Adaptive sliding mode control of modular self-reconfigurable spacecraft with time-delay estimation

The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.     

Tuning the reactivity of Al–Ni by fine coating of halogen-containing energetic composites

In this paper, various core-shell structured Al–Ni@ECs composites have been prepared by a spray-drying technique. The involved ECs refer to the energetic composites (ECs) of ammonium perchlorate/nitrocellulose (AP/NC, NA) and polyvinylidene fluoride/hexanitrohexaazaisowurtzitane (PVDF/CL-20, PC). Two Al–Ni mixtures were prepared at atomic ratios of 1:1 and 1:3 and named as Al/Ni and Al/3Ni, respectively. The thermal reactivity and combustion behaviors of Al–Ni@ECs composites have been comprehensively investigated. Results showed that the reactivity and combustion performance of Al–Ni could be enhanced by introducing both NA and PC energetic composites. Among which the Al/Ni@NA composite exhibited higher reactivity and improved combustion performance. The measured flame propagation rate (v = 20.6 mm/s), average combustion wave temperature (T_max = 1567.0 °C) and maximum temperature rise rate (γ_t = 1633.6 °C/s) of Al/Ni@NA are higher than that of the Al/Ni (v = 15.8 mm/s, T_max = 858.0 °C, and γ_t = 143.5 °C/s). The enhancement in combustion properties could be due to presence of the acidic gaseous products from ECs, which could etch the Al₂O₃ shell on the surface of Al particles, and make the inner active Al to be easier transported, so that an intimate and faster intermetallic reaction between Al and Ni would be realized. Furthermore, the morphologies and chemical compositions of the condensed combustion products (CCPs) of Al–Ni@ECs composites were found to be different depending on the types of ECs. The compositions of CCPs are dominated with the Al–Ni intermetallics, combining with a trace amount of Al₅O₆N and Al₂O₃.     

Dual-steering mode based on direct yaw moment control for multi-wheel hub motor driven vehicles:Theoretical design and experimental assessment

One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process.This paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environ-ments.The control system is designed as a hierarchical structure,with a yaw moment decision layer and a driving force distribution layer.In the higher-level layer,the objective optimization function is con-structed to obtain the slip steering ratio,which represents the degree of vehicle slip steering in the dual-steering mode.A yaw moment controller using active disturbance rejection control theory is designed for continuous yaw rate control.When the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio,the yaw moment controller is actuated to determine the yaw moment demand for vehicle steering.In the lower-level layer,there is a torque distribution controller based on distribution rules,which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the vehicle.For verifying the validity and feasibility of the dual-steering mode,simulations were conducted on the hardware-in-loop real-time simulation platform.Additionally,corresponding real vehicle tests were carried out on an eight-wheel prototype vehicle.Test results were generally consistent with the simulation results,thereby demon-strating that the proposed dual-steering mode reduces steering radius and enhances the steering per-formance of the vehicle.     

A non-myopic scheduling method of radar sensors for maneuvering target tracking and radiation control

In decades, the battlefield environment is becoming more and more complex with plenty of electronic equipments. Thus, in order to improve the survivability of radar sensors and satisfy the requirement of maneuvering target tracking with a low probability of intercept, a non-myopic scheduling is proposed to minimize the radiation cost with tracking accuracy constraint. At first, the scheduling problem is formulated as a partially observable Markov decision process (POMDP). Then the tracking accuracy and radiation cost over the future finite time horizon are predicted by the posterior carmér-rao lower bound (PCRLB) and the hidden Markov model filter, respectively. Finally, the proposed scheduling is implemented efficiently by utilizing the branch and bound (B&B) pruning algorithm. Simulation results show that the performance of maneuvering target tracking was improved by the improved interacting multiple model (IMM), and the scheduler time and maximum memory consumption were significant reduced by the present B&B pruning algorithm without losing the optimal solution.     

潜艇指控系统技术和发展分析

介绍和分析了国外潜艇指控系统的发展概况和技术特点,然后回顾了国内潜艇指控系统发展。从满足未来海军潜艇作战需求出发,论述了一体化建设对潜艇指挥体系的重要性及下一代潜艇指控系统的能力需求,提出了着重要解决的技术问题。     

坦克炮控系统的反演滑模鲁棒摩擦补偿控制

坦克炮控系统存在低速摩擦,摩擦环节不但造成系统的稳态误差,而且导致极限环振荡、低速爬行等现象。为此提出基于反演理论的滑模鲁棒控制方法,通过Lyapunov稳定理论获得控制量。仿真结果表明该设计方法优于经典设计,为炮控系统实际设计提供了一种可行的方法。     

基于特征结构配置的车辆主动悬架控制器设计

基于特征结构配置参数化方法,提出了车辆主动悬架控制器设计方法,其目的是设计一组状态反馈控制器,使得闭环结构系统具有希望极点和特征向量。该方法提供的自由参数,可用来满足系统的鲁棒性能等指标。该方法直接基于车辆悬架系统的参数矩阵,故便于工程应用。对车辆悬架系统进行仿真分析,结果表明该设计方法简单有效。     

异步电机矢量控制中转子磁链的直接观测方法

以异步电机的等效电路为模型提出了在电机的外部构造转子磁链物理观测器的方法.理论上证明了在选取合适参数之后,用该物理观测器可以直接得到感应电机转子磁链的大小与相位,该方法用于异步电机的矢量控制系统,具有很好的实时性,且避免复杂的数字运算.     

挠性接管隔振效果检测试验装置合理性的讨论

采用机电比拟的方法对挠性接管隔振效果检测试验装置进行了分析,针对欲达到的试验目的,定性地提出了组成试验装置的质量、弹性常数等应达到的要求.     

双层隔振系统隔振效果研究

隔振系统的隔振效果与被隔离体、中间质量块及基座中的弹性模态有很大的关系.在考虑被隔离体、中间质量块及基座为弹性体的前提下,研究了它们的弹性模态对系统隔振效果的影响,得出了设计隔振系统时要遵循的一些原则.