In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane chan...In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage.展开更多
针对小型多级固体运载火箭,设计了合理的飞行轨迹,并综合分析弹道设计、轨道设计和总体特性相互作用,建立了总体/弹道/轨道一体化优化设计数学模型。应用自适应模拟退火法、虎克直接搜索法、多岛遗传算法、逐次近似法和有向启发式搜索法...针对小型多级固体运载火箭,设计了合理的飞行轨迹,并综合分析弹道设计、轨道设计和总体特性相互作用,建立了总体/弹道/轨道一体化优化设计数学模型。应用自适应模拟退火法、虎克直接搜索法、多岛遗传算法、逐次近似法和有向启发式搜索法,针对300 km LEO轨道进行了多级固体运载火箭总体/弹道/轨道一体化优化,并比较了5种算法优化结果。计算表明:所建立的一体化优化设计模型是合理的;总体参数优化结合轨迹优化最大程度地挖掘了运载火箭整体设计性能,并且优化设计效果明显,优化所得变轨消耗推进剂质量比原方案减轻了12%。该模型和软件也可推广应用到其它固体火箭的方案论证和初步设计过程中。展开更多
出于运营效率和飞行安全的考虑,民用飞机在航路终端区需有效减少飞行总系统误差(TSE),提高空域资源利用率。在此航段中,飞行技术误差(FTE)是最主要的组成部分,需采用引导控制一体化的设计思想,实现民机起飞/着陆段四维航迹精确跟踪,有...出于运营效率和飞行安全的考虑,民用飞机在航路终端区需有效减少飞行总系统误差(TSE),提高空域资源利用率。在此航段中,飞行技术误差(FTE)是最主要的组成部分,需采用引导控制一体化的设计思想,实现民机起飞/着陆段四维航迹精确跟踪,有效减小飞行技术误差。基于回路传递函数恢复(LTR)技术协调设计随机线性系统状态观测器和最优控制器,解决大气紊流作用下的民机飞行控制系统设计问题。在此基础上,引入自适应投影算子估计大气扰动导致的气动参数不确定性,并对其作用效果进行补偿。仿真结果表明,基于LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery)控制技术的自适应飞行控制律可以有效抑制气动参数不确定性影响,能够实现民机四维航迹/姿态一体化高精度控制的目标。展开更多
基金supported by the National Natural Science Foundation of China(Grant No.61473028)the National Basic Research Program of China("973" Program)(Grant No.2012CB725403)the National High Technology Research and Development Program of China("863" Program)(Grant No.2015AA124103)
文摘In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage.
文摘针对小型多级固体运载火箭,设计了合理的飞行轨迹,并综合分析弹道设计、轨道设计和总体特性相互作用,建立了总体/弹道/轨道一体化优化设计数学模型。应用自适应模拟退火法、虎克直接搜索法、多岛遗传算法、逐次近似法和有向启发式搜索法,针对300 km LEO轨道进行了多级固体运载火箭总体/弹道/轨道一体化优化,并比较了5种算法优化结果。计算表明:所建立的一体化优化设计模型是合理的;总体参数优化结合轨迹优化最大程度地挖掘了运载火箭整体设计性能,并且优化设计效果明显,优化所得变轨消耗推进剂质量比原方案减轻了12%。该模型和软件也可推广应用到其它固体火箭的方案论证和初步设计过程中。
文摘出于运营效率和飞行安全的考虑,民用飞机在航路终端区需有效减少飞行总系统误差(TSE),提高空域资源利用率。在此航段中,飞行技术误差(FTE)是最主要的组成部分,需采用引导控制一体化的设计思想,实现民机起飞/着陆段四维航迹精确跟踪,有效减小飞行技术误差。基于回路传递函数恢复(LTR)技术协调设计随机线性系统状态观测器和最优控制器,解决大气紊流作用下的民机飞行控制系统设计问题。在此基础上,引入自适应投影算子估计大气扰动导致的气动参数不确定性,并对其作用效果进行补偿。仿真结果表明,基于LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery)控制技术的自适应飞行控制律可以有效抑制气动参数不确定性影响,能够实现民机四维航迹/姿态一体化高精度控制的目标。
