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Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization

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Journal of Systems Engineering and Electronics 2020年第1期31卷 130-141页

作者： XU Zhen ZHANG Enze chen qingwei School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Information Engineering Yangzhou UniversityYangzhou 225009China

This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain *** approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable ***,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of *** the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization ***,an improved multi-objective particle swarm optimization algorithm is *** render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm ***,the selection of the global best position is taken into account by the reference point ***,the experimental environment is built with the help of the Google map and the 3D terrain generator World *** results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths.

关键词： unmanned aerial vehicle(UAV) path planning multiobjective optimization particle swarm optimization

Improved optimal steering law for SGCMG and adaptive attitude control of flexible spacecraft

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Journal of Systems Engineering and Electronics 2015年第6期26卷 1268-1276页

作者： Lu Wang Yu Guo Liping Wu qingwei chen School of Automation Nanjing University of Science and Technology

The issue of attitude maneuver of a flexible spacecraft is investigated with single gimbaled control moment gyroscopes （SGCMGs） as an actuator. To solve the inertia uncertainty of the system, an adaptive attitude control algorithm is designed by applying a radial basis function （RBF） neural network. An improved steering law for SGCMGs is proposed to achieve the optimal out- put torque. It enables the SGCMGs not only to avoid singularity, but also to output more precise torque. In addition, global, uniform, ultimate bounded stability of the attitude control system is proved via the Lyapunov technique. Simulation results demonstrate the effectiveness of the new steering law and the algorithm of attitude maneuver of the flexible spacecraft.

关键词： flexible spacecraft adaptive steering law attitudecontrol.

Adaptive robust control of mobile satellite communication system with disturbance and model uncertainties

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Journal of Systems Engineering and Electronics 2012年第5期23卷 761-767页

作者： Jun Jiang Jian Guo Bin Yao qingwei chen School of Automation Nanjing University of Science and Technology Nanjing 210094 E R. China School of Mechanical Engineering Purdue University West Lafayette IN 47907 USA

The tracking and stable control of a typical shipmounted mobile satellite communication system（MSCS） is *** the former studies based on simplified single-axis models,a tri-axis nonlinear model including the kinematic and dynamic features of the MSCS is used as the control *** adaptive robust controller with trajectory planning is designed to deal with large parametric uncertainties and uncertain nonlinearities of the system.A theoretic performance result is given and *** designed adaptive robust controller and other two traditional controllers are tested in the comparative simulations under three different *** simulation results show the tracking and stable validity of the proposed controller.

关键词： ship-mounted mobile satellite communication system adaptive control robust control tracking control

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280柴油机滤清器座低压铸造工艺

特种铸造及有色合金 2005年第7期25卷 424-425页

作者：陈清伟资阳机车厂

对280大功率柴油机铝合金滤清器座的低压铸造工艺进行了探讨。设定了几个主要工艺参数:浇注温度为720～760℃,升液时间为5～10s,充型速度为1.2～1.5m/s,充型压力为0.05～0.08MPa,保压压力为0.15～0.25MPa,保压时间为6～10min;模具温度,... 详细信息

对280大功率柴油机铝合金滤清器座的低压铸造工艺进行了探讨。设定了几个主要工艺参数:浇注温度为720～760℃,升液时间为5～10s,充型速度为1.2～1.5m/s,充型压力为0.05～0.08MPa,保压压力为0.15～0.25MPa,保压时间为6～10min;模具温度,下模为350～400℃,上模为200～250℃,左右模为250～300℃。

关键词： ZL101 低压铸造柴油机滤清器

Error Compensation Analysis of Three-Axis Magnetic Sensor Based on M-estimation

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Error Compensation Analysis of Three-Axis Magnetic Sensor Ba...

Simulation of Radiation Losses Using Non-coronal Model on HL-2A

2021中国智能自动化大会(CIAC2021)

作者： Huikun Panand qingwei chen School of Automation Nanjing University of Science and Technology

In the error compensation algorithm of the three-axis magnetic sensor,an M-estimation supplementary strategy is introduced to solve the problem that the abnormal sampling point will affect the results of geomagnetic data correction.M-estimation calculates the weight of each sampling point through the selected cost function, thereby reducing the influence of outliers. The Huber, Hampel and Tukey cost functions are selected to complete the error compensation algorithm of three-axis magnetic sensor based on M-estimation, and these three methods are compared in terms of mean square error, average error and running time through simulation. The simulation results show that the three methods are similar in the case of small deviation and small number of outliers. And the compensation effect based on the Tukey cost function is the best when the outliers are offset large and the number is large.

关键词： M-estimation Tukey The three-axis magnetic sensor Error compensation

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Southwestern Institute of Physics Annual Report

Southwestern Institute of Physics Annual Report 2006年第1期 50-52页

作者： chen Wei YANG qingwei LI Wei

The behaviour of impurity in tokamak plasma is exceedingly complex if the impurity transport and recycling from the walls are taken into account. Generally, there is not enough time for the impurity ions of plasma to reach their coronal equilibrium. For example, in coronal equilibrium, negligible radiation is expected for beryllium （Be） above 10 eV boron （B） above 20 eV, carbon （C） above 30 eV, and oxygen （O） above 40 eV, whereas significant radiation has been observed experimentally from these species with the core periphery and scrape-off layer （SOL） temperature typically greater than 40 eV.

关键词：辐射损耗 HL-2A 核反应原子核

Control of switched systems with actuator saturation

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控制理论与应用（英文版） 2006年第1期4卷 38-43页

作者： Yang SONG Zhengrong XIANG qingwei chen Weili HU Department of Automation Nanjing University of Science ＆ Technology Jiangsu Nanjing 210094 China

This paper is concerned with controller synthesis for linear switched systems with actuator saturation. Based on common Lyapunov function technique and multiple-Lyapunov function technique, two methods for designing state feedback controller are proposed respectively in terms of linear matrix inequalities for the switched systems with saturation. An approach on enlarging the attractive domain is then investigated, The application of the presented approach is illustrated finally by a numerical example.

关键词： Saturating control Switched systems Common Lyapunov function Multiple Lyapunov functions

Hardware and Software Design of Highly Reliable Integrated Navigation System for Long-endurance UAV

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Hardware and Software Design of Highly Reliable Integrated N...

Dual Scheduling and Quantized Control for Networked Control Systems Based on Dynamic Dwell Time

第30届中国控制与决策会议

作者： Fei Yan Sheng Li qingwei chen School of Automation Nanjing University of Science and Technology

The SINS/GNSS/CNS integrated navigation system in this paper is designed in order to meet the demand of highly reliable navigation of UAV during long *** on redundancy configuration technology,the hardware solutions of the integrated navigation system is designed using redundant navigation subsystem,dual navigation computer and some other *** integrated navigation system software includes driver,communication and fault-tolerant filtering *** fault tolerance algorithm is designed based on fault detection algorithm and federal filtering *** prototype of the integrated navigation system and its experimental platform were built,and the relating test was carried out on the highway.

关键词： High reliability Redundancy configuration Fault tolerance Integrated navigation Test prototype

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Dual Scheduling and Quantized Control for Networked Control ...