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
Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying obs...Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.展开更多
The blades on the plane are one of the most important parts of the engine,in the course of service,due to high temperature,strong vibration and great centrifugal force and so on.The using environment is very bad,so it...The blades on the plane are one of the most important parts of the engine,in the course of service,due to high temperature,strong vibration and great centrifugal force and so on.The using environment is very bad,so it is easy to produce fatigue cracks in the welding site and the near surface of the root,which will seriously affect the blade of the work intensity and fatigue life,and even the safety of aircraft structure,causing a huge security risk.Therefore,it must be tested.In order to solve the problem of the rapid detection of aircraft engine in situ cracks,and gett the rela-tionship between feature information and detect depth,the laboratory experimental platform was built,laser was used to excite laser ultrasonic signals on a range of aviation aluminum plates with different depth defects,the collected sig-nal was processed by wavelet de-noising,and the band energy distribution of the reflected echo signal was studied by using wavelet packet.The results show that the energy of reflected echo signal is mainly concentrated in the S80~So7 band.When the depth of defect is 0.2 mm to 0.4 mm,the energy is mainly concentrated in the adjacent bands.When the depth of defect is 0.5 mm to 0.7 mm,the energy is mainly concentrated in the two bands.This method provides a way to quantify surface micro-defects by ultrasonic signals,which will lay a foundation for the future analysis of crack depth from band energy.In order to avoid the interference of other irregular cracks,the cracks of the aviation aluminum parts are used as ar-tificial way for producing.The overall size of the specimen is 200 mmx80 mmx100 mm,the width of the defect is 0.15 mm,the range of the defect depth is 0.2 mm~0.7 mm,step size is 0.1 mm,and the total number of the specimen is six.After the experimental data is proposed,choosing the reflected echo signal for analysis,performing wavelet packet transform,the decomposition layer is 8.The percentage in the Sao~Sa7band is 89.77%、91.82%、91.41%、90.94%、90.19%、and 87.86%.The result shows that most of the energy is concentrated in the first eight bands.Therefore,the paper selects the first eight bands for analysis.In order to analyze the distribution characteristics of the different depth defect and the band energy,the energy dis-tribution of the first four bands of the defect depth of 0.2 mm to 0.4 mm is plotted in Fig,according to the spectrum,getting the center frequency were 3.14 MHz,2.58 MHz,2.17 MHz.These frequencies are located in the S83,S82,S82 band,respectively,which are the largest energy band,but the energy distribution in the adjacent segment Ss:also ac-counts for a larger proportion.When the depth of the defect increases from 0.2 mm to 0.4 mm,the center frequency decreases gradually,and the sum of the energy of the center frequency band and the adjacent higher energy band in-creases gradually.展开更多
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National Natural Science Foundation of China(Grant Nos.61803348,62173312,51922009)Shanxi Province Key Laboratory of Quantum Sensing and Precision Measurement(Grant No.201905D121001).
文摘Most researches associated with target encircling control are focused on moving along a circular orbit under an ideal environment free from external disturbances.However,elliptical encirclement with a time-varying observation radius,may permit a more flexible and high-efficacy enclosing solution,whilst the non-orthogonal property between axial and tangential speed components,non-ignorable environmental perturbations,and strict assignment requirements empower elliptical encircling control to be more challenging,and the relevant investigations are still open.Following this line,an appointed-time elliptical encircling control rule capable of reinforcing circumnavigation performances is developed to enable Unmanned Aerial Vehicles(UAVs)to move along a specified elliptical path within a predetermined reaching time.The remarkable merits of the designed strategy are that the relative distance controlling error can be guaranteed to evolve within specified regions with a designer-specified convergence behavior.Meanwhile,wind perturbations can be online counteracted based on an unknown system dynamics estimator(USDE)with only one regulating parameter and high computational efficiency.Lyapunov tool demonstrates that all involved error variables are ultimately limited,and simulations are implemented to confirm the usability of the suggested control algorithm.
文摘The blades on the plane are one of the most important parts of the engine,in the course of service,due to high temperature,strong vibration and great centrifugal force and so on.The using environment is very bad,so it is easy to produce fatigue cracks in the welding site and the near surface of the root,which will seriously affect the blade of the work intensity and fatigue life,and even the safety of aircraft structure,causing a huge security risk.Therefore,it must be tested.In order to solve the problem of the rapid detection of aircraft engine in situ cracks,and gett the rela-tionship between feature information and detect depth,the laboratory experimental platform was built,laser was used to excite laser ultrasonic signals on a range of aviation aluminum plates with different depth defects,the collected sig-nal was processed by wavelet de-noising,and the band energy distribution of the reflected echo signal was studied by using wavelet packet.The results show that the energy of reflected echo signal is mainly concentrated in the S80~So7 band.When the depth of defect is 0.2 mm to 0.4 mm,the energy is mainly concentrated in the adjacent bands.When the depth of defect is 0.5 mm to 0.7 mm,the energy is mainly concentrated in the two bands.This method provides a way to quantify surface micro-defects by ultrasonic signals,which will lay a foundation for the future analysis of crack depth from band energy.In order to avoid the interference of other irregular cracks,the cracks of the aviation aluminum parts are used as ar-tificial way for producing.The overall size of the specimen is 200 mmx80 mmx100 mm,the width of the defect is 0.15 mm,the range of the defect depth is 0.2 mm~0.7 mm,step size is 0.1 mm,and the total number of the specimen is six.After the experimental data is proposed,choosing the reflected echo signal for analysis,performing wavelet packet transform,the decomposition layer is 8.The percentage in the Sao~Sa7band is 89.77%、91.82%、91.41%、90.94%、90.19%、and 87.86%.The result shows that most of the energy is concentrated in the first eight bands.Therefore,the paper selects the first eight bands for analysis.In order to analyze the distribution characteristics of the different depth defect and the band energy,the energy dis-tribution of the first four bands of the defect depth of 0.2 mm to 0.4 mm is plotted in Fig,according to the spectrum,getting the center frequency were 3.14 MHz,2.58 MHz,2.17 MHz.These frequencies are located in the S83,S82,S82 band,respectively,which are the largest energy band,but the energy distribution in the adjacent segment Ss:also ac-counts for a larger proportion.When the depth of the defect increases from 0.2 mm to 0.4 mm,the center frequency decreases gradually,and the sum of the energy of the center frequency band and the adjacent higher energy band in-creases gradually.
