Stabilization control of a hovering model insect: lateral motion

Our previous study shows that the lateral disturbance motion of a model drone fly does not have inherent stability (passive stability),because of the existence of an unstable divergence mode.But drone flies are observed to fly stably.Constantly active control must be applied to stabilize the flight.In this study,we investigate the lateral stabilization control of the model drone fly.The method of computational fluid dynamics is used to compute the lateral control derivatives and the techniques of eigenvalue and eigenvector analysis and modal decomposition are used for solving the equations of motion.Controllability analysis shows that although inherently unstable,the lateral disturbance motion is controllable.By feeding back the state variables (i.e.lateral translation velocity,yaw rate,roll rate and roll angle,which can be measured by the sensory system of the insect) to produce anti-symmetrical changes in stroke amplitude and/or in angle of attack between the left and right wings,the motion can be stabilized,explaining why the drone flies can fly stably even if the flight is passively unstable.     

Inner-outer feedback linearization for quadrotor control: two-step design and validation

This paper proposes a novel control architecture for quadrotors that relies twice on the Feedback Linearization technique. The solution comprises a tracking inner-loop resulting from applying the mentioned method to the attitude and altitude dynamics. The horizontal movement, and, thereby, the zero dynamics, are stabilized without linearizing nor simplifying it by resorting to the same nonlinear technique. Linear quadratic controllers with integral action are implemented to the resulting chain of integrators of the inner and outer loops. As a result, the inner-loop dynamics asymptotically track the desired attitude and altitude over a broad region of the state-space, and the outer-loop yields a tracking system that is input-to-state stable and exponentially stable in the absence of external inputs. The stability of the proposed inner-outer loop control architecture is studied, leading to the proof of asymptotic stability in an extensive region of the state-space. Trajectory tracking, the capacity to overcome significant deviations on the mass and inertia values, and the robustness to external disturbances are evaluated using a simulation model, in which measurement noise and saturation limits are considered. In addition, comparisons regarding the performance in trajectory tracking of the proposed strategy and the results obtained with similar solutions from the literature are established. Experimental tests were conducted using a commercially available drone, equipped with an Inertial Measurement Unit, a compass, and an altimeter. A motion capture system gives the inertial position of the drone. The results obtained allow the validation of the modeling and control system solution.

     

Stabilization control of a bumblebee in hovering and forward flight

Our previous study shows that the hovering and forward flight of a bumblebee do not have inherent stability （passive stability）. But the bumblebees are observed to fly stably. Stabilization control must have been applied. In this study, we investigate the longitudinal stabilization control of the bumblebee. The method of computational fluid dynamics is used to compute the control derivatives and the techniques of eigenvalue and eigenvector analysis and modal decomposition are used for solving the equations of motion. Controllability analysis shows that at all flight speeds considered, although inherently unstable, the flight is controllable. By feedbacking the state variables, i.e. vertical and horizontal velocities, pitching rate and pitch angle （which can be measured by the sensory system of the insect）, to produce changes in stroke angle and angle of attack of the wings, the flight can be stabilized, explaining why the bumblebees can fly stably even if they are passively unstable.     

A feedback linearization design for the control of vehicle’s lateral dynamics

In this paper, the feedback linearization scheme is applied to the control of vehicle’s lateral dynamics. Based on the assumption of constant driving speed, a second-order nonlinear lateral dynamical model is adopted for controller design. It was observed in (Liaw, D.C., Chung, W.-C. in 2006 IEEE International Conference on Systems, Man, and Cybernetics, 2006) that the saddle-node bifurcation would appear in vehicle dynamics with respect to the variation of the front wheel steering angle, which might result in spin and/or system instability. The vehicle dynamics at the saddle node bifurcation point is derived and then decomposed as an affine nominal model plus the remaining term of the overall system dynamics. Feedback linearization scheme is employed to construct the stabilizing control laws for the nominal model. The stability of the overall vehicle dynamics at the saddle-node bifurcation is then guaranteed by applying Lyapunov stability criteria. Since the remaining term of the vehicle dynamics contains the steering control input, which might change system equilibrium except the designed one. Parametric analysis of system equilibrium for an example vehicle model is also obtained to classify the regime of control gains for potential behavior of vehicle’s dynamical behavior.     

高超声速飞行器横侧向失稳非线性分岔分析

针对滑翔式高超声速飞行器大攻角横侧向失稳问题,采用延拓算法和分岔理论,求解并分析了以俯仰舵偏为连续参数的稳态平衡分岔图和以副翼舵偏为连续参数的横侧向机动稳态平衡分岔图,对平衡分支的稳定性和突变点进行了分析,并给出了特征根拓扑结构变化.研究表明,高超声速飞行器存在极限分岔点、Hopf分岔点以及叉型分岔点,且从叉型分岔点延伸出多个平衡分支,引起横侧向的自滚转失稳;从Hopf分岔点延伸出极限环分支,该分支对应较为复杂的极限环运动,其中还包含倍周期分岔、花环分岔、极限环极限点分岔等复杂的分岔现象;在横侧向机动飞行情况下,模型存在横向操作偏离失稳问题,且存在多个不稳定的平衡点.研究结果为实现高超声速飞行器的稳定飞行和控制器的设计提供了极其重要的动力学信息.      

An investigation on lateral and torsional coupled vibrations of high power density PMSM rotor caused by electromagnetic excitation

Electromagnetic excitation in high power density permanent magnet synchronous motors (PMSMs) due to eccentricity is a significant concern in industry; however, the treatment of lateral and torsional coupled vibrations caused by electromagnetic excitation is rarely addressed, yet it is very important for evaluating the stability of dynamic rotor vibrations. This study focuses on an analytical method for analyzing the stability of coupled lateral/torsional vibrations in rotor systems caused by electromagnetic excitation in a PMSM. An electromechanically coupled lateral/torsional dynamic model of a PMSM Jeffcott rotor is derived using a Lagrange–Maxwell approach. Equilibrium stability was analyzed using a linearized matrix of the equation describing the system. The stability criteria of coupled torsional–lateral motions are provided, and the influences of the electromagnetic and mechanical parameters on mechanical vibration stability and nonlinear behavior were investigated. These results provide better understanding of the nonlinear response of an eccentric PMSM rotor system and are beneficial for controlling and diagnosing eccentricity.     

Adaptive tracking control of wheeled mobile robots with unknown longitudinal and lateral slipping parameters

An adaptive control approach is proposed for trajectory tracking of wheeled mobile robot (WMR) with unknown longitudinal and lateral slipping. A kinematic model of tracked WMR is established in this paper, in which both longitudinal and lateral slipping are considered and processed as three time-varying parameters. Sliding mode observer is then introduced to real time estimate the slip parameters online. A stable tracking control law for this robot system is proposed by backstepping method, and the asymptotic stability is guaranteed by Lyapunov theory. Meanwhile, the controller gains are determined online by poles placement method. Simulation results show the effectiveness and robustness of the proposed method.     

基于ED-LSTM的智能汽车神经网络横向动力学建模与控制

车辆动力学建模过程中通常会进行简化和假设, 导致模型在某些工况下无法准确反映车辆的实际动态特性, 影响控制精度甚至安全性. 鉴于此, 该文提出了一种基于数据驱动的非线性建模与控制方法, 建立了新型神经网络车辆横向动力学多步预测模型, 实现了智能汽车对参考轨迹的跟踪控制. 首先, 在分析车辆单轨模型并考虑轮胎非线性和纵向负载转移的基础上, 基于编码器?解码器结构设计神经网络横向动力学模型. 其中, 使用串行排列来扩展微分方程描述不完全的动力学信息, 隐藏层神经元学习车辆的高度非线性和强耦合特性, 进而提高模型全局计算精度. 利用所构建的数据集进行模型训练和测试, 结果表明, 相比于物理模型, 所提出的模型在不同路面附着系数条件下均具有更高的建模精度, 具有隐式预测路面摩擦条件能力. 其次, 利用提出的模型设计轨迹跟踪控制算法, 根据车辆稳态转向假设, 计算所需的前轮转向角和稳态质心侧偏角, 将稳态质心侧偏角纳入基于路径误差的转向反馈中, 实现参考轨迹跟踪控制. 最后, 使用CarSim/Simulink联合仿真及HIL实验测试进行不同工况试验的对比分析, 对所提出的基于神经网络模型的控制算法进行评价, 结果表明, 该模型能够实现智能汽车在高速下精确的跟踪控制效果, 并具有良好的横向稳定性.      

An extended delayed feedback control method for the two-lane traffic flow

This study extended a delayed feedback control method for the two-lane car-following model. In order to suppress the traffic jams more actually in the two-lane vehicle groups with lane-changing behavior, we introduced the delayed time of receiving the longitudinal and lateral interaction information in the controller into the feedback signals for the control scheme. The stability conditions for different cases were derived, respectively, according to the delayed time by the theory analysis. And the delayed time in the controller was found to instigate the traffic oscillations when the feedback gains were designed improper, which showed that the longer delayed time induces worse traffic jams. The numerical simulation results were found consistent with the theoretical findings as well. Finally, we further presented a comparative study of the proposed control method by a comparison with one existing controller which did not consider the delayed time. And it showed that the delayed time in the controller also affects the traffic flow and performance of control method.     

Chaotic behavior of modified stretch-twist-fold (STF) flow with fractal property

This study proposes a new lattice hydrodynamic model considering the effects of bilateral gaps on a road without lane discipline. In particular, a lattice hydrodynamic model is proposed to capture the impacts from the lateral gaps of the right-side and left-side sites of the considered lattice sites. Linear stability analysis of the proposed model is performed using the perturbation method to obtain the stability condition. Nonlinear analysis of the proposed model is performed using the reductive perturbation method to derive the modified Korteweg–de Vries (mKdV) equation to characterize the density wave propagation. Results from numerical experiments illustrate that the smoothness and stability of the proposed model are improved compared with the model that considers the effect of unilateral gap. Also, the proposed model is able to more quickly dissipate the effect of perturbation occurring in the vehicular traffic flow.     

Longitudinal vehicle dynamics control for improved vehicle safety

The aim is to investigate the improvements in vehicle safety that can be achieved by limiting the vehicle speed based on GPS path information. The control strategy is aimed at reducing vehicle speed before a potentially dangerous situation is reached, in contrast with widely used stability control systems that only react once loss of control by the driver is imminent. An MSC.ADAMS/View simulation model of an off-road test vehicle was developed and validated experimentally. A longitudinal speed control system was developed by generating a reference speed based on the path information. This reference speed was formulated by taking into account the vehicle’s limits due to lateral acceleration, combined lateral and longitudinal acceleration and the vehicle’s performance capabilities. The model was used to evaluate the performance of the control system on various tracks. The control system was implemented on the test vehicle and the performance was evaluated by conducting field tests. Results of the field tests indicated that the control system limited the acceleration vector of the vehicle’s centre of gravity to prescribed limits, as predicted by the simulations, thereby decreasing the possibility of accidents caused by rollover or loss of directional control due to entering curves at inappropriately high speeds.     

Stability and Hopf Bifurcation of Four-Wheel-Steering Vehicles Involving Driver's Delay

A mathematical model is presented for four-wheel-steeringvehicles, with the time delay in driver's response and the nonlinearityin lateral tyre forces taken into account. It is proved that thevehicle-driver system has a trivial steady state motion, as well aseight non-trivial steady state motions due to the nonlinearity of tyreforces. The asymptotic stability and Hopf bifurcation of the trivialsteady state are analyzed for two control strategies ofrear-wheel-steering. It is shown through the numerical simulations thatthe four-wheel-steering technique based on the bilinear control strategyworks better when the driver's response involves time delay.     

高自由度双足机器人数学模型及步行控制研究

基于ZMP理论及位姿矩阵,采用了相对重心以及相对坐标系的数学描述方法,对17自由度双足机器人步行稳定性控制进行数学建模研究．所建立的数学模型能够描述机器人稳定性控制．并经过Matlab数学计算和仿真研究,验证了所建立的模型可以描述双足机器人的步行规律,在理论上达到了双足机器人步行稳定性的控制目的．最后通过VC 把整个模型封装成一个可视化系统,便于将所研究的模型应用到实际的控制中,为未来机器人的实时控制的研究提供了技术支持．     

Nonlinear motions of a flexible rotor with a drill bit: stick-slip and delay effects

In this article, a discrete model of a drill-string system is developed taking into account stick-slip and time-delay aspects, and this model is used to study the nonlinear motions of this system. The model has eight degrees-of-freedom and allows for axial, torsional, and lateral dynamics of both the drill pipes and the bottom-hole assembly. Nonlinearities that arise due to dry friction, loss of contact, and collisions are considered in the development. State variable dependent time delays associated with axial and lateral cutting actions of the drill bit are introduced in the model. Based on this original model, numerical studies are carried out for different drilling operations. The results show that the motions can be self-exited through stick-slip friction and time-delay effects. Parametric studies are carried out for different ranges of friction and simulations reveal that when the drill pipe undergoes relative sticking motion phases, the drill-bit motion is suppressed by absolute sticking. Furthermore, the sticking phases observed in this work are longer than those reported in previous studies and the whirling state of the drill pipe periodically alternates between the sticking and slipping phases. When the drive speed is used as a control parameter, it is observed that the system exhibits aperiodic dynamics. The system response stability is seen to be largely dependent upon the driving speed. The discretized model presented here along with the related studies on nonlinear motions of the system can serve as a basis for choosing operational parameters in practical drilling operations.     

The lateral stability of tractor and trailer combinations

A model has been developed to predict the lateral stability characteristics of tractor and unbalanced trailer combinations. For present combinations, stability deteriorates with speed culminating in instability at forward speeds in the region of 18 m/s. The effect of tractor and trailer size and other parameter variations on this speed dependent instability are examined.The effect of braking with and without axle locking are analysed. The stability of the combination is sensitive to the braking distribuion between the axles, which affect the hitch forces developed. Locking the tractor rear or trailer axle results in instabilities, commonly termed jack-knifing and trailer swing respectively. Jack-knifing is the more hazardous instability, whereas trailer swing although potentially dangerous has a divergence approximately an order of magnitude less.The potential of the model for predicting lateral dynamic behaviour of design concepts for future high speed farm transport which would operate at higher speeds than the current maximum of 9 m/s for tractor and trailer combinations is discussed. The scope for generalizing the model to examine other aspects of lateral behaviour, such as steering response is restricted by the limited amount of data available on the side force generated by tyres in agricultural conditions.     

含万向铰偏斜旋转轴的组合共振及其稳定性分析

基于欧拉方程推导出了含万向铰偏斜旋转轴的横向振动模型,利用多尺度方法对该模型进行求解,得出了该偏斜系统可能出现的多种共振模式,进而对含万向铰偏斜轴系横向振动和型组合共振、差型组合共振进行稳定性分析,并对该类偏斜系统横向振动和型组合共振响应进行数值计算与仿真,检验所得稳定性理论分析结果。研究表明:对于和型组合共振而言,其稳定性边界与输入扭矩T0、支撑轴承安装位置l、轴承刚度Kx2和Ky2等因素有关;当轴承安装位置距万向铰中心较近或者轴承弹簧刚度系数较小时,系统在频率(ω10+ω20)/2附近产生和型组合共振的区域减小,即能够抑制系统和型组合共振的产生。该研究可为偏斜轴系振动与噪声抑制提供理论支持。     

Dynamics of tractor lateral overturn on slopes under the influence of position disturbances (model development)

In order to investigate the effects of forward speed, ground slope and wheel–ground friction coefficient on lateral stability of tractor at the presence of position disturbances, a tractor dynamic model was developed. In this model two types of instability were considered: instability due to overturn and skid and for each case the stability index was determined. Different geometries and mass specifications of tractor MITSUBISHI-2501D were used to examine the model. According to the results of this model forward speed and ground slope had a reverse effect on all stability indexes. Moreover stability of this tractor was more affected by tractor skidding than overturning. Therefore to improve the overall stability of this tractor, preference should be on increasing the tractor stability index derived from skid dynamics of tractor.     

Drone-Based StereoDIC: System Development,Experimental Validation and Infrastructure Application

Background

Digital Image Correlation (DIC) is widely used for remote and non-destructive structural health evaluation of infrastructure. Current DIC applications are limited to relatively small areas of structures and require the use of stationary stereo vision camera systems that are not easy to transfer and deploy in remote areas.

Objective

The enclosed work describes the development and validation of an Unmanned Aircraft System (UAS, commonly known as drone) with an onboard stereo-vision system capable of acquiring, storing and transmitting images for analysis to obtain full-field, three-dimensional displacement and strain measurements.

Methods

The UAS equipped with a StereoDIC system has been developed and tested in the lab. The drone system, named DroneDIC, autonomously hovers in front of a prestressed railroad tie under pressure and DIC data are collected. A stationary DIC system is used in parallel to collect data for the railroad tie. We compare the data to validate the readings from the DroneDIC system.

Results

We present the analysis of the results obtained by both systems. Our study shows that the results we obtain from the DroneDIC system are similar to the ones gathered from the stationary DIC system.

Conclusions

This work serves as a proof of concept for the successful integration of DIC and drone technologies into the DroneDIC system. DroneDIC combines the high accuracy inspection capabilities of traditional stationary DIC systems with the mobility offered by drone platforms. This is a major step towards autonomous DIC inspection in portions of a structure where access is difficult via conventional methods.

     

抗阵风载荷的小型无人飞行器设计及相关风洞舵效比较

本文目的在于探索验证微小型飞行器的气动布局与抗突风载荷能力的关系,结合风洞试验验证了结果并进行了数据分析。在低雷诺数条件下采用大边条、小展弦比非常规的气动布局设计,根据性能指标要求对飞行器的机翼面积、翼展、翼型等相关参数进行了分析设计;运用数值模拟等手段对全机简化模型进行了气动力计算,对结果进了行初步的定性分析,为初始的设计提供了验证;结合实际的靶机制作得到了实际飞机的风洞验证缩比模型,对其进行了风洞的常规测力实验。根据风洞试验结果对飞机升降舵舵面与副翼舵面偏转0°、±15°、±30°的气动性能进行了评估,为进一步的理论分析提供依据。结合实际外场飞行实验情况得出飞行器的实际气动性能,并对大量相关风洞试验数据进行了分析;探索性地给出了一条适用于微小型飞行器进行的新设计方法和设计流程,为设计适应于阵风载荷等恶劣气候条件下微小的型飞行器提供了参考新思路。     

临近空间高超声速气动布局研究

临近空间飞行器存在多种不同的布局形式,而针对不同气动布局概念之间的系统研究则相对缺乏．采用数值模拟方法,对临近空间飞行器三类典型气动布局概念--扁平升力体、翼身融合体和翼身组合体开展系统的计算与分析,通过对比不同布局的升阻特性、静稳定特性、舵效特性等,获得不同布局概念气动性能优劣的初步评估．结果表明：扁平升力体的升力和阻力比较大,升阻比最低,容积率则最大,侧向稳定性最好;翼身组合体的升力和阻力比较小,升阻比最高,容积率比较低,侧向静稳定性较差;翼身融合体布局的特性介于翼身组合体和扁平升力体布局之间．