Trajectory stabilization control for aerial recovery of cable-drogue-UAV assembly

Unmanned aerial vehicles (UAVs) aerial recovery denotes the technology that UAVs are recovered in the air by the transport aircraft for reuse. During the recovery process, the multiple wind perturbations and fast-changing UAV’s engine shutdown will induce oscillations in the cable-drogue-UAV assembly (CDUA) with strong nonlinearities and tight coupling, which affects the safety and speed of the UAV aerial recovery. Aiming at this problem, this paper proposes a non-constraining force direction (NCFD)-based CDUA anti-disturbance trajectory control method for the first time. First, by transforming the CDUA trajectory control to the NCFD control, the coupling and nonlinear effects in the CDUA can be reduced, and the fast-changing disturbances caused by the engine shutdown can be compensated. Then, feed forward control is designed based on the relationship between the NCFD and cable shape, which is established based on the cable dynamics, to improve the response speed. Furthermore, a fixed-time anti-disturbance controller (FTADC) is designed for the flow angle of drogue-UAV assembly (DUA) given by the NCFD controller and compensates for the effects of wind and parameter perturbations. Finally, the stability of the proposed method is analyzed, and the effectiveness is demonstrated by abundant simulations.

     

室温铁磁性Sr3YCo4O10.5+δ多晶有序化的烧结工艺及电磁性能

采用固相反应法制备了不同烧结温度(950~1 180 ℃)、烧结时间、烧结次数共7种工艺的Sr₃YCo₄O_10.5+δ多晶块材,通过热分析、XRD、SEM确定了有序化相变和最佳烧结工艺(1 180 ℃/24 h+1 180 ℃/24 h),并研究了多晶的电磁性能。结果表明,964 ℃完全晶化的四方相Sr₃YCo₄O_10.5在1 042 ℃吸氧(δ)完成有序化,生成Sr₃YCo₄O_10.5+δ,而1 100 ℃和1 180 ℃烧结的样品均出现(103)、(215)超结构峰,验证了其结构的有序性。块材均呈半导体电输运行为,二次烧结晶格完整性提高,晶粒长大,300 K时电阻率仅为0.06 Ω·cm,居里温度(T_c)~335 K,零场冷曲线(ZFC)上的Hopkinson峰源于低温时被冻结的磁矩随温度升高转向磁场方向,磁化强度在298 K达到最大,随后受热扰动的影响减小。室温铁磁性源于有序结构导致的中自旋或高自旋态Co³⁺的e_g轨道有序。     

The dual form of Beck type identities

The Ramanujan Journal - Inspired by Andrews and Merca’s recent work on the number of even parts over all partitions into distinct parts, we introduce a new kind of Beck type identities, which...     

Shedding vortex simulation method based on viscous compensation technology research

Owing to the influence of the viscosity of the flow field, the strength of the shedding vortex decreases gradually in the process of backward propagation. Large-scale vortexes constantly break up, forming smaller vortexes. In engineering, when numerical simulation of vortex evolution process is carried out, a large grid is needed to be arranged in the area of outflow field far from the boundary layer in order to ensure the calculation efficiency. As a result, small scale vortexes at the far end of the flow field cannot be captured by the sparse grid in this region, resulting in the dissipation or even disappearance of vortexes. In this paper, the effect of grid scale is quantified and compared with the viscous effect through theoretical derivation. The theoretical relationship between the mesh viscosity and the original viscosity of the flow field is established, and the viscosity term in the turbulence model is modified. This method proves to be able to effectively improve the intensity of small-scale shedding vortexes at the far end of the flow field under the condition of sparse grid. The error between the simulation results and the results obtained by using fine mesh is greatly reduced, the calculation time is shortened, and the high-precision and efficient simulation of the flow field is realized.     

Skyrmion transport driven by pure voltage generated strain gradient

The magnetic skyrmion transport driven by pure voltage-induced strain gradient is proposed and studied via micromagnetic simulation. Through combining the skyrmion with multiferroic heterojunction, a voltage-induced uniaxial strain gradient is adjusted to move skyrmions. In the system, a pair of short-circuited trapezoidal top electrodes can generate the symmetric strain. Due to the symmetry of strain, the magnetic skyrmion can be driven with a linear motion in the middle of the nanostrip without deviation. We calculate the strain distribution generated by the trapezoidal top electrodes pair, and further investigate the influence of the strain intensity as well as the strain gradient on the skyrmion velocity. Our findings provide a stable and low-energy regulation method for skyrmion transport.