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Comparative Study and Airspeed Sensitivity Analysis of Full-Wing Solar-Powered UAVs Using Rigid-Body, Multibody, and Rigid-Flexible Combo Models 使用刚体、多体和刚柔结合模型对全机翼太阳能无人机进行比较研究和空速敏感性分析
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-28 DOI: 10.1155/2024/9095713
An Guo, Shanshan Mu, Zhou Zhou, Jiwei Tang
Solar-powered UAVs are characterized by large-scale, lightweight, and low airspeed, and changes in airspeed lead to wing deformation or stalling, which can easily induce serious flight accidents. A single dynamic model cannot accurately describe this feature, and this airspeed sensitivity can only be analyzed by integrating rigid-body, multirigid-body, and rigid-flexible combo models. This paper proposes a dynamic analysis method for a mixture of rigid-body, multirigid-body, and rigid-flexible combo models, considering the applicable airspeed ranges, computational costs, and structural deformation assumptions of the three models and comparing the differences of modes and responses at different airspeeds, and quantitatively analyzes the effects of airspeed on the motion, deformation, and coupling. The results show that appropriate increase of airspeed is beneficial to the stability of large-scale lightweight platforms, but when it is increased to more than two times the cruise speed, the structural deformation is coupled with the flight dynamic modes, leading to the deterioration of the overall dynamic response. Finally, a mixture of the three models at different airspeeds is proposed, which is necessary for future ultralarge-scale solar-powered UAVs.
太阳能无人机具有体积大、重量轻、空速低等特点,空速变化会导致机翼变形或失速,容易诱发严重的飞行事故。单一的动力学模型无法准确描述这一特点,只有综合刚体、多刚体和刚柔结合模型才能分析这种空速敏感性。本文提出了刚体、多刚体和刚柔组合模型混合的动力学分析方法,综合考虑了三种模型的适用空速范围、计算成本和结构变形假设,比较了不同空速下的模态和响应差异,定量分析了空速对运动、变形和耦合的影响。结果表明,适当提高空速有利于大型轻型平台的稳定性,但当空速提高到巡航速度的两倍以上时,结构变形与飞行动力模态耦合,导致整体动力响应恶化。最后,提出了三种模型在不同空速下的混合模式,这对未来超大型太阳能无人机来说是必要的。
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引用次数: 0
Enhanced Multi-UAV Path Planning in Complex Environments With Voronoi-Based Obstacle Modelling and Q-Learning 利用基于 Voronoi-Based 的障碍物建模和 Q-Learning 增强复杂环境中的多无人飞行器路径规划
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-27 DOI: 10.1155/2024/5114696
Wenjia Su, Min Gao, Xinbao Gao, Zhaolong Xuan
To tackle the challenge of obstacle avoidance path planning for multiple unmanned aerial vehicles (UAVs) in intricate environments, this study introduces a Voronoi graph–based model to represent the obstacle-laden environment and employs a Markov decision process (MDP) for single UAV path planning. The traditional Q-learning algorithm is enhanced by adjusting the initial state of the Q-table and fine-tuning the reward and penalty values, enabling the acquisition of efficient obstacle avoidance paths for individual UAVs in complex settings. Leveraging the improved Q-learning algorithm for single UAVs, the Q-table is iteratively refined for a fleet of UAVs, with dynamic modifications based on the waypoints chosen by each UAV. This approach ensures the generation of collision-free paths for multiple UAVs, as validated by simulation results that showcase the algorithm’s effectiveness in learning from past training data. The proposed method offers a robust framework for practical UAV trajectory generation in complex environments.
为解决复杂环境中多个无人飞行器(UAV)的避障路径规划难题,本研究引入了基于 Voronoi 图的模型来表示障碍物密集的环境,并采用马尔可夫决策过程(MDP)来进行单个无人飞行器的路径规划。通过调整 Q 表的初始状态和微调奖惩值,改进了传统的 Q-learning 算法,使单个无人飞行器能够在复杂环境中获得高效的避障路径。利用针对单个无人机的改进型 Q 学习算法,对无人机群的 Q 表进行迭代改进,并根据每个无人机选择的航点进行动态修改。这种方法可确保为多个无人机生成无碰撞路径,仿真结果也验证了这一点,展示了该算法从过去的训练数据中学习的有效性。所提出的方法为在复杂环境中生成实用的无人机轨迹提供了一个稳健的框架。
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引用次数: 0
Multi-UAV Cooperative Air Combat Target Assignment Method Based on VNS-IBPSO in Complex Dynamic Environment 复杂动态环境下基于 VNS-IBPSO 的多无人机合作空战目标分配方法
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-24 DOI: 10.1155/2024/9980746
Yiyuan Li, Weiyi Chen, Shukan Liu, Guang Yang, Fan He
This paper investigates the threat assessment method and target assignment algorithm in multi-UAV cooperative air combat decision-making. To address the uncertainty and dynamic changes in multiple threat attributes and attribute information of UAV targets, we propose a UAV target dynamic threat assessment method based on intuitionistic fuzzy multiattribute decision-making. Firstly, we propose a mixed situation information representation method to represent interval-valued fuzzy data appropriately. Secondly, we employ the normal distribution weight assignment method to fuse the multi-time situation information. Then, by incorporating the analytic hierarchy process and entropy method, we determine the normalized threat value of the target considering both objective situation data characteristics and decision-maker preferences. Finally, a simulation example is provided to validate the rationality of our proposed algorithm. For solving the multi-weapon multi-target assignment problem, a target assignment method based on the VNS-IBPSO algorithm is introduced. This method improves upon the limitations of the BPSO algorithm, such as limited local search capability and premature convergence, by combining variable neighborhood search and an improved binary particle swarm optimization algorithm. Simulation results show that the proposed threat assessment method can obtain reasonable threat assessment results under complex dynamic environments. The proposed VNS-IBPSO algorithm can solve the target assignment model quickly and efficiently based on the assessment results, therefore ensuring that the UAV mission planning system makes the correct combat plan.
本文研究了多无人机协同空战决策中的威胁评估方法和目标分配算法。针对无人机目标多种威胁属性和属性信息的不确定性和动态变化,我们提出了一种基于直觉模糊多属性决策的无人机目标动态威胁评估方法。首先,我们提出了一种混合情况信息表示方法,以恰当地表示区间值模糊数据。其次,我们采用正态分布权重分配法来融合多时间态势信息。然后,结合层次分析法和熵法,在考虑客观态势数据特征和决策者偏好的基础上,确定目标的归一化威胁值。最后,我们提供了一个仿真实例来验证所提算法的合理性。为解决多武器多目标分配问题,介绍了一种基于 VNS-IBPSO 算法的目标分配方法。该方法通过结合可变邻域搜索和改进的二元粒子群优化算法,改进了 BPSO 算法的局限性,如有限的局部搜索能力和过早收敛。仿真结果表明,所提出的威胁评估方法可以在复杂的动态环境下获得合理的威胁评估结果。所提出的 VNS-IBPSO 算法可以根据评估结果快速高效地求解目标分配模型,从而确保无人机任务规划系统制定正确的作战计划。
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引用次数: 0
Improved Variable Structure Interacting Multimodels for Target Trajectory Tracking and Extrapolation 用于目标轨迹跟踪和外推的改进型可变结构交互多模型
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-16 DOI: 10.1155/2024/2583156
Xuanming Ren, Xinmin Tang, Yang Zhou, Xiangmin Guan
To improve the lengthy computation time of conventional variable structure interacting multiple model (VSIMM) algorithm and increase the precision of target prediction and extrapolation, the target state and flight intent information captured by the Automatic Dependent Surveillance-Broadcast (ADS-B) are used as the model’s prior information; combining this information with VSIMM theoretical framework, we purpose an intent variable structure interacting multiple model (INT-VSIMM) algorithm. Firstly, the motion pattern of the target in the flight phase of the flight path is decomposed, and complete sets of motion models are established. Secondly, according to the principle of directed graph switching, a model set switching method is designed, which is mainly based on “hard” switching and supplemented by “soft” switching. Finally, the INT-VSIMM algorithm is used to track the trajectory of the target aircraft, and short-term trajectory extrapolation is performed based on the target state estimation. The simulation results show that the target tracking performance computational time based on the INT-VSIMM algorithm is superior to the comparative existing methods, and the extrapolated trajectory has less error in the short term, which can satisfy the needs of conflict detection.
为了改善传统变结构交互多模型(VSIMM)算法计算时间长的问题,提高目标预测和外推的精度,我们将自动监视广播(ADS-B)捕获的目标状态和飞行意图信息作为模型的先验信息,并结合 VSIMM 理论框架,设计了意图变结构交互多模型(INT-VSIMM)算法。首先,分解目标在飞行阶段的运动模式,建立完整的运动模型集。其次,根据有向图切换原理,设计了以 "硬 "切换为主、"软 "切换为辅的模型集切换方法。最后,利用 INT-VSIMM 算法对目标飞行器进行轨迹跟踪,并根据目标状态估计进行短期轨迹外推。仿真结果表明,基于 INT-VSIMM 算法的目标跟踪性能计算时间优于现有的比较方法,外推轨迹的短期误差较小,可以满足冲突检测的需要。
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引用次数: 0
Development of Anisogrid Lattice Composite Structures for Fighter Wing Applications 为战斗机机翼应用开发茴香栅格复合材料结构
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-16 DOI: 10.1155/2024/6667586
M. Kusni, B. K. Hadi, Leonardo Gunawan, H. Syamsudin
This paper presents research on the use of anisogrid lattice structures in fighter wing applications. While the anisogrid lattice structure has been widely used in spacecraft structures, its implementation in main aircraft structures is still limited. The study is aimed at investigating the feasibility of utilizing an anisogrid lattice structure in fighter wing design. The analysis and optimization focus on determining the optimal weight of the composite wing structure, considering static, buckling, and flutter failure constraints. Various lift distributions, including triangular, Schrenk, and constant, are applied to evaluate the structure’s response to static failure caused by aerodynamic loads. The anisogrid structure design incorporates inclined lattice elements between ribs and spars, with spar arrangement in the wing box featuring an anisogrid configuration. The anisogrid lattice structure is expected to produce higher bending and torsional stiffness compared to conventional orthogonal structures, producing better flutter and buckling characteristics. The optimized wing structure successfully meets static, buckling, and flutter load requirements at speeds below 500 m/s. The study showcases triangular, Schrenk, and constant load distributions resulting in half-wing masses of 504, 571, and 707 kg, respectively. The results show that flutter and buckling loads are no longer the critical loads in wing structural design but static load.
本文介绍了在战斗机机翼应用中使用茴香网格结构的研究。尽管无等格网格状结构已广泛应用于航天器结构,但在主要飞机结构中的应用仍然有限。本研究旨在探讨在战斗机机翼设计中使用茴香网格结构的可行性。分析和优化的重点是确定复合材料机翼结构的最佳重量,同时考虑静态、屈曲和扑翼失效约束。应用各种升力分布(包括三角形、施伦克和常数)来评估结构对空气动力载荷引起的静态失效的响应。异方格网结构设计在肋条和撑杆之间采用了倾斜格构元件,翼盒中的撑杆排列采用了异方格网配置。与传统的正交结构相比,异格栅格状结构有望产生更高的弯曲和扭转刚度,从而产生更好的扑翼和屈曲特性。优化后的机翼结构可成功满足速度低于 500 米/秒时的静态、屈曲和扑翼载荷要求。研究展示了三角形、施伦克和恒定载荷分布,结果显示半翼质量分别为 504、571 和 707 千克。结果表明,在机翼结构设计中,扑翼和屈曲载荷不再是关键载荷,而是静载荷。
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引用次数: 0
A Novel Strategy for Hypersonic Vehicle With Complex Distributed No-Fly Zone Constraints 具有复杂分布式禁飞区约束条件的高超音速飞行器新策略
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-16 DOI: 10.1155/2024/9004308
Zhengxin Tao, Shifeng Zhang
Aiming at solving trajectory planning problem with complex distributed no-fly zone constraints, this paper proposed a novel obstacle avoidance strategy. For longitudinal motion, an angle of attack adjustment method is employed to adjust lift and design the angle of attack profile, while adjusting the bank angle for range and altitude correction to meet terminal constraints. For lateral motion, this paper developed enhanced attractive, repulsive, and velocity potential fields. Combined with the proposed repulsive force reconstruction method, this effectively resolves the overmaneuvering problem of traditional artificial potential field methods (APFMs) for vehicle. In order to avoid mismatched magnitudes of attractive and repulsive forces, a complementary no-fly zone avoidance strategy based on minimum turn radius is introduced, updating the bank angle command during no-fly zone avoidance. Simulation results indicate that the proposed strategy can address the avoidance of sudden threat, proving to be feasible and effective for handling complex distributed no-fly zone avoidance problems.
为了解决具有复杂分布式禁飞区约束的飞行轨迹规划问题,本文提出了一种新颖的避障策略。在纵向运动方面,采用攻角调整方法来调整升力和设计攻角剖面,同时调整倾角进行航程和高度修正,以满足终端约束条件。对于横向运动,本文开发了增强的吸引力、排斥力和速度势场。结合提出的斥力重构方法,有效解决了传统人工势场方法(APFMs)的飞行器过度操纵问题。为了避免吸引力和斥力的大小不匹配,引入了一种基于最小转弯半径的互补式禁飞区规避策略,在禁飞区规避过程中更新倾角指令。仿真结果表明,所提出的策略可以应对突如其来的威胁,对于处理复杂的分布式禁飞区规避问题是可行和有效的。
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引用次数: 0
A Sparse CoSaMP Channel Estimation Algorithm With Adaptive Variable Step Size for an OFDM System 适用于 OFDM 系统的具有自适应可变步长的稀疏 CoSaMP 信道估计算法
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-14 DOI: 10.1155/2024/8897214
Ning Xiaoling, Chen Yangyi, Zhang Linsen
Compressive sampling matching pursuit (CoSaMP), as a conventional algorithm requiring system sparsity and sensitive to step size, was improved in this paper by approximating the sparsity with adaptive variable step size. In the proposed algorithm (CoSaMP with variable step size abbreviated as Vss-CoSaMP), the idea of approximating sparsity with adaptive step size was borrowed from the sparsity adaptive matching pursuit (SAMP) algorithm to determine the sparsity for the CoSaMP algorithm. The applicability of the CoSaMP algorithm was therefore expanded considerably. On this basis, a step size reduction was added as the iteration termination condition of an orthogonal frequency division multiplexing (OFDM) system. An adaptive variable step size algorithm was then put forward to address the CoSaMP algorithm’s sensitivity to step size. It could realize the required precision at different initial step sizes. A simulation was carried out to analyze the influence of pilot number and step size in an OFDM system on the algorithm. The algorithms, including SAMP, CoSaMP, and Vss-CoSaMP, were compared with two sparse channels, revealing that the Vss-CoSaMP algorithm overcame the problem of the CoSaMP algorithm, that is, the impossibility to forecast the channel sparsity. With the adaptive step size, the proposed algorithm could reach and achieve better accuracy than the CoSaMP algorithm. Additionally, the proposed algorithm was superior over the SAMP algorithm in terms of reconstruction, mean square error (MSE), and bit error ratio (BER).
压缩采样匹配追求(CoSaMP)是一种需要系统稀疏性且对步长敏感的传统算法,本文通过自适应可变步长近似稀疏性对其进行了改进。在所提出的算法(步长可变的 CoSaMP,缩写为 Vss-CoSaMP)中,利用自适应步长近似稀疏性的思想借鉴了稀疏性自适应匹配追求(SAMP)算法,以确定 CoSaMP 算法的稀疏性。因此,CoSaMP 算法的适用范围大大扩展。在此基础上,增加了步长减小作为正交频分复用(OFDM)系统的迭代终止条件。随后,针对 CoSaMP 算法对步长的敏感性,提出了一种自适应可变步长算法。它可以在不同的初始步长下实现所需的精度。仿真分析了 OFDM 系统中先导数和步长对算法的影响。在两个稀疏信道中比较了 SAMP、CoSaMP 和 Vss-CoSaMP 算法,发现 Vss-CoSaMP 算法克服了 CoSaMP 算法的问题,即无法预测信道稀疏性。通过自适应步长,提出的算法可以达到比 CoSaMP 算法更好的精度。此外,在重建、均方误差(MSE)和误码率(BER)方面,所提出的算法优于 SAMP 算法。
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引用次数: 0
Mechanism and Application of Attitude and Orbit Coupling Dynamics for Spacecraft Proximity Relative Motion 航天器近距离相对运动的姿态和轨道耦合动力学机制与应用
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-06 DOI: 10.1155/2024/6636084
An Hao, Li Jin, Wang Tianzhe, Zang Jie, Zhang Xianliang, Hao Yong
This paper analyzes the root causes of attitude-orbit coupling effects of spacecraft proximity relative motion in space precision collaborative tasks from three aspects: mathematical representation, physical definition, and engineering applications. At first, taking mathematical representation as the context, spacecraft proximity relative motion representations such as particle relative dynamic model, extended particle relative dynamic model, and dual-spiral-based relative dynamic model are investigated in detail. On this basis, the mechanism of attitude-orbit coupling effects originating from different mathematical representations is further investigated. Second, spiral theory–based attitude-orbit coupling relative dynamics is developed. The innovation of this work is extending the dual number representation from rigid body to flexible body, which makes it possible to describe the proximity relative motion between two rigid-flexible coupling spacecraft. Third, the application value of attitude-orbit coupling relative dynamic model in precision collaborative mission such as precision formation, rendezvous and docking, space manipulation, and on-orbit assembly is provided. Finally, simulation results verify the engineering significance of the attitude-orbit coupling relative dynamic model.
本文从数学表示、物理定义和工程应用三个方面分析了空间精密协同任务中航天器近距离相对运动姿轨耦合效应的根本原因。首先,以数学表示法为背景,详细研究了粒子相对动力学模型、扩展粒子相对动力学模型和基于双螺旋的相对动力学模型等航天器临近相对运动表示法。在此基础上,进一步研究了不同数学表征所产生的姿轨耦合效应的机理。其次,发展了基于螺旋理论的姿轨耦合相对动力学。这项工作的创新之处在于将双数表示法从刚体扩展到柔体,从而使描述两个刚柔耦合航天器之间的近距离相对运动成为可能。第三,提供了姿轨耦合相对动力学模型在精密协作任务中的应用价值,如精密编队、交会对接、空间操纵和在轨组装等。最后,仿真结果验证了姿轨耦合相对动力学模型的工程意义。
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引用次数: 0
Online Energy-Aware Scheduling for Deadline-Constrained Applications in Distributed Heterogeneous Systems 分布式异构系统中截止时间受限应用的在线能量感知调度
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-05-02 DOI: 10.1155/2024/2122895
Yifan Liu, Chengelie Du, Jinchao Chen, Xiaoyan Du
In the current computing environment, the significance of distributed heterogeneous systems has gained prominence. The research on scheduling problems in distributed systems that consider energy consumption has garnered substantial attention due to its potential to enhance system stability, achieve energy savings, and contribute to environmental preservation. However, efficient scheduling in such systems necessitates not only the consideration of energy consumption but also the ability to adapt to the dynamic nature of the system. To tackle these challenges, we propose an online energy-aware scheduling algorithm for deadline-constrained applications in distributed heterogeneous systems, leveraging dynamic voltage and frequency scaling (DVFS) techniques. First, the algorithm models the continuously arriving applications and heterogeneous processors and proposes a novel task-sorting method to prioritize tasks, ensuring that more applications are completed within their respective deadlines. Second, the algorithm controls the selection range of processors based on the task’s subdeadline and assigns the task to the processor with the minimum energy consumption. Through experiments conducted with randomly generated applications, our approach consistently exhibits superior performance when compared to similar scheduling algorithms.
在当前的计算环境中,分布式异构系统的重要性日益凸显。考虑能耗的分布式系统调度问题的研究,因其在增强系统稳定性、实现节能和环境保护方面的潜力而备受关注。然而,在此类系统中进行高效调度不仅需要考虑能耗,还需要具备适应系统动态特性的能力。为了应对这些挑战,我们利用动态电压和频率缩放(DVFS)技术,为分布式异构系统中受截止日期限制的应用提出了一种在线能量感知调度算法。首先,该算法对连续到达的应用和异构处理器进行建模,并提出一种新颖的任务排序方法来确定任务的优先级,确保更多应用在各自的截止日期内完成。其次,该算法根据任务的子截止日期控制处理器的选择范围,并将任务分配给能耗最小的处理器。通过对随机生成的应用程序进行实验,与类似的调度算法相比,我们的方法始终表现出卓越的性能。
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引用次数: 0
Numerical Analysis of Free Play-Induced Aeroelastic Phenomena: A Numerical Approach With Adaptive Step Size Control 自由落体运动引发的气动弹性现象的数值分析:采用自适应步长控制的数值方法
IF 1.4 4区 工程技术 Q2 Engineering Pub Date : 2024-04-29 DOI: 10.1155/2024/9915761
Yu Qijing, Zhang Yafen, Wang Yidan
This study presents a detailed numerical analysis of nonlinear aeroelastic behavior in a two degree of freedom (DOF) model, focusing on plunge and pitch motions and employing the continuation method (CM) with an adaptive step size control algorithm. The research incorporates free-play nonlinearity at the plunge hinge, a common structural nonlinearity in aeronautics that can induce detrimental limit cycle oscillations (LCOs) during flight. By examining three scenarios—linear response, unhindered plunge motion, and nonlinear stiffness behavior—the study assesses the effects of free play on flutter and LCO phenomena, including discontinuity-induced bifurcations like grazing bifurcation. Additionally, the study explores parameter variation for nonlinear flutter analysis, revealing the dynamics of grazing bifurcation and its impact on LCO behavior. The research also demonstrates the method’s superior accuracy in flutter speed estimation and mode-switching identification, despite higher computational demands. The findings underscore the diminishing influence of nonlinear free-play behavior on LCO amplitude, providing insights with significant implications for aeroelastic design and aircraft safety.
本研究对双自由度(DOF)模型中的非线性气动弹性行为进行了详细的数值分析,重点关注俯仰运动,并采用了带有自适应步长控制算法的延续法(CM)。研究纳入了俯冲铰链处的自由发挥非线性,这是航空领域常见的结构非线性,可在飞行过程中诱发有害的极限周期振荡(LCO)。该研究通过考察线性响应、无阻碍坠落运动和非线性刚度行为三种情况,评估了自由游隙对扑腾和 LCO 现象的影响,包括不连续引起的分叉,如掠过分叉。此外,该研究还探讨了非线性扑动分析的参数变化,揭示了放牧分岔的动态及其对 LCO 行为的影响。研究还证明,尽管计算要求较高,但该方法在扑腾速度估计和模式切换识别方面具有更高的准确性。研究结果强调了非线性自由发挥行为对 LCO 振幅的影响越来越小,为气动弹性设计和飞机安全提供了具有重要意义的见解。
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引用次数: 0
期刊
International Journal of Aerospace Engineering
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