基于通用扩张状态观测器的鲁棒飞行控制方法

针对参数不确定、外界干扰与测量噪声情况下飞行控制问题,提出一种基于通用扩张状态观测器的鲁棒飞行控制方法。基于状态相关的Riccati方程控制方法对飞行器俯仰通道非线性模型进行扩展线性化;引入基于通用扩张状态观测器的控制方法,设计干扰补偿增益,实现对外界干扰的估计与补偿;通过在线解算状态相关矩阵及代数黎卡提方程,得出状态反馈增益与干扰补偿增益,实现对飞行器期望攻角的跟踪控制。与已有方法对比表明,所提方法不仅对系统模型不确定性与外界干扰具有较强的鲁棒性,而且在较大测量噪声情况下,其依然能够保证良好的跟踪控制效果,具有较强的工程应用价值。     

基于循环谱相关的雷达信号脉内分析改进算法

针对传统的雷达信号脉内特征分析算法存在的局限,提出了一种基于循环谱相关的雷达信号脉内特征分析的改进算法。该算法将传统的循环谱估计方法进行了改进,能对雷达信号脉内调制方式进行识别并提取脉内特征参数,然后结合改进的小波变换的优点,对识别出的相位编码信号进行相位突变点的提取,最后输出至完善的脉冲描述字中。改进的算法能够在较低计算量的同时保证较好的脉内特征参数的估算精度。仿真结果表明,在较低信噪比下,该算法仍然具有较好的性能。     

复杂自然背景中人造目标的分割研究

在以自然景物为背景的图像中,分形维数特征是一种能有效将人造物体从自然背景中分割出来的一种纹理特征.提出了一种基于Gabor滤波器及差分盒维数的分形纹理特征提取方法,该方法依据不同的滤波器尺度分别采用不同尺寸的滑动窗口来计算分形纹理特征.并利用FCM方法实现了对图像的分割.实验表明该方法能很好地对真实自然背景的图像进行分割,并能由此获得人工目标的轮廓图像.     

Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

Based on fuzzy adaptive and dynamic surface (FADS), an integrated guidance and control (IGC) approach was proposed for large caliber naval gun guided projectile, which was robust to target maneuver, canard dynamic characteristics, and multiple constraints, such as impact angle, limited measurement of line of sight (LOS) angle rate and nonlinear saturation of canard deflection. Initially, a strict feedback cascade model of IGC in longitudinal plane was established, and extended state observer (ESO) was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system, including aerodynamic parameters perturbation, target maneuver and model errors. Secondly, aiming at zeroing LOS angle tracking error and LOS angle rate in finite time, a nonsingular terminal sliding mode (NTSM) was designed with adaptive exponential reaching law. Furthermore, combining with dynamic surface, which prevented the complex differential of virtual control laws, the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law. Finally, the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection. The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded, rigorously proven by Lyapunov stability theory. Hardware-in-the-loop simulation (HILS) and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.     

Moving horizon based wavelet de-noising method of dual-observed geomagnetic signal for nonlinear high spin projectile roll positioning

Phase-frequency characteristics of approximate sinusoidal geomagnetic signals can be used for projectile roll positioning and other high-precision trajectory correction applications. The sinusoidal geomagnetic signal deforms in the exposed and magnetically contaminated environment. In order to preciously recognize the roll information and effectively separate the noise component from the original geomagnetic sequence, based on the error source analysis, we propose a moving horizon based wavelet de-noising method for the dual-observed geomagnetic signal filtering where the captured rough roll frequency value provides reasonable wavelet decomposition and reconstruction level selection basis for sampled sequence; a moving horizon window guarantees real-time performance and non-cumulative calculation amount. The complete geomagnetic data in full ballistic range and three intercepted paragraphs are used for performance assessment. The positioning performance of the moving horizon wavelet de-noising method is compared with the band-pass filter. The results show that both noise reduction techniques improve the positioning accuracy while the wavelet de-noising method is always better than the band-pass filter. These results suggest that the proposed moving horizon based wavelet de-noising method of the dual-observed geomagnetic signal is more applicable for various launch conditions with better positioning performance.     

直列式内燃机往复惯性力对瞬时转速影响的仿真研究

提出了两种由直列式内燃机往复惯性力计算转速波动的仿真模型 ,对不同气缸间惯性力的相位耦合进行了仿真分析 ,证明缸数对转速波动的幅度和频率均有着很大的影响 ;利用希尔伯特变换对转速波动信号进行时频分析 ,证明了多缸机转速波动波形为调频余弦曲线     

大型装备费用预测中的系统分析

将大型装备连续建造的总成本及控制变量作为一个变化系统,并用灰色系统理论进行建模分析,采用龙格-库塔法求解微分方程组.通过对精度的分析,指出使用灰色系统预测结果不能采用统计分析方法的相关性检验标准,而要通过预测数列与原始数列的逼近情况来判断其预测精度.     

基于平稳小波变换的遥感图像融合方法

针对目前方法在多光谱图像和高分辨率图像融合中存在的问题,提出了一种IHS交换和平稳小波变换相结合的图像融合方法.首先对多光谱图像进行IHS变换后,得到I、H和S三个分量,接着对I分量和高分辨率图像进行基于平稳小波变换的图像融合,得到一幅新的强度图像,最后用新的强度图像和H及S进行IHS反变换,进而获得最终融合图像.实验表明,它优于传统的IHS变换法和小波变换法.     

管道在线检测技术及检测机器人研究

概述了管道检测技术发展现状,介绍了最新检测技术的原理,分析了管道内检测机器人的技术要点,概括介绍了课题组在差压式管内检测机器人周围流场建模与仿真、腐蚀环境下管道钢裂纹群演化的混沌动力学、差压式管内检测机器人的通过性能、管内检测机器人运行速度和姿态分析及运动状态控制、管内检测机器人小型化、小型化管内检测机器人检测精度、小型化管内检测机器人定位精度及管道剩余寿命的预测方法等方面的研究进展,为今后的研究打下了坚实的基础。     

惯性弹体运动预测建模

基于弹道方程的理论建立了来袭惯性弹体的运动预测模型和识别模型,一方面为防空作战从战术前沿拓展到中程以上拦截提供模型基础,另一方面为前沿防空中拦截榴弹、火箭弹类小型目标提供出精度更高的预测模型。最后,研究中成功给出了弹体运动状态预测及识别的计算结果,并得到了真实射表的验证。模型普遍适用于所有来袭惯性弹体的运动。