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Distributed defending strategies in target-attacker-defender game with applications to cooperative guidance 目标-攻击-防御博弈中的分布式防御策略及其在协同制导中的应用
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-02-06 DOI: 10.1016/j.ast.2026.111852
Jiliang Xie, Kemao Ma
A nonzero-sum Target-Attacker-Defender game is investigated, where the target attempts to evade the attacker, the attacker aims to capture the target while evading the defenders, and the multiple defenders strive to capture the attacker while achieving the cooperation among them. A new class of cost functions segmented by the game times are developed to reflect the objectives of the respective agents. By optimizing these cost functions, the optimal strategies of the agents are derived, forming an equilibrium solution of the differential game. Furthermore, considering the communication interactions between the defenders, distributed defending strategies are derived for the defenders, where each defender’s strategy depends only on its own information and that of its connected neighbors. It is proved that the distributed strategies of the defenders, together with the optimal strategies of the target and the attacker, form an ϵ equilibrium solution of the differential game. The designed strategies are applied to a terminal guidance scenario, where a tactical missile intercepts an actively-defended target. Simulations are conducted to verify the effectiveness of the design.
研究目标-攻击者-防御者非零和博弈,目标试图躲避攻击者,攻击者试图在躲避防御者的同时捕获目标,多个防御者努力在实现合作的同时捕获攻击者。开发了一类新的由博弈时间分割的成本函数,以反映各自代理的目标。通过对这些成本函数进行优化,得出了agent的最优策略,形成了微分对策的均衡解。进一步,考虑防御者之间的通信交互,推导了防御者的分布式防御策略,每个防御者的防御策略仅依赖于自己的信息和连接的邻居的信息。证明了防御方的分布式策略与目标方和攻击方的最优策略构成微分对策的一个平衡点。所设计的策略应用于末制导场景,其中战术导弹拦截主动防御目标。通过仿真验证了该设计的有效性。
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引用次数: 0
A robust moving horizon estimation-Based variational kalman filtering framework for non-Stationary noise in target tracking 一种基于鲁棒运动水平估计的变分卡尔曼滤波框架用于目标跟踪中的非平稳噪声
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-29 DOI: 10.1016/j.ast.2026.111791
Yue Hu, Weidong Zhou
Non-stationary noise caused by dynamic state and measurement outliers poses a significant challenge to the robustness of filters. Existing methods often struggle to maintain satisfactory estimation accuracy when dealing with complex noise exhibiting Gaussian and/or heavy-tailed and/or skewed distributions. To address this issue, this paper proposes a novel robust Moving Horizon Estimation (MHE) filtering framework, in which the noise is modeled as a Gaussian-Skew Mixture (GSKM) distribution. To effectively handle dynamic outliers, a fixed-length but adaptively updated moving window mechanism is incorporated into the framework, enhancing the suppression of dynamic outliers by analyzing measurements over a period of time. Furthermore, the Variational Bayesian (VB) method is embedded into the MHE, constructing a filtering structure that can adaptively update the mixing probabilities. Based on this, multiple robust MHE-based filters are designed for specific configurations of the GSKM distribution. Simulation results demonstrate that the proposed framework can model non-stationary noise more accurately and improve estimation accuracy, exhibiting superior performance in handling dynamic outliers.
由动态异常值和测量异常值引起的非平稳噪声对滤波器的鲁棒性提出了重大挑战。在处理表现为高斯分布和/或重尾分布和/或偏态分布的复杂噪声时,现有方法往往难以保持令人满意的估计精度。为了解决这一问题,本文提出了一种新的鲁棒移动地平线估计(MHE)滤波框架,该框架将噪声建模为高斯-偏态混合(GSKM)分布。为了有效地处理动态异常值,框架中加入了固定长度但自适应更新的移动窗口机制,通过分析一段时间内的测量结果来增强对动态异常值的抑制。在此基础上,将变分贝叶斯(VB)方法嵌入到MHE中,构造了一种能够自适应更新混合概率的滤波结构。在此基础上,针对GSKM分布的特定配置设计了多个基于mhe的鲁棒滤波器。仿真结果表明,该框架可以更准确地对非平稳噪声进行建模,提高估计精度,在处理动态异常点方面表现出优异的性能。
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引用次数: 0
Transonic film cooling for future aviation gas turbines: A high-fidelity large eddy simulations reference 未来航空燃气轮机的跨音速气膜冷却:高保真大涡模拟参考
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ast.2026.111801
Francesco De Vanna
This work presents a high-resolution large-eddy simulation (LES) database for transonic film cooling representative of modern aero-engine turbine environments. A canonical flat-plate configuration with a single round hole is investigated across six operating conditions that combine low, moderate, and high blowing ratios with two coolant-to-recovery temperature ratios. This parametric sweep isolates momentum- and buoyancy-driven mechanisms that govern jet attachment, plume lift-off, and surface protection. The simulations resolve the incoming turbulent boundary layer and the full jet-in-crossflow interaction, yielding scale-resolved wall-pressure spectra, spanwise energy distributions, and turbulent-kinetic-energy budgets. These diagnostics expose the spectral signatures of plume detachment, the redistribution of turbulent energy between inner and outer shear layers, and the wall-normal migration of peak production within the jet-film interface under transonic conditions. By removing geometric complexity and retaining the essential physics, the resulting dataset provides a rigorous reference for the calibration and assessment of RANS and hybrid RANS-LES closures, wall-model formulations with mass injection, and reduced-order strategies for future gas-turbine aerothermal design. All results are released openly.
本文提出了一个高分辨率的跨声速气膜冷却大涡模拟(LES)数据库,具有现代航空发动机涡轮环境的代表性。在低、中、高吹气比和两种冷却液与回收液温度比的六种工况下,研究了一种典型的单圆孔平板结构。这种参数扫描分离了动量和浮力驱动机制,这些机制控制着射流附着、羽流上升和表面保护。模拟解决了来流湍流边界层和横流中完整的射流相互作用,得到了尺度分辨的壁面压力谱、展向能量分布和湍流-动能收支。这些诊断揭示了跨音速条件下羽流分离的光谱特征,内外剪切层之间湍流能量的重新分配,以及射流膜界面内峰生产的壁向迁移。通过去除几何复杂性并保留基本的物理特性,所得数据集为RANS和混合RANS- les闭包的校准和评估、带质量注入的壁型公式以及未来燃气轮机气动热设计的降阶策略提供了严格的参考。所有结果都是公开公布的。
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引用次数: 0
An integrated combustor-turbine module: aerodynamic and thermal analysis under uniform and swirling flows 综合燃烧室涡轮模块:均匀和旋流下的气动和热分析
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ast.2026.111807
Jinghan Zhang , Haiwang Li , Gang Xie , Yuzhu Lou , Zhiyu Zhou
This study systematically investigates a novel integrated combustor-turbine module (ICTM), focusing on its aerothermal characteristics and cooling performance under diverse inlet conditions. The ICTM design merges the combustor flame tube with first-stage turbine vanes, creating an independent aerodynamic and cooling unit. Utilizing computational fluid dynamics (CFD) simulations, the study evaluates the module’s performance across uniform, positive swirl, and negative swirl inlet conditions. Results show that the ICTM achieves a 28.9% reduction in total pressure loss coefficient compared to conventional designs, highlighting its high aerodynamic efficiency. Furthermore, the ICTM demonstrates significantly lower heat transfer coefficients, with a 13% decrease in surface-averaged values and a 53% reduction in peak values. The cooling design of the ICTM also shows enhanced potential, requiring less coolant flow and featuring simplified film cooling configurations. Notably, the ICTM maintains superior aerothermal performance under non-uniform swirling inlet conditions, outperforming conventional designs in both aerodynamic efficiency and heat transfer characteristics. This research establishes the ICTM as a promising design paradigm for next-generation heavy-duty gas turbines, offering valuable insights for advanced engine systems.
本研究系统地研究了一种新型的集成燃烧室-涡轮模块(ICTM),重点研究了其在不同进口条件下的气动热特性和冷却性能。ICTM设计将燃烧室火焰管与第一级涡轮叶片合并,形成一个独立的空气动力学和冷却单元。利用计算流体动力学(CFD)模拟,该研究评估了该模块在均匀、正旋流和负旋流进口条件下的性能。结果表明,与传统设计相比,ICTM的总压损失系数降低了28.9%,突出了其较高的气动效率。此外,ICTM的传热系数显著降低,地表平均值降低13%,峰值降低53%。ICTM的冷却设计也显示出更大的潜力,需要更少的冷却剂流量,并具有简化的膜冷却配置。值得注意的是,ICTM在非均匀旋涡进口条件下保持了优越的气动热性能,在气动效率和传热特性方面都优于传统设计。这项研究确立了ICTM作为下一代重型燃气轮机的一个有前途的设计范例,为先进的发动机系统提供了有价值的见解。
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引用次数: 0
Study of shock-shock interactions in rarefied flows using direct simulation Monte Carlo method 用直接模拟蒙特卡罗方法研究稀薄流动中激波-激波相互作用
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ast.2026.111768
Yazhong Jiang , Xuxu Sun , Jie Niu , Jun Zhang
The majority of studies on shock-shock interactions assume the inviscid or high-Reynolds-number condition for the fluid flows. However, the rarefied flows encountered by the hypersonic vehicles in their high-altitude flights require investigation that considers both the shock-shock interaction and the rarefied gas effect. An in-house direct simulation Monte Carlo (DSMC) solver is employed to simulate a series of hypersonic air flows over a wedge-cylinder configuration at the freestream Mach number of 10. The DSMC simulations cover 15 different Knudsen numbers Kn, spanning from 6.688×103 to 6.688×101. At the lowest Knudsen number, the numerical results are validated by the corresponding wind-tunnel experiment and demonstrate the features of an Edney type IV shock-shock interaction, including the type IV wave pattern, the supersonic jet impingement, the amplifications of surface shear stress, pressure, and heat flux, as well as the shifts in the angular positions of the peak shear stress, pressure, and heat flux over the cylinder surface. In ascending order of Kn, the flow fields over the wedge-cylinder configuration and the undisturbed cylinder are simulated in detail. In addition, the distributions of shear stress, pressure, and heat flux on the surface of the cylinder are calculated and analyzed. The increase in flow rarefaction continuously alters the flow pattern of the shock-shock interaction, in which the wave system gradually loses the ability to deflect the streamlines or to concentrate the energy in the flow. As flow becomes more rarefied, the shock-shock interaction will result in smaller amplification factors and smaller angular shifts of the maximum aerodynamic/aerothermal loads. At the highest Kn in this study, the amplification factors for skin friction and heat flux are found to be less than unity. The existence of the supersonic jet and its position relative to the cylinder account for the distribution characteristics of aerodynamic/aerothermal loads over the cylinder surface.
大多数关于激波-激波相互作用的研究都假定流体流动的无粘或高雷诺数条件。然而,高超声速飞行器在高空飞行中遇到的稀薄气流,需要考虑激波-激波相互作用和稀薄气体效应。采用内部直接模拟蒙特卡罗(DSMC)求解器模拟了在自由流马赫数为10时楔形圆柱结构的一系列高超声速气流。DSMC模拟涵盖了15个不同的Knudsen数Kn∞,范围从6.688×10−3到6.688×10−1。在最低Knudsen数下,相应的风洞实验验证了数值结果,并展示了Edney IV型激波相互作用的特征,包括IV型波型、超音速射流撞击、表面剪应力、压力和热流的放大,以及峰值剪应力、压力和热流在圆柱体表面的角位置的变化。以Kn∞升序,详细模拟了楔形圆柱结构和无扰动圆柱结构上的流场。此外,还计算分析了筒体表面的剪应力、压力和热流密度的分布。流动稀薄度的增加不断改变激波-激波相互作用的流型,波系逐渐失去使流线偏转或集中流动能量的能力。随着流动变得越来越稀薄,激波-激波相互作用将导致最大气动/气动热载荷的放大因子变小和角位移变小。在本研究的最高Kn∞处,皮肤摩擦和热流密度的放大因子小于1。超音速射流的存在及其相对于气缸的位置决定了气缸表面气动/气动热载荷的分布特征。
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引用次数: 0
A Coverage-based multi-Agent reinforcement learning method for cooperative guidance 基于覆盖的多智能体强化学习协同引导方法
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-24 DOI: 10.1016/j.ast.2026.111717
Xinran Zhang, Fenghua He, Yu Yao, Zhaochen Lin
The increasing speed and agility of modern aerial targets, coupled with the prevalence of sensor noise in real-world scenarios, pose significant challenges to traditional guidance methods. This highlights an urgent need for advanced and robust cooperative pursuit strategies for multi-vehicle systems. To address these challenges, this paper proposes a novel coverage-based multi-agent reinforcement learning guidance framework, designed to achieve highly efficient and robust cooperative guidance. Specifically, we first reformulate the pursuit task as a dynamic coverage optimization problem over the target’s predicted reachable region. We then introduce a Projection-Embedded Coverage Optimization RL (PECO-RL) framework, which enables efficient training within a simplified projected 2D environment while maintaining validation capability in complex 3D scenarios, significantly reducing training complexity and enhancing generalization. Furthermore, we present a Coverage-based Reinforcement Learning Guidance (CRL-G) method to promote coordinated behavior that is inherently more robust to observation noise, thereby achieving superior pursuit efficiency and robustness. The CRL-G method integrates a coverage-driven reward function to mitigate the inherent sparsity problem in pursuit tasks. An Actor-Critic network architecture with an adaptive feature extraction module employing learnable attention mechanisms is designed to dynamically accommodate varying numbers of flight vehicles. Extensive simulation experiments demonstrate that the proposed CRL-G method achieves superior performance compared to existing approaches in terms of guidance accuracy, success rate, robustness, and control effort. Furthermore, the proposed method exhibits significantly higher computational efficiency than optimization-based methods, highlighting its potential for real-time deployment.
现代空中目标日益增长的速度和敏捷性,加上现实场景中传感器噪声的普遍存在,对传统的制导方法提出了重大挑战。这凸显了对先进和强大的多车系统协同追踪策略的迫切需求。为了解决这些问题,本文提出了一种新的基于覆盖的多智能体强化学习指导框架,旨在实现高效、鲁棒的协同指导。具体而言,我们首先将追踪任务重新表述为目标预测可达区域的动态覆盖优化问题。然后,我们引入了一个投影嵌入式覆盖优化RL (PECO-RL)框架,该框架可以在简化的投影2D环境中进行有效的训练,同时在复杂的3D场景中保持验证能力,从而显着降低训练复杂性并增强泛化。此外,我们提出了一种基于覆盖的强化学习指导(CRL-G)方法,以促进对观察噪声具有更强鲁棒性的协调行为,从而实现卓越的追踪效率和鲁棒性。CRL-G方法集成了覆盖驱动的奖励函数,以缓解追踪任务中固有的稀疏性问题。采用可学习的注意力机制,设计了一个带有自适应特征提取模块的参与者-评论家网络架构,以动态适应不同数量的飞行器。大量的仿真实验表明,与现有方法相比,所提出的CRL-G方法在制导精度、成功率、鲁棒性和控制努力方面都具有优越的性能。此外,该方法的计算效率明显高于基于优化的方法,突出了其实时部署的潜力。
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引用次数: 0
Comparative aerothermoelastic performance assessment of advanced TPS materials for hypersonic vehicles 高超声速飞行器先进TPS材料气动热弹性性能比较评估
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-02-04 DOI: 10.1016/j.ast.2026.111792
Muhammad Nasir , Dan Xie , Zijun Yi , Tamina Perveen , Adnan Maqsood
The design of Thermal Protection Systems (TPS) for hypersonic vehicles must simultaneously address extreme aerodynamic heating and ensure aerothermoelastic stability. Conventional approaches, as examined by Xie (2020), highlight that thickness distribution and material selection are critical to controlling flutter onset, stress evolution, and long-term structural safety. Yet, the performance of alternative advanced materials under fully coupled aerothermoelastic loading remains underexplored, leaving a gap in the development of next-generation TPS concepts. This study investigates the aerothermoelastic response of multilayer TPS panels by substituting the outer and insulation layers with three high-performance material combinations: (i) ZrBtwo/C/SiC with Silica Aerogel, (ii) C/SiC with AFRSI–2500, and (iii) Inconel 617 honeycomb with Cerrachrome Insulation, while retaining a Ti-6Al-2Sn-4Zr-2Mo structural panel. An aerothermoelastic MATLAB simulation framework, adapted from Xie (2020), was employed to evaluate baseline and selected thickness configurations (Cases 1, 2, and 7). Key outputs including transient deflection histories, temperature distributions, heat fluxes, thermal stresses, and flutter onset times are obtained and analyzed. The results indicate that the ZrBtwo/C/SiC + Silica Aerogel system provides the most favorable stability across cases, C/SiC + AFRSI–2500 offers intermediate performance, and Inconel 617 honeycomb + Cerrachrome Insulation tends to be least stable under the same loading, consistent with differences in thermal protection and temperature-dependent stiffness retention. Overall, the study highlights that while the emissivity of the outer radiation shield layer is important, the choice of insulation is decisive. Aerogel-based TPS shows strong potential for enhancing structural stability and thermal resilience in future hypersonic missions.
高超声速飞行器热防护系统(TPS)的设计必须同时解决极端气动加热和确保气动热弹性稳定性。正如Xie(2020)所研究的那样,传统方法强调厚度分布和材料选择对于控制颤振发作、应力演化和长期结构安全至关重要。然而,替代先进材料在完全耦合气热弹性载荷下的性能仍未得到充分探索,这给下一代TPS概念的发展留下了空白。本研究通过三种高性能材料组合(1)用二氧化硅气凝胶代替ZrBtwo/C/SiC,(2)用AFRSI-2500代替C/SiC,(3)在保留Ti-6Al-2Sn-4Zr-2Mo结构板的同时,用Cerrachrome绝热材料代替Inconel 617蜂窝材料,研究多层TPS板的气热弹性响应。采用自Xie(2020)改编的气动热弹性MATLAB仿真框架来评估基线和选定的厚度配置(案例1、2和7)。关键输出包括瞬态偏转历史,温度分布,热通量,热应力和颤振发作时间获得和分析。结果表明,在相同载荷下,ZrBtwo/C/SiC +二氧化硅气凝胶体系的稳定性最好,C/SiC + AFRSI-2500的性能中等,Inconel 617蜂窝+ Cerrachrome绝热材料的稳定性最差,这与热防护和温度相关刚度保持的差异是一致的。总的来说,该研究强调,虽然外层辐射屏蔽层的发射率很重要,但绝缘的选择是决定性的。气凝胶基TPS在未来高超声速任务中显示出增强结构稳定性和热弹性的强大潜力。
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引用次数: 0
Novel partial least squares-based multi-level multi-fidelity polynomial chaos-Kriging for high-dimensional surrogate and optimization of natural laminar flow shape 基于偏最小二乘的多层次多保真多项式混沌kriging高维代理及自然层流形状优化
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-02-05 DOI: 10.1016/j.ast.2026.111827
Yujie Gan , Huan Zhao , Zhengang Zhang , Keyao Gan
Natural laminar flow (NLF) design offers significant potential for reducing aerodynamic drag in green aviation to reduce fuel consumption, emissions, and noise. However, as the Mach number increases, it’s difficult for the current aerodynamic optimization method to balance maintaining an extended laminar flow region and weakening shockwaves for a lower drag coefficient, due to the multimodal characteristic of NLF design. Surrogate-based optimization is a promising solution meeting this requirement, but it encounters the serious curse of dimensionality, hindering its application for complex NLF design. To resolve this issue, a novel Partial Least Squares-based multi-level multi-fidelity sparse polynomial chaos-kriging (PLS-MLMF-PCK) surrogate model-assisted global optimization method for high-dimensional NLF design is proposed. PLS-MLMF-PCK enables more rapid and accurate prediction for high-dimensional problems by introducing PLS to modify the model’s kernel function of each level of fidelity in MLMF-PCK. This method selects the effective dimensionality for hyperparameters and builds the new kernel function in the covariance matrix to enhance the ability of creating the optimal MLMF-PCK. Further, a PLS-MLMF-PCK-assisted global optimization method with an adaptive multi-fidelity in-filling criterion is proposed. Results show that the new PLS-MLMF-PCK reduces computational costs by 60–95 % while improving prediction accuracy by 40–75 % in high-dimensional scenarios compared to the original MLMF-PCK. Further, it is validated that the advantages of this method scale with problem dimensionality, demonstrating robust performance for designs involving more than fifty variables. More importantly, the proposed method effectively alleviates dimensionality challenges and avoids getting stuck in a local optimum in high-dimensional global optimization for NLF or aerodynamic/multidisciplinary design.
在绿色航空领域,自然层流(NLF)设计为减少气动阻力提供了巨大的潜力,从而降低了燃油消耗、排放和噪音。然而,随着马赫数的增加,由于NLF设计的多模态特性,目前的气动优化方法很难在保持扩大层流区域和减弱激波以获得较低阻力系数之间取得平衡。基于代理的优化是一种很有前途的解决方案,但它遇到了严重的维数问题,阻碍了其在复杂NLF设计中的应用。为了解决这一问题,提出了一种基于偏最小二乘的多保真稀疏多项式混沌克里金(PLS-MLMF-PCK)代理模型辅助的高维NLF全局优化方法。PLS-MLMF-PCK通过引入PLS来修改MLMF-PCK中每个保真度级别的模型核函数,从而能够更快速和准确地预测高维问题。该方法选取超参数的有效维数,并在协方差矩阵中构造新的核函数,增强了创建最优MLMF-PCK的能力。在此基础上,提出了一种pls - mlmf - pck辅助的自适应多保真度填充准则全局优化方法。结果表明,与原来的MLMF-PCK相比,新的PLS-MLMF-PCK在高维场景下的计算成本降低了60 - 95%,预测精度提高了40 - 75%。此外,验证了该方法的优势随问题维度的增加而增加,在涉及超过50个变量的设计中表现出稳健的性能。更重要的是,该方法有效地缓解了NLF或气动/多学科设计高维全局优化中的维数挑战,避免了陷入局部最优。
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引用次数: 0
Safety-critical model predictive control for quadcopter UAV subject to wind disturbances and measurement errors in confined environments 受限环境下受风干扰和测量误差影响的四旋翼无人机安全关键模型预测控制
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ast.2026.111790
Hui Ye , Junjie Cao , Xiaofei Yang , Shuyi Shao
In practical engineering, the disturbances and measurement errors encountered by unmanned aerial vehicles (UAVs) flying in confined spaces significantly undermine the performance of safety-critical controllers. To address the issue of violating safety constraints in scenarios where both compound disturbances and measurement errors coexist, this paper presents a novel safety-critical control framework which integrates disturbance observer (DO), nonlinear model predictive control (NMPC), control barrier function (CBF) for UAV in the confined environments. Specifically, we employ a refined observer to estimate constant wind disturbance and time-varying airflow disturbance induced by blades in confined environments. Furthermore, to deal with measurement and observation errors, a measurement-robust tunable CBF is proposed. This proposed method, as a constraint condition, improves the safety margin of the system during flight by utilizing two upper bounds of errors. Finally, the effectiveness of the proposed NMPC-CBF-DO control framework is demonstrated in the simulation and the real-world experiments. In the comparative experiment, the proposed method increased the obstacle avoidance success rate by 20% in restricted scenarios.
在实际工程中,无人机在密闭空间飞行时遇到的干扰和测量误差严重影响了安全关键控制器的性能。为了解决复合扰动和测量误差并存的情况下无人机违反安全约束的问题,提出了一种集成扰动观测器(DO)、非线性模型预测控制(NMPC)和控制障碍函数(CBF)的受限环境下无人机安全关键控制框架。具体来说,我们使用了一个改进的观测器来估计在受限环境中由叶片引起的恒定风扰动和时变气流扰动。此外,为了处理测量和观测误差,提出了一种测量鲁棒可调CBF。该方法利用两个误差上界作为约束条件,提高了系统在飞行过程中的安全裕度。最后,通过仿真和实际实验验证了所提出的NMPC-CBF-DO控制框架的有效性。在对比实验中,该方法在受限场景下的避障成功率提高了20%。
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引用次数: 0
Unsteady aerodynamics of elastic avian-inspired morphing wing during the folding process 弹性变形翼折叠过程中的非定常空气动力学
IF 5.8 1区 工程技术 Q1 ENGINEERING, AEROSPACE Pub Date : 2026-06-01 Epub Date: 2026-01-29 DOI: 10.1016/j.ast.2026.111776
Haibo Zhang , Haolin Yang , Qi Dang , Guanghan Wang , Chen Song , Chao Yang
This paper presents an aeroelastic analysis and aerodynamic load prediction framework for elastic avian-inspired morphing wings, in which the time-varying features of structural folding are added to the simulation. The framework uses the viscous vortex particle method to establish the unsteady aerodynamic model, and parameterizes the structural dynamic model by manifold tangent space interpolation. The transient response of the time-varying structure is solved through time finite element formulations. A wing prototype is manufactured for wind tunnel testing to initially validate the effectiveness of the method proposed, verifying that the prediction error of unsteady aerodynamic loads of our method is not more than 8.9% compared with the experimental data. The result shows that the in-plane folding process will cause the actual aerodynamic loads to deviate from the steady state and the hysteresis loop in lift response, which depends on the folding direction and the morphing rate.
本文提出了一种将结构折叠时变特征加入仿真的弹性仿鸟翼气动弹性分析和气动载荷预测框架。该框架采用粘性涡质点法建立非定常气动模型,并通过流形切空间插值将结构动力学模型参数化。采用时间有限元方法求解时变结构的瞬态响应。通过制造机翼样机进行风洞试验,初步验证了所提方法的有效性,验证了所提方法对非定常气动载荷的预测误差与实验数据相比不超过8.9%。结果表明,平面内折叠过程会导致实际气动载荷偏离稳态,并导致升力响应的滞后环,这与折叠方向和变形速率有关。
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引用次数: 0
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Aerospace Science and Technology
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