Reconfigurable Flight Control System Design for Blended Wing Body UAV Based on Control Allocation

Xiaobo Qu,Jingping Shi,Haijun Zhou,Ling Zuo,Yongxi Lyu 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

The aircraft control surface fault reconfigurable scheme based on control allocation is an active approach to achieve fault-tolerant in flight control. It has obvious advantages such as the structure and parameters of the control law does not need to be redesigned as deflector failures occurs. The attainable moment subset and allocation efficiency with typical control allocation algorithms are evaluated. A modular scheme reconfigurable flight control system (FCS) of a miniature tailless Blended Wing Body UAV is studied by utilizing weighted pseudo-inverse, direct control, and fixed-point control allocation methods. The performance of the reconfigurable FCS is tested and verified with the simulation including typical failure modes such as deflector floating, loss-of-effectiveness and lock-in-place. Results validate that the reconfigurable FCS based on control allocation has preferable ability to handle deflector failures, improve the safety and reliability of aircraft. And the modular scheme proposed in the article demonstrates a good application prospect in the field of aviation and aerospace engineering.

Rural Bus Route Design Problem: Model Development and Case Studies

Shuaian Wang,Xiaobo Qu 대한토목학회 2015 KSCE JOURNAL OF CIVIL ENGINEERING Vol.19 No.6

Rural and suburban areas have a low density of population. The bus services for these areas have unique features such as no transfer exists as there is only one bus route for each area and nearly all passengers travel to the same destination of city center. These features make the design of suburban bus route a practical and interesting research topic. We formulate such a suburban bus route design problem as an optimization model. We subsequently prove that the problem is NP-hard. In view of the problem structure, a dynamic programming approach is developed to obtain the optimal solution efficiently for practical-size problems. The optimal solution contains information on which one of the two bus stops on both sides of a street to visit and the sequence of visiting the chosen bus stops. Two case studies based on a square-block example and a suburb in Australia are carried out to demonstrate the applicability of the proposed model and method.

A Coordinated Control Method of Thrust Vector and Aerodynamic Surfaces Based on Control Allocation Technology

Shi Jingping,Lv Yongxi,Qu Xiaobo,Shi Jing 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

As one of the most important technologies of the advanced fighter, thrust vector technology can greatly increase the range of controlled angle of attack, and make the fighter easily realize the post stall maneuver. However currently thrust vector technology is achieved by manually manipulating the additional vector stick, which greatly increases the burden on pilots. Thus how to bring the thrust vector control into the automatic control system to reduce the pilot operation burden has become an important engineering problem to be solved. A dynamic inverse design method based on daisy chain allocation method is proposed, which integrates the thrust vector into the automatic control system, thus eliminating the thrust vector manipulating mechanism and reducing the pilot`s operating burden. In addition, the method maximizes the use of the control surface and reduces the use time of the thrust vector, thus effectively reducing the maintenance cost of the engine. The simulation results of vector cylinder maneuver shows that this method can effectively achieve the coordinated control of thrust vector.

Adaptive Back-stepping Neural Control for an Embedded and Tiltable Vtail Morphing Aircraft

Fuxiang Qiao,Jingping Shi,Xiaobo Qu,Yongxi Lyu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.2

This paper presents an adaptive back-stepping neural control (ABNC) method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft. Based on a large number of aerodynamic data for different V-tail configurations, the longitudinal and lateral aerodynamic characteristics of the aircraft are analyzed, and a nonlinear model with six degrees-of-freedom is established. To avoid the problem of “differential explosion,” the controller is designed using the traditional back-stepping control (TBC) method with a first-order filter. Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model, and a controller based on the ABNC method is designed. The stability of the proposed ABNC controller is proved using Lyapunov theory, and it is shown that the tracking error of the closed-loop system converges uniformly within specified bounds. Simulation results show that the ABNC controller works well, with better tracking performance and robustness than the TBC controller.

소규모학교 체육 활성화 방안 연구

정현철,고전규,곡효파 이화여자대학교 교과교육연구소 2014 교과교육학연구 Vol.18 No.4

This study intends to diagnose the status quo of physical education in small-sized schools and evaluate the overall progress made in the facilitation of physical education in small-sized schools. For this purpose, studies were carried out on 6 teachers who have worked in small-sized rural schools for 3 years or more and have participated in the development of the 'health-related physical fitness UP-Program' in small-sized schools, which is a special project by the Office of Education in J province in 2013, and 6 students who have enthusiastically participated in physical activities in the schools where the teachers have worked. Data were collected through participant observation, in-depth interview, class journal, etc., and factors were extracted through inductive category analyses. With regard to the characteristics of physical education in small-sized schools, the environmental factors were spacious playgrounds, environment-friendly circumstances, outdated equipment, small auditoriums, and the absence of sports culture. The physical education class factors were individualized classes, efficient interaction and feedback between teachers and students, difficulties in team sports activities, and the absence of competition·expression activities. Sports club factors were Distinctive physical activities, the lack of sports club time, the insufficiency of sports club event, and the absence of Saturday sports days Other factors included The reduction of diseases related to lifestyle and the absence of teachers specializing in nutrition·health. The measures for overcoming these deficiencies were as follows. First, undermining hierarchy and developing sociality could be fostered through competitive sports such as ‘new sports game to toe the same line’, and insufficiency of expression activity could be increased through smart game-and-art instructor policies. Second, creativity·character can be developed in an integrated physical education class through ‘create a game’ classes, which are suitable for small-sized schools. Third, sports club and sports culture can be facilitated through systematic management of school sports clubs, nucleus school sports club events, and athletic meetings. Fourth, the absence of nutrition·health specialists can be fixed with persistent attention and systematic management by utilizing the smart app. It is hoped that the results of this study will become practical data for the physical education curriculum in small-sized schools on the basis of systematic practice and implementation method according to the facilitation of physical education in small-sized schools. 본 연구는 소규모학교 체육의 현 주소를 이해하고 소규모학교 체육 활성화를 위한 구체적 실천 내용과 그 의미를 살펴보는데 목적이 있다. 이러한 연구 목적을 달성하기 위하여 농촌지역 소규모학교에서 3년 이상 근무한 경력이 있으며 2013년 J도교육청특색사업인 소규모학교 ‘건강체력 UP-Program’ 개발에 참여한 교사 6명과 교사들이 속해 있는학교 학생 중 체육활동에 열정을 가지고 참여하는 대표학생 6명을 대상으로 연구를 진행하였다. 참여관찰, 심층면담,수업일지 등을 통해자료를 수집한 뒤 단계적 코딩을 거쳐 귀납적 범주분석을 통해 요인들을 추출하였다. 소규모학교체육의 특징으로 환경적 요인으로는 넓은 운동장, 친환경적 여건, 낙후된 용기구, 작은 강당, 스포츠문화 부재 등으로 나타났으며, 체육수업요인으로는 개별화 수업 용이, 효율적 상호작용 및 피드백, 팀스포츠 활동의 어려움, 경쟁․표현 활동의 부재로 나타났다. 스포츠클럽 요인으로는 특색있는 신체활동 운영, 스포츠클럽 시간 부족과 스포츠클럽대회 미흡, 토요스포츠데이 부재로 나타났다. 기타 요인으로 생활습관병의 축소, 영양․보건 전문 교사의 부재로 나타났다. 이를 극복 하기 위한 방안으로는 첫째, 출발점이 같은 뉴스포츠 종목과 같은 경쟁 스포츠로 서열화 깨기와사회성 함량을, 부족한 표현활동은 스마트 게임과 예술 강사 정책을 통해서 둘째, 소규모학교에 적합한 ‘게임만들기’수업을 통한 통합적인 체육수업의 창의․인성기르기를, 셋째, 소규모학교 스포츠 클럽 운영은 우수학교스포츠클럽 운영과 거점학교 스포츠클럽 대회 및 체육대회를 통해 스포츠클럽과 스포츠문화의 활성화를, 넷째, 영양․보건전문가의부재는 스마트 앱을 활용한 지속적인 관심과 체계적인 관리로 나타났다. 본 연구는 소규모학교 체육 활성화에 따른체계적인 실천과 실현방법을 토대로 소규모학교 체육 교육과정에 실천적 자료가 되기를 기대하는 바이다.

An Improved Method of Control Law Design at High Angle of Attack Based on Wind Tunnel Test Data

Yongxi Lyu,Yuyan Cao,Weiguo Zhang,Jingping Shi,Xiaobo Qu 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

This paper presents an improved dynamic inversion (DI) based method, which is further successfully applied to the high angle of attack flight control of the aircraft under the influence of unsteady aerodynamics. On the basis of large oscillation wind tunnel test data, the accurate unsteady aerodynamic model is established by the sequential minimal optimization - support vector regression (SMO-SVR) method. The nonlinear longitudinal aircraft model is created by considering engine model, atmospheric model, actuator model, and so on. In order to solve the problem of large control error and control delay caused by the unsteady aerodynamics, the improved DI method is proposed. The integral is added in the pitch angle rate control, and the control law of angle of attack is designed combining lag correction. The daisy chain allocation method is utilized to obtain the deflections of the control surfaces and the engine vector nozzle. Numerical simulation of Cobra maneuver is employed to demonstrate the advantages and potential practical application of the proposed improved control law design method.