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Fault diagnosis of multi-rotor unmanned aerial vehicle propulsion systems based on T-S fault tree 基于T-S故障树的多旋翼无人机推进系统故障诊断
Q3 Earth and Planetary Sciences Pub Date : 2025-04-25 DOI: 10.1007/s42401-025-00360-2
Lining Tan, Fei Xue, Guodong Jin, Kai Shen

The propulsion systems of a multi-rotor unmanned aerial vehicle (UAV) is crucial, as it directly affects the UAV’s performance, efficiency, and safety. Since the components of the UAV propulsion system are highly interconnectioned, we developed a fuzzy fault tree analysis method to analysis the varying reliability under different fault conditions. Combining the fuzzy fault tree analysis of the T-S model and the UAV propulsion system model, we constructed a fuzzy fault tree of the T-S type for the system and performed a reliability analysis. This fuzzy fault tree allows us to model the system from two perspectives: fuzzy failure rate and failure degree. Consequently, two methods can be used for failure analysis of UAV systems. The first method involves calculating the system’s fuzzy failure rate based on the component’s fuzzy failure rate. The second method calculates the fuzzy failure rate of the system based on the failure degree of the component. The computational results indicate that both methods are well-suited for fault diagnosis in UAV propulsion systems. Compared to traditional fault tree analysis, which does not subdivide fault degrees, the proposed methods provide more accurate fault rate assessments.

多旋翼无人机的推进系统是至关重要的,因为它直接影响到无人机的性能、效率和安全性。针对无人机推进系统各部件高度互联的特点,提出了一种模糊故障树分析方法来分析不同故障条件下的可靠性变化。将T-S模型的模糊故障树分析与无人机推进系统模型相结合,构建了系统的T-S型模糊故障树,并进行了可靠性分析。这种模糊故障树使我们可以从模糊故障率和模糊故障程度两个角度对系统进行建模。因此,可以采用两种方法对无人机系统进行失效分析。第一种方法是根据部件的模糊故障率计算系统的模糊故障率。第二种方法是根据部件的故障程度计算系统的模糊故障率。计算结果表明,两种方法均适用于无人机推进系统的故障诊断。与传统的不细分故障程度的故障树分析相比,该方法提供了更准确的故障率评估。
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引用次数: 0
Multi-UAV maritime collaborative behavior modeling based on hierarchical deep reinforcement learning and DoDAF process mining 基于分层深度强化学习和DoDAF过程挖掘的多无人机海上协同行为建模
Q3 Earth and Planetary Sciences Pub Date : 2025-04-15 DOI: 10.1007/s42401-025-00358-w
Zehua Zou, Yuqian Wu, Ling Peng, Miao Wang, Guoqing Wang

Autonomous systems, particularly in multi-UAV maritime operations, are becoming increasingly complex, posing significant challenges to dynamically modeling based on traditional systems engineering modeling methods. This paper proposes an innovative data-driven approach that combines deep reinforcement learning and process mining with Department of Defense Architecture Framework (DoDAF) views to learn and extract dynamic multi-UAV collaborative behaviors. First, a hierarchical multi-agent reinforcement learning framework is developed to simulate high-value complex maritime UAV collaboration, where agents learn implicit high-level task selection patterns while executing predefined low-level behaviors. Then, a DoDAF-oriented process mining algorithm is designed, which is the key innovation, to automatically extract DoDAF operational view-5b diagrams from learned behavioral pattern data. The experimental validation demonstrates this method excels at systematically extracting dynamic multi-UAV collaborative behaviors. The proposed approach could effectively bridge the gap between AI-based implicit behavior pattern learning and system engineering-based explicit behavior modeling requirement, contributing to the development of interpretable autonomous system and discovering effective collaborative behavior tactics.

自主系统,特别是在多无人机海上作战中,正变得越来越复杂,对基于传统系统工程建模方法的动态建模提出了重大挑战。本文提出了一种创新的数据驱动方法,将深度强化学习和过程挖掘与国防部架构框架(DoDAF)视图相结合,学习和提取动态多无人机协同行为。首先,开发了一个分层多智能体强化学习框架来模拟高价值复杂的海上无人机协作,其中智能体在执行预定义的低级行为的同时学习隐含的高级任务选择模式。然后,设计了面向DoDAF的过程挖掘算法,从学习到的行为模式数据中自动提取DoDAF操作视图-5b图,这是关键创新点;实验验证表明,该方法能够系统地提取多无人机动态协同行为。该方法可以有效地弥合基于人工智能的隐式行为模式学习与基于系统工程的显式行为建模需求之间的差距,有助于开发可解释的自治系统和发现有效的协作行为策略。
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引用次数: 0
Model predictive control for on-orbit inspection mission with signal temporal logic specifications 具有信号时序逻辑规范的在轨巡检任务模型预测控制
Q3 Earth and Planetary Sciences Pub Date : 2025-04-14 DOI: 10.1007/s42401-025-00353-1
Zeyang Zhao, Jian Zhang, Yi Zhang, Qiang Shen

This paper proposes a model predictive control (MPC) algorithm for a small satellite to accomplish on-orbit inspection missions. The relative dynamics of satellite is modelled first. Then, multiple constraints are taken into account for the on-orbit inspection missions, including input saturation, obstacle avoidance, velocity limit, and task specifications. To precisely formulate the tasks, the signal temporal logic (STL) framework is employed, where an auxiliary function is required to be designed based on the robust semantics of STL formulas. Considering the impact of input saturation, the proposed algorithm designs the auxiliary function in the form of cube power function, and incorporate it into the optimization problem in MPC. After that, the terminal ingredients are designed, whose parameters can be efficiently calculated based on linear matrix inequality techniques. Finally, numerical simulation is applied to validate the effectiveness of the proposed control strategy.

针对小卫星在轨检测任务,提出了一种模型预测控制算法。首先建立了卫星的相对动力学模型。然后,考虑了输入饱和、避障、速度限制和任务规范等约束条件对在轨检测任务的影响。为了精确地表述任务,采用了信号时序逻辑(STL)框架,其中需要基于STL公式的鲁棒语义设计辅助函数。考虑到输入饱和的影响,该算法将辅助函数设计为立方幂函数形式,并将其纳入MPC优化问题中。在此基础上,设计了终端成分,并利用线性矩阵不等式技术有效地计算出终端成分的参数。最后,通过数值仿真验证了所提控制策略的有效性。
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引用次数: 0
The use of optimal control in the problem of thrust and drag force coefficient identification 最优控制在推力和阻力系数辨识问题中的应用
Q3 Earth and Planetary Sciences Pub Date : 2025-04-11 DOI: 10.1007/s42401-025-00356-y
O. N. Korsun, Moung Htang Om, A. V. Stulovskii

The approaches to solving the problem of separate identification of thrust and drag force coefficient are discussed. For this purpose, the direct method of optimal control formation is used, and the types of flight maneuver are selected that allow improving the problem’s degree of conditionality. The complexity of the problem especially lies in the fact that, it is ill-conditioned due to the almost complete co-linearity between thrust and drag vectors at small angles of attack. The advantage of using the proposed approach in this paper is that it does not require the use of a thermodynamic model of the engine, which gives it versatility and relative simplicity. The results of the flight maneuver formation based on mathematical simulation data are presented.

讨论了推力和阻力系数分离识别问题的解决方法。为此,采用最优控制编队的直接方法,选择能提高问题条件约束程度的飞行机动类型。问题的复杂性尤其在于,在小迎角时,由于推力和阻力矢量之间几乎完全共线性,问题是病态的。使用本文提出的方法的优点是它不需要使用发动机的热力学模型,这使它具有通用性和相对简单性。给出了基于数学仿真数据的飞行机动编队计算结果。
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引用次数: 0
Performance optimization of scramjet engines with left and right diagonal strut configurations at Mach 2 2马赫时左右对角支杆超燃冲压发动机性能优化
Q3 Earth and Planetary Sciences Pub Date : 2025-04-10 DOI: 10.1007/s42401-025-00357-x
Ritesh Mane, Rohit Kumar Prasad, Garima Kushwaha, Shivangi Sinha, Royal Madan

This study explores the enhancement of scramjet engine performance through the implementation of different strut configurations, specifically the Left Diagonal (LD) and Right Diagonal (RD) models, operating at Mach 2 with hydrogen fuel. Numerical simulations were conducted using the k–ω SST turbulence model to evaluate and compare the combustion efficiency of these configurations against a baseline model. The results indicate that both LD and RD models exhibit improved combustion efficiency between 120 and 240 mm along the combustor length, primarily due to shock waves generated by the small strut. However, beyond 240 mm, the LD model experiences a decline in efficiency, concluding 2.06% lower than the baseline. In contrast, the RD model maintains its advantage, achieving a 2.6% higher combustion efficiency compared to the baseline. This improvement is attributed to the enhanced turbulence and wake regions created by the strut positioned just below the divergent section of the combustor. Furthermore, analysis of hydrogen mass fraction along the combustor length reveals more effective fuel mixing in the RD model, as evidenced by its lower residual H2 mass fraction compared to the LD model. The optimized strut placement in the RD configuration contributes to more stable and efficient combustion, demonstrating its potential for improving supersonic combustion performance. These findings provide valuable insights into strut-based cavity design optimization for air-breathing propulsion systems, particularly for hypersonic applications.

本研究探讨了通过实施不同的支柱配置来增强超燃冲压发动机的性能,特别是左对角(LD)和右对角(RD)模型,在2马赫下使用氢燃料。使用k -ω海温湍流模型进行了数值模拟,以评估和比较这些配置与基线模型的燃烧效率。结果表明,在燃烧室长度为120 ~ 240 mm的范围内,LD和RD模型的燃烧效率都有所提高,这主要是由于小支板产生的激波。然而,在240mm以上,LD模型的效率下降,比基线低2.06%。相比之下,RD模型保持了其优势,与基准相比,燃烧效率提高了2.6%。这种改进是由于位于燃烧室发散部分正下方的支杆所产生的湍流和尾流区域的增强。此外,氢质量分数沿燃烧室长度的分析表明,RD模型中燃料混合更有效,与LD模型相比,其残余H2质量分数更低。在RD配置中优化的支杆位置有助于更稳定和高效的燃烧,显示其改善超音速燃烧性能的潜力。这些发现为吸气式推进系统,特别是高超声速推进系统中基于支柱的空腔设计优化提供了有价值的见解。
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引用次数: 0
A weighted multi-objective hierarchical adaptive scheduling method for SAR satellite regional observation mission SAR卫星区域观测任务的加权多目标分层自适应调度方法
Q3 Earth and Planetary Sciences Pub Date : 2025-04-08 DOI: 10.1007/s42401-025-00354-0
Wan Liu, Dexin Zhang, Yuan Tian, Xiaowei Shao

To address the scheduling challenges of mixed regional missions with different priorities across multiple observation modes of the SAR satellite, this study presents a Hierarchical Adaptive Scheduling Method (HASM) for generating optimized booting and imaging commands that align with diverse application requirements. First, considering spaceborne storage and energy limitations, a weighted multi-objective optimization model, incorporating mission decomposition and scheduling, is developed to enhance the flexibility of imaging strip segmentation and insertion. The weighted objective function is designed to balance the prioritization of urgent targets, the rapid increase of revenues, and the optimal utilization of resources. Meanwhile, the HASM method is proposed to alleviate the complexity and computational burden of high-dimensional combinatorial optimization problems. Furthermore, hyperparameters are automatically configured through observation pattern selection and optimal weight determination methods to minimize the overall mission observation time. Finally, simulation results demonstrate that the proposed method enhances the efficiency of over 95% of missions in global multi-mode mixed mission scheduling, while reducing the overall coverage time by more than 20% for China’s multi-priority missions.

为了解决SAR卫星多种观测模式下具有不同优先级的混合区域任务的调度挑战,本研究提出了一种分层自适应调度方法(HASM),用于生成符合不同应用需求的优化启动和成像命令。首先,考虑星载存储和能量限制,建立了一种结合任务分解和调度的加权多目标优化模型,增强了成像条分割和插入的灵活性;设计了加权目标函数,以平衡紧急目标的优先级、收入的快速增长和资源的最优利用。同时,为了减轻高维组合优化问题的复杂性和计算量,提出了HASM方法。通过观测模式选择和最优权值确定方法自动配置超参数,最大限度地减少任务整体观测时间。仿真结果表明,该方法在全局多模式混合任务调度中提高了95%以上的任务效率,同时将中国多优先级任务的总覆盖时间缩短了20%以上。
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引用次数: 0
A hybrid automatic force adjustment method in normal modal testing 法向模态试验中的混合自动力调整方法
Q3 Earth and Planetary Sciences Pub Date : 2025-03-26 DOI: 10.1007/s42401-025-00355-z
Chenmeng Zhang, Guoyi Ji, Zheming Wu

For large precision aircraft structures, the main method of obtaining the dynamic characteristics of the structure is modal testing. The most important step in modal testing is to find a set of optimal excitation forces with appropriate distribution and amplitude to obtain the normal modal of the structure. Most of the existing methods for adjusting the excitation force rely on the experience of the researchers, with problems of time-consuming and insufficient accuracy in obtaining the modal parameters. This paper proposes a hybrid automatic force adjustment method in normal modal testing of structures which can solve the problem of force adjustment in dense mode. This method firstly measures the frequency response function of the structure, identifies the modal parameters through the polyreference least squares complex frequency domain method (PolyMAX), then use these modal parameters as the initial value of the normal modal test to derive the initial optimal excitation force. Finally, the optimal excitation force and the corresponding modal parameters are obtained by frequency sweep and particle swarm algorithm. Result shows that the method proposed in this paper can effectively solve the problem of local optimal and insufficient indicator function, and can reduce the force adjustment time of normal modal tests for large precision structures and improve the force adjustment accuracy.

对于大型精密飞机结构,获取结构动力特性的主要方法是模态试验。模态测试中最重要的一步是找到一组分布和幅值合适的最优激励力,从而得到结构的正态模态。现有的激振力调节方法大多依靠研究人员的经验,存在求解模态参数耗时长、精度不高的问题。提出了一种用于结构正模态试验的混合自动力调整方法,解决了密集模态下的力调整问题。该方法首先测量结构的频响函数,通过多参考最小二乘复频域法(PolyMAX)识别模态参数,然后将这些模态参数作为正态模态试验的初始值,推导出初始最优激振力。最后,通过扫频和粒子群算法得到最优激振力和相应的模态参数。结果表明,本文提出的方法能有效地解决局部最优和指示函数不足的问题,减少了大型精密结构正态试验的力调整时间,提高了力调整精度。
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引用次数: 0
Data-driven optimal thrust tracking control for a turbofan engine system with unknown dynamics based on adaptive dynamic programming 基于自适应动态规划的未知动力涡扇发动机数据驱动最优推力跟踪控制
Q3 Earth and Planetary Sciences Pub Date : 2025-03-19 DOI: 10.1007/s42401-025-00351-3
Han Chen, Shiqian Liu, Weizhi Lyu, RuanJingzhou Dai

In this paper, a data-driven adaptive dynamic programming method is proposed to solve the thrust tracking control problem of a turbofan engine with unknown system dynamics. Firstly, the augmented system of the engine and the reference signal system is established. The thrust tracking problem can be transformed into an optimal control problem by this augmented system. Secondly, an augmented algebraic Riccati equation is derived under the performance index of the original dynamics, and an offline policy iteration method is design to solve the optimal thrust tracking problem. Thirdly, a new online data-driven adaptive dynamic programming method is proposed to solve the optimal thrust tracking problem when the engine dynamics is inaccessible. Finally, some numerical simulation results are given to demonstrate the effectiveness of the proposed method.

针对系统动力学未知的涡扇发动机推力跟踪控制问题,提出了一种数据驱动的自适应动态规划方法。首先,建立了发动机增强系统和参考信号系统;该增广系统可将推力跟踪问题转化为最优控制问题。其次,在原动力学性能指标下推导了增广代数Riccati方程,并设计了一种离线策略迭代方法来解决推力最优跟踪问题;再次,提出了一种新的在线数据驱动自适应动态规划方法,用于解决发动机动力学不可及时的最优推力跟踪问题。最后给出了数值仿真结果,验证了所提方法的有效性。
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引用次数: 0
Dynamic modelling and longitudinal dynamic characteristics simulation of morphing missile 变形导弹动力学建模与纵向动态特性仿真
Q3 Earth and Planetary Sciences Pub Date : 2025-03-19 DOI: 10.1007/s42401-025-00342-4
Xueting Pan, Honghao Yue, Shufeng Liu, Yanbing Wang, Fei Yang, Yifan Lu

This paper presents a morphing missile with an expandable flared skirt, which aims to change aerodynamic shape according to the change of flight environment to improve flight efficiency. The morphing missile with an expandable flared skirt is regarded as a multi-rigid-body system, and the six-degree-of-freedom(6-DOF) nonlinear dynamic model of the missile is established considering the changes of aerodynamic force, mass distribution, and inertia characteristics during morphing. In order to investigate the longitudinal dynamic characteristics of the missile, the nonlinear dynamic model is de-coupled to obtain its longitudinal motion equation. The aerodynamic parameters of the missile in the whole flight state envelope are simulated by quasi-steady assumption, and the aerodynamic coefficients under different flight environments and flared opening angles are obtained. The aerodynamic coefficients obtained from the simulation at each operating point are fitted to the flight altitude, Mach number, and the morphing rate of the flared skirt by the least square method. Finally, the parametric model of the aerodynamic coefficients is obtained. Finally, the aerodynamic coefficient function model is introduced into the longitudinal motion equation of the missile, and the longitudinal dynamic characteristics of the missile in different flight conditions are obtained by numerical simulation. The simulation results show that the morph of the flared skirt has a significant influence on the longitudinal motion characteristics of the missile.

本文提出了一种可膨胀喇叭裙部的变形导弹,其目的是根据飞行环境的变化改变其气动形状,以提高飞行效率。将可伸缩裙摆变形导弹视为多刚体系统,建立了考虑弹体变形过程中气动力、质量分布和惯性特性变化的六自由度非线性动力学模型。为了研究导弹的纵向动力学特性,对非线性动力学模型进行解耦,得到导弹的纵向运动方程。采用准定常假设对导弹整个飞行状态包线的气动参数进行了仿真,得到了导弹在不同飞行环境和张开角下的气动系数。利用最小二乘法将仿真得到的各工作点气动系数与飞行高度、马赫数和喇叭口裙摆变形率拟合。最后,建立了气动系数的参数化模型。最后,在导弹纵向运动方程中引入气动系数函数模型,通过数值模拟得到了导弹在不同飞行条件下的纵向动力特性。仿真结果表明,裙摆形状对导弹的纵向运动特性有显著影响。
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引用次数: 0
Optimized and reliable nose cone layout for a non-control hypersonic flying vehicle 非控制高超声速飞行器机头锥优化可靠布局
Q3 Earth and Planetary Sciences Pub Date : 2025-03-14 DOI: 10.1007/s42401-025-00350-4
Mohammad Nadjafi, Mohammad Amin Malekian, Mostafa Abbasi Kia

Ballistic missiles are perhaps the most critical and common flying devices today, flying at very high altitudes compared to aeroplanes. Among the important points about these flying devices is their very high speed in the final phase, usually several times the speed of sound. Choosing essential design parameters for making these devices has always been a significant challenge for designers. Structural, propulsion, aerodynamic, and control parameters are the most influential. The topic of nose cone aerodynamics is one of the essential design components to achieve the most reliable and optimal designs. Deciding the right nose cone has been one of the main challenges in recent years in this field. This article aims to review and analyse some examples of standard nose cones with this structure. For this purpose, first, the arrangement and layout of various designs and their specifications have been presented. The nose cone modelling has been performed for all modes, and each layout's results have been introduced. Finally, a model based on the results is proposed, the most optimal and reliable arrangement based on aerodynamic parameters.

弹道导弹可能是当今最重要和最常见的飞行设备,与飞机相比,它飞行的高度非常高。这些飞行装置的要点之一是它们在最后阶段的速度非常高,通常是声速的几倍。为制造这些设备选择基本的设计参数一直是设计师面临的重大挑战。结构、推进、气动和控制参数是最具影响力的。鼻锥空气动力学是实现最可靠、最优设计的重要组成部分之一。确定正确的鼻锥是近年来该领域的主要挑战之一。本文旨在回顾和分析一些具有这种结构的标准鼻锥的例子。为此,首先介绍了各种设计的布置和布局及其规格。鼻锥建模已经执行了所有模式,并介绍了每个布局的结果。最后,在此基础上建立了基于气动参数的最优可靠布置模型。
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引用次数: 0
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Aerospace Systems
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