摘要：The controller design for hypersonic vehicle is critical and challenging because of the inherent couplings between the propulsion system and the airframe dynamics,as well as the presence of strong flexibility *** researchers have investigated various strategies to mitigate the coupling by means of robust design *** paper reviews the recent research efforts to promote the capability of control design for hypersonic *** such as robust control,adaptive control,sliding mode control and other hybrid methods have made significant progresses in hypersonic ***,the main challenges of control approaches for hypersonic vehicle are systematically analyzed in detail.

摘要：This paper describes a novel model known as the shadow obstacle model to generate a realistic corner-turning behavior in crowd simulation. The motivation for this model comes from the observation that people tend to choose a safer route rather than a shorter one when turning a corner. To calculate a safer route, an optimization method is proposed to generate the corner-turning rule that maximizes the viewing range for the agents. By combining psychological and physical forces together, a full crowd simulation framework is established to provide a more realistic crowd simulation. We demonstrate that our model produces a more realistic corner-turning behavior by comparison with real data obtained from the experiments. Finally, we perform parameter analysis to show the believability of our model through a series of experiments.

摘要：目的:水平起降空天飞行器需兼顾高速巡航和低速起降性能。本文旨在构建一种面向控制的空天飞行器低速段动力学建模与迭代分析流程,探究质心位置对空天飞行器稳定性及控制性能的影响,并在保证空天飞行器水平起降能力的约束下,迭代获得合理的飞行器质心位置。创新点:1.结合几何外形参数化方法、势流理论和0维混合排气涡扇发动机建模方法实现空天飞行器低速段气动/推进性能数据的快速获取;2.基于所获得的气动/推进性能数据,开展代理建模研究,获得适用于性能分析及控制器设计需要的气动力/力矩系数代理模型;3.基于可变质心的气动力/力矩系数代理模型进行空天飞行器水平起降性能分析及质心位置迭代设计。方法:1.通过形状/类型函数法建立空天飞行器几何参数化模型;2.基于势流理论和0维涡扇发动机理论快速获取空天飞行器低速段气动/推进性能数据;3.通过代理模型技术,获得不同质心位置下的飞行器气动力/力矩系数拟合表达式,并基于该表达式确定符合水平起降约束的质心位置。结论:1.空天飞行器研究中,需综合考虑高低速性能,并协调水平起降、稳定性和控制性能等多方面指标;2.本文所提出的空天飞行器概念方案,满足抬头、触地约束的质心范围在距机头65%机身长度处;3.本文所提出的面向控制建模与性能分析流程可以满足空天飞行器概念方案阶段数据快速获取、方案快速迭代优化的要求。

摘要：为满足机器人高性能、低成本、易操作等要求,采用STM32F103芯片作为主控芯片,DRV8323为无刷电机驱动芯片,结合CAN总线、WPF上位机开发,以及磁编码器等传感器,设计了机器人关节无刷电机驱动及控制系统。详细阐述了磁场定向控制(FOC)无刷电机驱动的原理,从硬件和软件两方面完成驱动与控制系统设计。运用PID算法对机器人关节进行转速闭环测试,实验表明所设计的机器人关节与控制系统运行平稳可靠,具有模块化、小型化的特点,适用于微型服务机器人和机械手的控制。