the anode contact and high interrupting capacity.展开更多
This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programm...This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programming(SOCP)technology is developed to solve the strong nonlinear and non-convex control problem in real time.Specifically,the nonlinear attitude kinematic and dynamic are transformed and relaxed to a standard affine system,and linearization and L1 penalty technique are adopted to convexify non-convex inequality constraints.With the proposed quadratic performance index of angular velocity,the optimal control solution is obtained with high accuracy using the successive SOCP algorithm.Finally,the effectiveness of the algorithm is validated by numerical simulation.展开更多
Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research pr...Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.展开更多
The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time perfor...The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.展开更多
This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premi...This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.展开更多
In the space plasma environment, primary discharge may occur on the solar array and evolve into a destructive sustained arc, which threatens the safe operation of the spacecraft. Based on the plasma expansion fluid th...In the space plasma environment, primary discharge may occur on the solar array and evolve into a destructive sustained arc, which threatens the safe operation of the spacecraft. Based on the plasma expansion fluid theory, a new multicomponent plasma expansion model is proposed in this study, which takes into account the effects of ion species, ion number, initial discharge current, and Low Earth Orbit(LEO) plasma environment. The expansion simulation of single-component and multicomponent ions is carried out respectively, and the variations of plasma number density, expansion distance, and speed during the expansion process are obtained.Compared with the experimental results, the evolution of propagation distance and speed is closed and the error is within a reasonable range, which verifies the validity and rationality of the model. The propagation characteristics of the primary discharge on the solar array surface and the influence of the initial value on the maximum propagation distance and the propagation current peaks are investigated. This study can provide important theoretical support for the propagation and evolution of the primary discharge and the key behavior of the transition to secondary discharge on spacecraft solar array.展开更多
This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the fe...This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.展开更多
A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each ...A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each mobile agent, the results show that all the agents will flock to the polytope region formed by the leaders.展开更多
In this study, the changes of a vacuum arc＇s appearance were observed and the volt-ampere characteristics of the vacuum arc at intermediate frequency were analyzed under a transverse magnetic field （TMF）. The TMF a...In this study, the changes of a vacuum arc＇s appearance were observed and the volt-ampere characteristics of the vacuum arc at intermediate frequency were analyzed under a transverse magnetic field （TMF）. The TMF and phase shift time were calculated by using the TMF contact model and the large phase shift of the magnetic field at a higher frequency was conductive to the dispersion process of residual plasma. The arc velocity was higher at 800 Hz than at 400 Hz. It can be inferred that TMF will encourage arc movement at 800 Hz. Moreover, the arc movement has an impact on the arc voltage. Because of the increasing length of the arc column with a high arc velocity, the elongated arc causes the arc voltage to increase. Specifically, the volt-ampere characteristics of the vacuum arc are divided into three stages in this paper. The higher the frequency, the greater the initial rate of rise in the arc voltage and the larger the area surrounded by arc volt-ampere characteristics. The correlations between the arc voltage and the amplitude and frequency of the current are also presented.展开更多
Online accurate recognition of target tactical intention in beyond-visual-range (BVR) air combat is an important basis for deep situational awareness and autonomous air combat decision-making, which can create pre-emp...Online accurate recognition of target tactical intention in beyond-visual-range (BVR) air combat is an important basis for deep situational awareness and autonomous air combat decision-making, which can create pre-emptive tactical opportunities for the fighter to gain air superiority. The existing methods to solve this problem have some defects such as dependence on empirical knowledge, difficulty in interpreting the recognition results, and inability to meet the requirements of actual air combat. So an online hierarchical recognition method for target tactical intention in BVR air combat based on cascaded support vector machine (CSVM) is proposed in this study. Through the mechanism analysis of BVR air combat, the instantaneous and cumulative feature information of target trajectory and relative situation information are introduced successively using online automatic decomposition of target trajectory and hierarchical progression. Then the hierarchical recognition model from target maneuver element, tactical maneuver to tactical intention is constructed. The CSVM algorithm is designed for solving this model, and the computational complexity is decomposed by the cascaded structure to overcome the problems of convergence and timeliness when the dimensions and number of training samples are large. Meanwhile, the recognition result of each layer can be used to support the composition analysis and interpretation of target tactical intention. The simulation results show that the proposed method can effectively realize multi-dimensional online accurate recognition of target tactical intention in BVR air combat.展开更多
To determine the wall thickness, conductivity and permeability of a ferromagnetic plate, an inverse problem is established with measured values and calculated values of time-domain induced voltage in pulsed eddy curre...To determine the wall thickness, conductivity and permeability of a ferromagnetic plate, an inverse problem is established with measured values and calculated values of time-domain induced voltage in pulsed eddy current testing on the plate. From time-domain analytical expressions of the partial derivatives of induced voltage with respect to parameters,it is deduced that the partial derivatives are approximately linearly dependent. Then the constraints of these parameters are obtained by solving a partial linear differential equation. It is indicated that only the product of conductivity and wall thickness, and the product of relative permeability and wall thickness can be determined accurately through the inverse problem with time-domain induced voltage. In the practical testing, supposing the conductivity of the ferromagnetic plate under test is a fixed value, and then the relative variation of wall thickness between two testing points can be calculated via the ratio of the corresponding inversion results of the product of conductivity and wall thickness. Finally, this method for wall thickness measurement is verified by the experiment results of a carbon steel plate.展开更多
Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric ...Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric light and transmission are estimated on the basis of the signal processing mechanism of ON and OFF channels in eagle’s retina.Local features of the dehazed image are calculated according to the color antagonism mechanism and contrast sensitivity function of eagle’s visual system.A center-surround operation is performed to simulate the response of reception field.The final saliency map is generated by the Random Forest algorithm.Experimental results verify that the proposed method is capable to detect UAVs in hazy image and has superior performance over traditional methods.展开更多
To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt ...To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.展开更多
The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo searc...The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo search algorithm. In order to enhance the search capability of the cuckoo search algorithm, the adaptive detection probability and amplification factor are designed. Finally, the control allocation method based on the proposed improved cuckoo search algorithm is applied to the tracking control problem of the innovative control effector aircraft. The comparative simulation results demonstrate the superiority and effectiveness of the proposed improved cuckoo search algorithm in control allocation of aircraft.展开更多
基金supported by Special Scientific and Research Funds for Doctoral Specialty of Institution of Higher Learning of China(No.200800060004)National Natural Science Foundation of China(No.50877002)the Innovation Foundation of BUAA for Ph.D Graduates of China
文摘Arc motion and splitting of vacuum arc at intermediate frequency（400-800 Hz） were investigated under transverse magnetic field（TMF）.The experiment was performed on cup-type TMF contacts with contact diameter of 40 mm and a contact gap of 4 mm in a single-frequency circuit.With high-speed photography we characterized the arc appearance at different arc currents from 3.3 kA-rms to 10 kA-rms at intermediate frequencies.As arc current increases from3.3 kA-rms to 10 kA-rms the arc appearance changes obviously.When current value is 3.3 kArms（current frequency 400-800 Hz）,there is almost no splitting arc;when the current exceeds5 kA-rms（current frequency 400-800 Hz）,the arc rotates at a speed above 20 m/s,accompanied by an observable splitting arc.The splitting arc could be observed at different frequencies and the arc-voltage had no noises when splitting occurred.The motion direction and the velocity of arc column were studied.Finally,the formation of a split arc was discussed.
文摘A new magnetic hydro-dynamics model for nozzle arc emphasizing the interaction of arc with PTFE （polytetrafluorethylene） vapour is established based on the conservation equations. The interruption of auto-expansion circuit breaker is simulated numerically by finite element method and the influence of PTFE vapour on the arc is analysed with this model. The results reveal that the flow field inside the arc chamber is determined by the arc current, the arcing time, the nozzle arc and the clogging of its thermal boundary. The establishment of quenching pressure relies on both SF6 gas and PTFE vapour that absorbed arc energy in the nozzle. The PTFE vapour leads to an increase in the pressure of nozzle arc obviously, and a decrease in the temperature of arc. But it enhances the temperature of arc at zero current and slows down the decreasing rate of arc temperature as the current decreases.
基金supported by the Technology Project of State Grid(No.SGSNKYOOKJJS1501564)the National Key Basic Research Program of China(973 Program)(No.2015CB251005)
文摘The GaInSn liquid metal current limiter based on the fluid pinch effect has broad application prospects due to its particular properties. However, the limited rated current and abil- ity of power dissipation are the critical problems for its wide application. Firstly, the temperature distribution of the liquid metal current limiter （LMCL） was obtained by experiments with a rated current of 1 kA and the arc ignition phenomenon was observed with 1.5 kA, which indicates that the rated current is mainly limited by the arc rather than the high temperature compared to the traditional switchgears. Furthermore, an improved method is proposed by adding the paralleled pure resistance, impedance or another LMCL element to protect the setup from the fault energy concentration in the setup. The problem of a slower arc voltage increasing rate can be solved by adding a paralleled impedance with suitable parameters. Finally, the current limiting properties based on the improved method were investigated and the alternating oscillating current was found between two paralleled LMCL elements owing to their deviation of arc ignition in reality.
基金Supported by the National Natural Science Foundation of China under Grant Nos 60975072 and 60604009, Aeronautical Science Foundation of China under Grant Nos 2008ZC01006 and 2006ZC51039, and Beijing NOVA Program Foundation under Grant Nos 2007A017.
文摘A quantum evolutionary computation （QEC） algorithm with particle swarm optimization （PSO） and two-crossovers is proposed to overcome identified limitations. PSO is adopted to update the Q-bit automatically, and two-crossovers are applied to improve the convergence quality in the basic QEC model. This hybrid strategy can effectively employ both the ability to jump out of the local minima and the capacity of searching the global optimum. The performance of the proposed approach is compared with basic QEC on the standard unconstrained scalable benchmark problem that numerous hard combinatorial optimization problems can be formulated. The experimental results show that the proposed method outperforms the basic QEC quite significantly.
基金supported by National Natural Science Foundation of China (Nos.51177005 and 51477004)
文摘A 3D Magnetohydrodynamics （MHD） arc model in conjunction with an arc move- ment model is applied to simulate the arc rotation as well as to solve its effect on the pressure in an auto-expansion circuit breaker. The rotation of the arc driven by an external electromagnetic force is simulated in the case with 200 kA of the short circuit current and 16 ms of arc duration. The arc rotating process and the speed of arc rotation have been obtained in the simulation. A comparison of the pressure in the expansion volume with and without an external magnetic field has been carried out based on the calculation results of two cases. The results of the simulation reveal that the arc rotation, which causes more energy exchange between the arc and its sur- rounding gas, can evidently bring about the pressurization in the expansion volume, which would contribute to more effective arc quenching at current zero and further reducing operation power.
文摘Nonlinear acoustic-optical effect is discovered by using a low-frequency liquid surface acoustic wave with great amplitude.There are higher harmonics in diffracted light and the intensity of the higher harmonic has the relation of Bessel's function with the amplitude.The light patterns diffracted by the wave can be classified into the ordinary and extraordinary beams which are corresponding to small and great amplitudes of the waves.The ordinary and extraordinary patterns are observed experimentally and the critical amplitude value is found.
基金National Natural Science Foundation of China(Nos.51677002 , 51937004)Civil Aircraft Special Research and Technology Research Project(MJ-2017-S-46)+1 种基金State Key Laboratory of Reliability and Intelligence of Electrical Equipment(No.EERIKF004)Hebei University of Technology and selected from the 1st International Symposium on Insulation and Discharge Computation for Power Equipment.
文摘In this report,two new contact structures of a vacuum interrupter with a sinusoidal curved surface are proposed to improve the capability by increasing the surface area.The experimental investigation of vacuum arc at intermediate frequency(360-800 Hz)was conducted and the results were compared with a butt contact with the same contact diameter(41 mm)and the same material.By analyzing the arc behavior,arc voltage characteristics,arc energy,current interrupting capacity,ablation of the anode contact and condensation of the arc products at a 3 mm gap,the differences in their vacuum arc characteristics were determined.The correlations of their arc energy with the amplitude and the frequency of the current were also achieved.Analysis suggests that the ruled curved contact has strong application potentiality because of its low arc energy,low arc voltage noise and arc voltage peak,light ablation on the surface of the anode contact and high interrupting capacity.
基金This work was supported by the National Natural Science Foundation of China(Nos.61960206011,61633003)the Beijing Natural Science Foundation(No.JQ19017)。
文摘This paper investigates the optimal control problem of spacecraft reorientation subject to attitude forbidden constraints,angular velocity saturation and actuator saturation simultaneously.A second-order cone programming(SOCP)technology is developed to solve the strong nonlinear and non-convex control problem in real time.Specifically,the nonlinear attitude kinematic and dynamic are transformed and relaxed to a standard affine system,and linearization and L1 penalty technique are adopted to convexify non-convex inequality constraints.With the proposed quadratic performance index of angular velocity,the optimal control solution is obtained with high accuracy using the successive SOCP algorithm.Finally,the effectiveness of the algorithm is validated by numerical simulation.
基金the support of the National Natural Science Foundation of China(Grant No.62076204)the Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University(Grant No.CX2020019)in part by the China Postdoctoral Science Foundation(Grants No.2021M700337)。
文摘Improvement of integrated battlefield situational awareness in complex environments involving dynamic factors such as restricted communications and electromagnetic interference(EMI)has become a contentious research problem.In certain mission environments,due to the impact of many interference sources on real-time communication or mission requirements such as the need to implement communication regulations,the mission stages are represented as a dynamic combination of several communication-available and communication-unavailable stages.Furthermore,the data interaction between unmanned aerial vehicles(UAVs)can only be performed in specific communication-available stages.Traditional cooperative search algorithms cannot handle such situations well.To solve this problem,this study constructed a distributed model predictive control(DMPC)architecture for a collaborative control of UAVs and used the Voronoi diagram generation method to re-plan the search areas of all UAVs in real time to avoid repetition of search areas and UAV collisions while improving the search efficiency and safety factor.An attention mechanism ant-colony optimization(AACO)algorithm is proposed for UAV search-control decision planning.The search strategy is adaptively updated by introducing an attention mechanism for regular instruction information,a priori information,and emergent information of the mission to satisfy different search expectations to the maximum extent.Simulation results show that the proposed algorithm achieves better search performance than traditional algorithms in restricted communication constraint scenarios.
基金supported in part by National Key Research and Development Program under Grant No.2020YFB1708800China Postdoctoral Science Foundation under Grant No.2021M700385+5 种基金Guang Dong Basic and Applied Basic Research Foundation under Grant No.2021A1515110577Guangdong Key Research and Development Program under Grant No.2020B0101130007Central Guidance on Local Science and Technology Development Fund of Shanxi Province under Grant No.YDZJSX2022B019Fundamental Research Funds for Central Universities under Grant No.FRF-MP-20-37Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)under Grant No.FRF-IDRY-21-005National Natural Science Foundation of China under Grant No.62002026。
文摘The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312,61922037,61873115,and 61803348in part by the National Major Scientific Instruments Development Project under Grant 61927807+6 种基金in part by the State Key Laboratory of Deep Buried Target Damage under Grant No.DXMBJJ2019-02in part by the Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi under Grant 2020L0266in part by the Shanxi Province Science Foundation for Youths under Grant No.201701D221123in part by the Youth Academic North University of China under Grant No.QX201803in part by the Program for the Innovative Talents of Higher Education Institutions of Shanxiin part by the Shanxi“1331Project”Key Subjects Construction under Grant 1331KSCin part by the Supported by Shanxi Province Science Foundation for Excellent Youths。
文摘This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.
基金supported by National Natural Science Foundation of China (Nos. 51937004 and 51977002)sponsored by Beijing Nova Program (No. 20220484153)。
文摘In the space plasma environment, primary discharge may occur on the solar array and evolve into a destructive sustained arc, which threatens the safe operation of the spacecraft. Based on the plasma expansion fluid theory, a new multicomponent plasma expansion model is proposed in this study, which takes into account the effects of ion species, ion number, initial discharge current, and Low Earth Orbit(LEO) plasma environment. The expansion simulation of single-component and multicomponent ions is carried out respectively, and the variations of plasma number density, expansion distance, and speed during the expansion process are obtained.Compared with the experimental results, the evolution of propagation distance and speed is closed and the error is within a reasonable range, which verifies the validity and rationality of the model. The propagation characteristics of the primary discharge on the solar array surface and the influence of the initial value on the maximum propagation distance and the propagation current peaks are investigated. This study can provide important theoretical support for the propagation and evolution of the primary discharge and the key behavior of the transition to secondary discharge on spacecraft solar array.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348in part by the National Major Scientific Instruments Development Project under Grant No.61927807+3 种基金in part by the Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsin part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC)in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。
文摘This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.
文摘A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each mobile agent, the results show that all the agents will flock to the polytope region formed by the leaders.
基金supported by Special Scientific and Research Funds for Doctoral Specialty of Institution of Higher Learning (200800060004)National Natural Science Foundation of China (No. 51177004)by the Innovation foundation of BUAA for Ph.D Graduates
文摘In this study, the changes of a vacuum arc＇s appearance were observed and the volt-ampere characteristics of the vacuum arc at intermediate frequency were analyzed under a transverse magnetic field （TMF）. The TMF and phase shift time were calculated by using the TMF contact model and the large phase shift of the magnetic field at a higher frequency was conductive to the dispersion process of residual plasma. The arc velocity was higher at 800 Hz than at 400 Hz. It can be inferred that TMF will encourage arc movement at 800 Hz. Moreover, the arc movement has an impact on the arc voltage. Because of the increasing length of the arc column with a high arc velocity, the elongated arc causes the arc voltage to increase. Specifically, the volt-ampere characteristics of the vacuum arc are divided into three stages in this paper. The higher the frequency, the greater the initial rate of rise in the arc voltage and the larger the area surrounded by arc volt-ampere characteristics. The correlations between the arc voltage and the amplitude and frequency of the current are also presented.
基金The authors gratefully acknowledge the support of the National Natural Science Foundation of China under Grant No.62076204 and Grant No.61612385in part by the Postdoctoral Science Foundation of China under Grants No.2021M700337in part by the Fundamental Research Funds for the Central Universities under Grant No.3102019ZX016.
文摘Online accurate recognition of target tactical intention in beyond-visual-range (BVR) air combat is an important basis for deep situational awareness and autonomous air combat decision-making, which can create pre-emptive tactical opportunities for the fighter to gain air superiority. The existing methods to solve this problem have some defects such as dependence on empirical knowledge, difficulty in interpreting the recognition results, and inability to meet the requirements of actual air combat. So an online hierarchical recognition method for target tactical intention in BVR air combat based on cascaded support vector machine (CSVM) is proposed in this study. Through the mechanism analysis of BVR air combat, the instantaneous and cumulative feature information of target trajectory and relative situation information are introduced successively using online automatic decomposition of target trajectory and hierarchical progression. Then the hierarchical recognition model from target maneuver element, tactical maneuver to tactical intention is constructed. The CSVM algorithm is designed for solving this model, and the computational complexity is decomposed by the cascaded structure to overcome the problems of convergence and timeliness when the dimensions and number of training samples are large. Meanwhile, the recognition result of each layer can be used to support the composition analysis and interpretation of target tactical intention. The simulation results show that the proposed method can effectively realize multi-dimensional online accurate recognition of target tactical intention in BVR air combat.
基金supported by the National Defense Basic Technology Research Program of China(Grant No.Z132013T001)
文摘To determine the wall thickness, conductivity and permeability of a ferromagnetic plate, an inverse problem is established with measured values and calculated values of time-domain induced voltage in pulsed eddy current testing on the plate. From time-domain analytical expressions of the partial derivatives of induced voltage with respect to parameters,it is deduced that the partial derivatives are approximately linearly dependent. Then the constraints of these parameters are obtained by solving a partial linear differential equation. It is indicated that only the product of conductivity and wall thickness, and the product of relative permeability and wall thickness can be determined accurately through the inverse problem with time-domain induced voltage. In the practical testing, supposing the conductivity of the ferromagnetic plate under test is a fixed value, and then the relative variation of wall thickness between two testing points can be calculated via the ratio of the corresponding inversion results of the product of conductivity and wall thickness. Finally, this method for wall thickness measurement is verified by the experiment results of a carbon steel plate.
基金the Science and Technology Innovation 2030-Key Projects(Nos.2018AAA0102303,2018AAA0102403)the Aeronautical Science Foundation of China(No.20175851033)the National Natural Science Foundation of China(Nos.U1913602,U19B2033,91648205,61803011).
文摘Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric light and transmission are estimated on the basis of the signal processing mechanism of ON and OFF channels in eagle’s retina.Local features of the dehazed image are calculated according to the color antagonism mechanism and contrast sensitivity function of eagle’s visual system.A center-surround operation is performed to simulate the response of reception field.The final saliency map is generated by the Random Forest algorithm.Experimental results verify that the proposed method is capable to detect UAVs in hazy image and has superior performance over traditional methods.
文摘To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode.Firstly,the nonlinear model of the tilt tri-rotor UAV is established.Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers.Thirdly,two altitude control strategies are designed in the transition mode.Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.
基金supported by the National Natural Science Foundation of China(61273083 and 61374012)
文摘The control allocation problem of aircraft whose control inputs contain integer constraints is investigated. The control allocation problem is described as an integer programming problem and solved by the cuckoo search algorithm. In order to enhance the search capability of the cuckoo search algorithm, the adaptive detection probability and amplification factor are designed. Finally, the control allocation method based on the proposed improved cuckoo search algorithm is applied to the tracking control problem of the innovative control effector aircraft. The comparative simulation results demonstrate the superiority and effectiveness of the proposed improved cuckoo search algorithm in control allocation of aircraft.
