32 results about "Longitudinal model" patented technology

The invention relates to a fine anti-interference tracking controller of a flexible hypersonic vehicle. A method for constructing the fine anti-interference tracking controller comprises the following steps of: (1) building a longitudinal model of the flexible hypersonic vehicle; (2) building a multisource interference system model of the flexible hypersonic vehicle based on the longitudinal model in the step (1): firstly, building a control-oriented nominal model; then regarding an elastic mode as interference and building an elastic mode interference model; and finally, building a multisource interference system model by combining the above two models and considering measurement errors, parameter uncertainty, external interference, etc.; (3) designing a nonlinear disturbance observer to estimate the elastic mode interference based on the multisource interference system model in the step (2); and (4) constructing the fine anti-interference dynamic reverse composite tracking controller based on the nonlinear disturbance observer in the step (3). The fine anti-interference tracking controller has the advantages of high anti-interference performance, rapid tracking speed, high control accuracy, etc., and applies to high accuracy tracking control of the height and the speed of the flexible hypersonic vehicle.

The present invention is a system and method for generating an alarm relative to effective longitudinal behavior of a drill bit fastened to the end of a drill string driven in rotation in a well by a driving device situated at the surface, using a physical model of the drilling process based on general mechanics equations. The following steps are carried out: the model is reduced so to retain only pertinent modes, at least two values Rf and Rwob are calculated, Rf being a function of the principal oscillation frequency of weight on hook WOH divided by the average instantaneous rotating speed at the surface, Rwob being a function of the standard deviation of the signal of the weight on bit WOB estimated by the reduced longitudinal model from measurement of the signal of the weight on hook WOH, divided by the average weight on bit WOB0, defined from the weight of the string and the average weight on hook. Any danger from the longitudinal behavior of the drill bit is determined from the values of Rf and Rwob.

The invention provides an optical fiber phase compensator and a use method of the optical fiber phase compensator. A laser of a single longitudinal mode laser device of the optical fiber phase compensator is divided into two beams through an optical fiber coupler, one beam is input into a first wavelength division multiplexer and transmitted to a transmission optical fiber along with a transmission optical signal, one end of the transmission optical fiber is wound around piezoelectric ceramics (PZT), the other end of the transmission optical fiber is connected with a second wavelength division multiplexer, an output single longitudinal mode laser signal is reflected by a second optical fiber reflecting mirror and returned through the transmission optical fiber, interference between the optical fiber coupler and the local single longitudinal model laser signal is generated, an interference optical signal enters a feedback control circuit, a control signal controls the PZT flexible range, an upper optical fiber optical path of the PZT is changed, and phase compensation is conducted on the transmission optical signal. The use method comprises the steps that a stable phase point of the optical fiber phase compensator is firstly set and automatic phase compensation is conducted by the PZT; when the adjustment limitation of the PZT is reached, reset is conducted. The stable phase transmission distance of one-level compensation reaches 25 km and a cascade optical fiber phase compensator can be formed through multiple levels.

The invention discloses a hypersonic aircraft self-adaptation time-varying preset performance control method based on LS-SVM. The method includes the steps of firstly, designing LS-SVM identifier and a time-varying preset performance function according to the longitudinal model of an air-breathing hypersonic aircraft to obtain an error transformation model; secondly, designing a speed subsystem self-adaptation time-varying preset performance controller according to the error transformation model; thirdly, designing an altitude subsystem self-adaptation time-varying preset performance controller according to the error transformation model; fourthly, performing stabilizing analysis and performance analysis according to the speed subsystem self-adaptation time-varying preset performance controller and the altitude subsystem self-adaptation time-varying preset performance controller. The hypersonic aircraft self-adaptation time-varying preset performance control method has the advantages that the online approximation algorithm complexity of an unknown nonlinear power model is lowered while the saturation constraint conditions of an aircraft actuating mechanism are not violated; the self-adaptation high-precision control of a hypersonic aircraft is achieved while the stability of the control system of the aircraft is guaranteed.

The invention relates to an adaptive fault tolerant control method considering input constraints of an actuator for a hypersonic flight vehicle. The method comprises the following steps of firstly, establishing a standard longitudinal dynamics model of the hypersonic flight vehicle and decomposing the model into speed, height and attitude subsystems; secondly, establishing an air vehicle actuatorfault model with generality, and compensating input constraint characteristics of the actuator by constructing a smoothing function; and thirdly, respectively designing an adaptive compensation controller and an adaptive law for three subsystems through a dynamic inverse method, a backstepping method and a sliding mode control method. According to the method, the stability of longitudinal model parameters such as air vehicle speed, height and the like is guaranteed in a level flight working state when the hypersonic flight vehicle with the input constraint characteristics of the actuator has an actuator fault, and the method has the advantages of strong fault-tolerant capability and robustness to external disturbance and the like.

The invention discloses a lining model used for a shield tunnel longitudinal model test and a manufacturing method thereof. The segmental lining model comprises cutting slots and longitudinal connector sheets. The manufacturing method comprises the steps that the model parameters are calculated by drawing up the similarity ratio, trial manufacturing is performed and whether the mechanical parameters meet the requirements is tested, and then pouring of the segmental lining model is performed and splicing is performed. The shield tunnel segmental lining structure stiffness is ensured to be consistent with that of the prototype tunnel structure, and the local stress state of the segmental lining longitudinal connectors can also be reflected so as to have high popularization value.

The invention provides a collaborative task prediction method and a computer readable storage medium. The method comprises the following steps: receiving sample identity information sent by a plurality of terminals, and constructing a longitudinal model based on the sample identity information through a child longitudinal model obtained by performing intermediate result interaction with the plurality of terminals; receiving a plurality of child transverse models sent by the plurality of terminals, and integrating the plurality of child transverse models to obtain a transverse model; integrating the longitudinal model and the transverse model to obtain a task prediction model, and sending the task prediction model to a plurality of terminals; obtaining to-be-predicted identity information,and sending the to-be-predicted identity information to the plurality of terminals; when a plurality of sub-prediction results returned by the plurality of terminals for the to-be-predicted identity information are received, integrating a task prediction result by using the plurality of child prediction results to complete collaborative task prediction. According to the invention, the accuracy oftask prediction can be improved.

The invention discloses a fixed-wing unmanned aerial vehicle finite time formation fault-tolerant control method based on a neural network, and the method comprises the steps: firstly, carrying out the formation control through a virtual leader-follower structure, and carrying out the information interaction through a distributed formation method, based on this, designing a corresponding communication topological graph and calculating a corresponding adjacency matrix and a Laplacian matrix; then, aiming at a longitudinal model of the fixed-wing unmanned aerial vehicle, simplifying a dynamic model into a strict feedback form based on a reasonable assumed condition, and considering a failure fault of elevator deflection; on the basis of a backstepping method, sliding mode control is combined, an unknown nonlinear function of a model is processed through a radial basis function neural network, and the failure fault of the elevator is estimated in a self-adaptive mode, so that fault-tolerant control within finite time is achieved. The problem that formation fault-tolerant control is difficult due to the fact that the longitudinal model of the fixed-wing unmanned aerial vehicle serves as a high-order nonlinear system is solved, and the system has high robustness and can be stable within finite time.

The invention discloses a method for analyzing stiffness influence lines of shear of shear keys of joints of an immersed tube tunnel. The method includes 1), constructing a longitudinal model of the immersed tube tunnel; 2), computing sedimentation delta and the vertical stiffness k of an optional spring; 3), computing the average stiffness and stiffness variation ratios alpha of n springs within a total-length range, and drawing a stiffness variation distribution graph; 4), replacing the longitudinal model of the immersed tube tunnel by an indefinite-length elastic foundation beam model under an integral heating working condition; 5), enabling the indefinite-length elastic foundation beam model to be equivalent to an indefinite-length beam model supported by the average stiffness under the effect of concentrated force q1; 6) solving a relation between the concentrated force q1 and force q; 7), solving a shear value at an optional section-side position by the aid of the concentrated force q1; 8), drawing a stiffness influence line of the shear of the shear key at an inspected joint position. The stiffness support in a certain miniature section [-X<0>, X<0>] under uniformly distributed load of the force q is changed into k<2> by the infinite-length elastic foundation beam model. The method has the advantages that the stiffness influence lines are multiplied by the foundation stiffness variation distribution graph to obtain the values of the shear of the shear keys of the joints, and the shear is caused due to variation of the foundation stiffness.

The invention discloses a control design method of a hypersonic flight vehicle. The method comprises the following steps that a longitudinal model of the hypersonic flight vehicle is given; finite time height control design to the hypersonic flight vehicle is achieved according to an engine dynamic equation described by a second-order system model; according to the sufficient condition of controller gain selecting, a flight speed and a flight path angle are converged to a given value within the finite time, and therefore the finite time speed control design to the hypersonic flight vehicle is achieved. According to the motion control design method of the hypersonic flight vehicle, based on the control method of a finite time control technology, the controller design method of dynamic inverse and the finite time control technology is combined, height control and speed control are seen as two sub systems for designing controllers respectively, and the difficult problems that the model order of the hypersonic flight vehicle is high and finite time control can not be achieved easily are solved.

The invention discloses a fault-tolerant control method for a hypersonic aircraft elevator with state limitation. For the longitudinal model of a hypersonic aircraft, an adaptive fault-tolerant controller is proposed to realize state constraint under consideration of the internal coupling of a system. The complexity caused by aerodynamic uncertainty, external disturbances and elastic modes is considered throughout the controller design process. The method comprises the steps that a sliding mode control method is introduced in the first step of a backstepping process to handle the coupling of the system; the obstacle Lyapunov function is applied to the subsequent backstepping process to ensure that the angle of attack and pitch rate are limited; moreover, due to the introduction of the dynamic surface method, the problem of differential explosion is avoided; and finally, the fault-tolerant controller structure is designed for the unknown fault of the elevator. According to the invention, the coupling problem and the state limitation problem of the system can be simultaneously handled, and the accuracy of the control system is improved.

The invention discloses an automobile mass online estimation method based on model iteration, and aims to overcome the defects of low estimation precision, poor robustness and few application conditions in the existing whole automobile mass estimation technology. Engine torque, longitudinal vehicle speed, longitudinal acceleration, lateral acceleration, yaw velocity and steering wheel rotation angle are obtained from a vehicle-mounted CAN bus and a sensor. In combination with recursive least squares and Kalman filtering algorithms, the longitudinal model quality estimation method or the lateral model quality estimation method is used for estimating the whole vehicle quality according to a model arbitration mode under different working conditions, and mutual iterative updating is carried out. According to the invention, many vehicle-mounted signals are referenced, the mutual correction effect is achieved from the longitudinal and lateral aspects, and the method has the advantages of strong robustness, wide application condition range and high precision. And relatively reliable whole vehicle mass signal input is provided for an electronic control system of the automobile chassis.

The invention provides an evaluation method and device of a longitudinal control model of an end-to-end automatic driving system. The method comprises the steps of determining a reference standard speed sequence according to a speed sequence extracted from a predetermined navigation system; reading an estimation speed sequence of the longitudinal control model; evaluating the longitudinal controlmodel of the end-to-end automatic driving system according to a mean square error of the reference standard speed sequence and the estimation speed sequence. According to the reference standard speedsequence obtained through calculation in the predetermined navigation system and the estimation speed sequence read from the longitudinal control model, the means square error is determined, accordingto the mean square error, the longitudinal speed model is estimated, therefore the effect of the longitudinal model can be objectively and authentically evaluated, and the study efficiency of deep learning in the field of automatic driving is improved.

The invention relates to a noise compensation method for a two-optical-comb measuring system. The method comprises: two continuous laser devices and two optical combs generate beat frequency signals at adjacent longitudinal models at the same side to obtain relative beat frequency signals fb1 and fb2 between two optical comb longitudinal modes; the relative beat frequency signals fb1 and fb2 are processed to obtain a carrier phase noise of an interference signal and time jittering of a periodic envelope in a two-optical-comb measuring system; and according to the carrier phase noise of the interference signal and time jittering of the periodic envelope in the two-optical-comb measuring system, noises of an original interference signal in the two-optical-comb measuring system are correctedto realize noise compensation. The compensation precision is high; the precision needed by the two-optical-comb measuring system application is met; the dependence on the high-precision light source is reduced substantially; and the system cost, size and weight are reduced.

The invention relates to a fine anti-interference tracking controller of a flexible hypersonic vehicle. A method for constructing the fine anti-interference tracking controller comprises the following steps of: (1) building a longitudinal model of the flexible hypersonic vehicle; (2) building a multisource interference system model of the flexible hypersonic vehicle based on the longitudinal model in the step (1): firstly, building a control-oriented nominal model; then regarding an elastic mode as interference and building an elastic mode interference model; and finally, building a multisource interference system model by combining the above two models and considering measurement errors, parameter uncertainty, external interference, etc.; (3) designing a nonlinear disturbance observer to estimate the elastic mode interference based on the multisource interference system model in the step (2); and (4) constructing the fine anti-interference dynamic reverse composite tracking controller based on the nonlinear disturbance observer in the step (3). The fine anti-interference tracking controller has the advantages of high anti-interference performance, rapid tracking speed, high control accuracy, etc., and applies to high accuracy tracking control of the height and the speed of the flexible hypersonic vehicle.

The invention discloses a modeling method for a multi-cell LPV system of an elastic hypersonic aircraft. The method comprises the following steps: establishing an elastic hypersonic aircraft nonlinearlongitudinal model, obtaining corresponding aerodynamic parameters, analyzing the relationship between the elastic deformation of an aircraft and a rigid body of the aircraft, and establishing a mathematical model; establishing a three-input three-output multi-cell LPV system model and a two-input two-output multi-cell LPV system model for the nonlinear longitudinal model of the hypersonic aircraft based on Jacobian linearization and tensor product transformation; to be specific, selecting a scheduling variable, and performing Jacobian linearization at a balance point to obtain a continuous LPV model; discretizing the continuous LPV model and storing the discretized continuous LPV model in a tensor; performing high-order singular value decomposition on the tensor to extract a core LTI vertex system; and constructing a continuous weight function of a core LTI vertex system. According to the method, the multi-cell LPV model capable of reflecting the elasticity of the hypersonic flight vehicle is established, the characteristics of the large flight envelope of the hypersonic flight vehicle are covered, the modeling calculation amount is reduced, and meanwhile the modeling precision is kept.

The invention provides a robust compensation control method of a high-speed aircraft and the high-speed aircraft, and relates to the technical field of high-speed aircraft control. The method comprises the steps of acquiring the flight parameters of a detected high-speed aircraft; inputting the flight parameters into a robust controller which comprises an optimal controller for realizing the expected tracking performance of a nominal system and a robust compensator for inhibiting the influence of equivalent disturbance on a closed-loop control system; importing the optimal controller and the robust compensator into a preset high-speed aircraft longitudinal model to obtain a target control variable, and controlling the high-speed aircraft according to the target control variable. The robustcompensation control method of the high-speed aircraft and the high-speed aircraft are provided. An optimal controller for realizing the expected tracking performance of a nominal system and a robustcompensator for inhibiting the influence of equivalent disturbance on a closed-loop control system are used for controlling the high-speed aircraft, and the tracking performance of the high-speed aircraft can be improved.

The invention discloses a state-limited hypersonic vehicle elevator fault-tolerant control method. Aiming at the longitudinal model of the hypersonic vehicle, an adaptive fault-tolerant controller is proposed under the premise of considering the internal coupling of the system to realize the state constraints. The complexity brought about by aerodynamic uncertainties, external disturbances and elastic modes is considered throughout the controller design process. First, a sliding mode control method is introduced to deal with the coupling of the system in the first step of the backstepping process. Next, barrier Lyapunov functions are applied in the subsequent backstepping process to ensure that the angle of attack and pitch rate are limited. Moreover, due to the introduction of the dynamic surface method, the problem of differential explosion is avoided. Finally, a fault-tolerant controller structure is designed for unknown faults of the elevator. The invention can simultaneously deal with the coupling problem and the state limit problem of the system, thereby improving the accuracy of the control system.

The invention relates to a track dip angle inversion controlling method of an aircraft based on a control force limitation situation. The track dip angle inversion controlling method comprises the following four steps of: step 1, constructing a longitudinal model of an aircraft and converting a state of the aircraft; step 2, carrying out an inversion control design based on saturated control input; step 3, verifying tracking performance and regulating parameters; and step 4, finishing the design. The invention aims at a longitudinal plane dynamic model of the aircraft, utilizes an input saturation error dynamic amplification method by defining an auxiliary analysis system to realize an inversion control method based on the saturated control input, and is applied to the control of a track dip angle of the aircraft. The invention has better practical value and a wide application prospect in an aerospace automatic control technical field.

A hypersonic vehicle trajectory tracking control method based on output information, comprising the following steps: Step 1: Using an input-output linearization technique, transform the longitudinal model of the hypersonic vehicle into a system containing lumped disturbances (the sum of external disturbances and parameter uncertainties) ) input and output model; Step 2: According to the input and output model established in Step 1, design a fixed time dilation state observer to estimate the state of the unknown disturbance and the input and output model; Step 3, based on the fixed time dilation state observer and the output value of the system , design the fixed-time continuous terminal sliding mode surface, and further obtain the fixed-time continuous terminal sliding mode trajectory tracking control scheme of the hypersonic aircraft system; the method of the invention can make the system output track the reference trajectory in the fixed time. The invention is suitable for the field of hypersonic aircraft control.

The invention discloses an online vehicle quality estimation method based on model iteration, aiming to solve the shortcomings of low estimation accuracy, poor robustness and few applicable conditions in the existing vehicle quality estimation technology. By obtaining engine torque, longitudinal vehicle speed, longitudinal acceleration, lateral acceleration, yaw rate, and steering wheel angle from the vehicle CAN bus and sensors, combined with recursive least squares and Kalman filter algorithms, using longitudinal model quality estimation methods or lateral The model quality estimation method estimates the vehicle quality according to the model arbitration method under different working conditions, and iteratively updates each other. The present invention refers to many vehicle-mounted signals, considers the longitudinal and lateral aspects, achieves the effect of mutual correction, and has the advantages of strong robustness, wide range of applicable conditions and high precision. It provides a relatively reliable vehicle quality signal input for the electronic control system of the automobile chassis.

The invention discloses an optical network unit device for mutual-excitation multi-wavelength dynamic scheduling in a passive optical network (PON), belonging to the technical field of optical communication. The optical network unit device comprises an uplink data transmitter, a downlink data receiver and an optical circulator, wherein the output end of the optical circulator is connected with the uplink data transmitter so as to transmit downlink data optical signals, and the input end of the optical circulator is connected with the uplink data transmitter so as to transmit uplink data optical signals; and the uplink data transmitter comprises two FP multi-longitudinal model lasers with the same model intervals, an adjustable band-pass filter, two optical circulator, an optical splittingand coupling device and a control module. Based on the mutual-excitation working mode of two FP multi-longitudinal model lasers, the invention can dynamically generate uplink optical carrier with adjustable multi-wavelength, flexibly and effectively share all uplink wavelength resources, improve the utilization rate of the uplink wavelength resources, has simple structure and low cost, and meet the development requirement on rapid increase of user uplink access capability.

The invention discloses a vehicle control method, device and equipment based on steering hysteresis and a storage medium. The method comprises steps of the transverse motion state quantity of a target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment being obtained; based on the transverse motion state quantity and a preset transverse kinematics model, determining a front wheel turning angle of the target vehicle at the next moment; wherein the preset transverse kinematic model comprises a steering hysteresis response time constant; based on the longitudinal motion state quantity and a preset longitudinal kinematics model, the acceleration of the target vehicle at the next moment being determined; and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration. The method is advantaged in that comprehensive smooth control can be conducted on the target vehicle through the decoupled transverse and longitudinal models, the steering hysteresis response time constant is introduced, timely control over the target vehicle is guaranteed, and stability and robustness of vehicle operation are improved.

The invention discloses an optimal control method for electric control suspension vehicle coupling. The method is based on a whole vehicle suspension model of coupling pitching and roll motion, is applied to an electric control suspension comprising an information collection mechanism, and comprises the following steps: (1) arranging a signal collection mechanism, (2) obtaining a transverse acceleration by using a whole vehicle transverse model, (3) collecting a longitudinal acceleration, (4) building a whole vehicle suspension model coupling pitching and rolling, (5) building a state equation and an output equation of a whole vehicle coupling model, and (6) executing an integrated coupling control method. According to the method, coupling of the vertical model, the transverse model and the longitudinal model of the whole vehicle and optimal suspension parameter matching based on the coupling model of the whole vehicle can be realized, so that the posture and the driving smoothness of the vehicle are effectively improved.

A hypersonic flight vehicle trajectory tracking control method based on output information comprises the following steps: 1, converting a hypersonic flight vehicle longitudinal model into an input and output model containing lumped interference (the sum of external interference and parameter uncertainty) by using an input and output linearization technology; 2, according to the input and output model established in step 1, designing a fixed time expansion state observer to estimate unknown interference and the state of the input and output model; and 3, designing a fixed-time continuous terminal sliding mode surface based on the fixed-time extended state observer and the output value of the system, and further obtaining a fixed-time continuous terminal sliding mode trajectory tracking control scheme of the hypersonic aircraft system. According to the method, the system output can track the reference trajectory within a fixed time. The method is suitable for the field of hypersonic flight vehicle control.

The invention discloses a fixed-wing unmanned aerial vehicle obstacle avoidance anti-interference flight control method based on preset performance, and the method comprises the following steps: generating an initial route, adjusting the parameters of the initial route, and generating a continuous safe flight route of an unmanned aerial vehicle; neglecting the mutual influence of transverse and lateral movement and longitudinal movement, establishing an unmanned aerial vehicle longitudinal model with external interference, and defining a performance function; based on the longitudinal model of the unmanned aerial vehicle, designing a height controller and a speed and track inclination angle controller based on a preset performance function; designing a disturbance observer, and designing an attitude angle controller and an attitude angle rate controller based on the disturbance observer; selecting a Lyapunov function of a control system, selecting control parameters according to the Lyapunov stability theory, and ensuring that system signals are bounded. According to the method, safe flight of the fixed-wing unmanned aerial vehicle can be ensured, the height tracking error can meet the given performance, and robust anti-interference tracking flight control of the fixed-wing unmanned aerial vehicle under external interference is realized.

The invention provides an alternate adjustment calibration method applied to head-up equipment, and the method comprises the following steps: S1, collecting the position of a calibration plate through a camera, and obtaining the internal parameters of the camera; S2, calculating external parameters of the camera; S3, calculating a distortion coefficient; S4, establishing the distortion coefficient into a transverse model and a longitudinal model; and S5, performing operation through an alternate adjustment optimization iterative algorithm, and optimizing internal parameters and external parameters with minimum errors. Modeling is carried out by carrying out nonlinear optimization on radial and tangential distortion models of a camera lens. The parameters of the visual system is further corrected by adopting an alternating adjustment algorithm. The problem that non-linear distortion cannot be corrected is solved. The method has the characteristics of high precision and easy realization.

The invention provides an optical fiber phase compensator and a use method of the optical fiber phase compensator. A laser of a single longitudinal mode laser device of the optical fiber phase compensator is divided into two beams through an optical fiber coupler, one beam is input into a first wavelength division multiplexer and transmitted to a transmission optical fiber along with a transmission optical signal, one end of the transmission optical fiber is wound around piezoelectric ceramics (PZT), the other end of the transmission optical fiber is connected with a second wavelength division multiplexer, an output single longitudinal mode laser signal is reflected by a second optical fiber reflecting mirror and returned through the transmission optical fiber, interference between the optical fiber coupler and the local single longitudinal model laser signal is generated, an interference optical signal enters a feedback control circuit, a control signal controls the PZT flexible range, an upper optical fiber optical path of the PZT is changed, and phase compensation is conducted on the transmission optical signal. The use method comprises the steps that a stable phase point of the optical fiber phase compensator is firstly set and automatic phase compensation is conducted by the PZT; when the adjustment limitation of the PZT is reached, reset is conducted. The stable phase transmission distance of one-level compensation reaches 25 km and a cascade optical fiber phase compensator can be formed through multiple levels.

It is a single-longitudinal model solid purplish blue laser composed of single-longitudinal model exocoel frequency multiplier Nd:YAG laser, plane lens, lambda / 2 quartz wavepad, focus lens, titanium diamond laser. It is characterized by the following: the titanium diamond laser adopts three-lens right angle ring chamber structure composed of high reverse back cavity lens, forty-five degree incidence reflection lens, titanium diamond crystal and output cavity lens. The titanium diamond laser output is divided into two paths, wherein, one goes in through first blind plate and out through frequency crystal, the other one goes in through frequency multiplier crystal and second blind plate and out through frequency crystal.