针对传统的航姿系统(attitude and heading reference system,AHRS)在微型无人飞行器、机器人等应用上所体现的成本高、体积大、功耗大的问题,提出了一种低成本高精度AHRS。该系统以数字信号处理器为硬件平台,集成了陀螺仪、加速度计、...针对传统的航姿系统(attitude and heading reference system,AHRS)在微型无人飞行器、机器人等应用上所体现的成本高、体积大、功耗大的问题,提出了一种低成本高精度AHRS。该系统以数字信号处理器为硬件平台,集成了陀螺仪、加速度计、磁罗盘等9自由度微机电系统传感器,采用了基于四元数的姿态估计方法,建立了传感器输出模型和系统状态空间模型,考虑了加速度对系统精度的影响,解决了四元数协方差奇异性问题,通过扩展卡尔曼滤波器进行数据融合以获得姿态的准确输出。经数值仿真分析和三轴飞行转台测试,姿态角的静态精度优于0.5°、动态精度优于2°,并在微型无人飞行器上进行了飞行验证,结果表明其能够满足小型无人飞行器等的应用需求。展开更多
The northwest trending tectonic belt in the middle part of the Mesozoic intraplate Yanshan Orogenic Belt, northeast Hebei Province, is composed of thrusts, extensional faults, strike-slip faults and syntectonic sedime...The northwest trending tectonic belt in the middle part of the Mesozoic intraplate Yanshan Orogenic Belt, northeast Hebei Province, is composed of thrusts, extensional faults, strike-slip faults and syntectonic sedimentations as well. The northeastward basement-involved major thrusting deformation occurred between 174Ma and 168MaBP and was followed by an intrusion of the granitic plutonic rocks. As a part of the post-thrusting extensional deformations a northwest extending volcano-sedimentation system of Late Jurassic and Early Cretaceous formed in the southwest side of the belt. These volcano-sedimentary sequences are divided into Tuchengzi Formation, Zhangjiakou Formation, Yixian Formation and Jiufotang Formation re- spectively. They are characterized by southeastward migration as a result of the increasing down-dip slip displacement along the major extensional fault toward the southeast of the belt. The provenance area of the Jiufotang Formation north to it experienced southwestward thrusting during and after its later sedimentation. The thrusting in this stage resulted in the formation of an asymmetric footwall syncline with vergence to SW in the Jiufotang Formation in the NE side of the basin. Finally a dextral strike-slip deformation occurred along the NW tectonic belt. The striking tectono-geomorphological features and present seismic activities along this belt indicate that it has been being active since Cenozoic era and is still in the active state at present. This northwest extending tectonic belt was following the same direction and location as the existing fault systems within the basement as revealed by former geological and geophysical studies. So it is reasonable to infer the Mesozoic deformation along this belt to be a result of reactivation of the basement structures in a favorable tectonic stress field. The reactivation of basement struc- tures might be taken as one of the mechanisms of intraplate deformation and orogeny.展开更多
There exists a large class of nonlinear systems with uncertainties, such as hydrau- lic turbine governors, whose robust control problem is hard to solve by means of the existing robust control approaches. For this cla...There exists a large class of nonlinear systems with uncertainties, such as hydrau- lic turbine governors, whose robust control problem is hard to solve by means of the existing robust control approaches. For this class of systems, this work pre- sents a dynamic extending H∞ controller via both differential geometry and H∞ the- ory. Furthermore, based on differential game theory, it has been verified that the proposed control strategy has robustness in the sense that the disturbance can be attenuated effectively because the L2-gain from the disturbance input to the regu- lation output signal could be reduced to any given level. Thirdly, a robust control strategy for hydraulic turbine governor is designed according to the proposed ex- tending H∞ control method, and has been developed into a real control equipment. Finally the field experiments are carried out which show clearly that the developed control equipment can enhance transient stability of power systems more effec- tively than the conventional controller.展开更多
文摘针对传统的航姿系统(attitude and heading reference system,AHRS)在微型无人飞行器、机器人等应用上所体现的成本高、体积大、功耗大的问题,提出了一种低成本高精度AHRS。该系统以数字信号处理器为硬件平台,集成了陀螺仪、加速度计、磁罗盘等9自由度微机电系统传感器,采用了基于四元数的姿态估计方法,建立了传感器输出模型和系统状态空间模型,考虑了加速度对系统精度的影响,解决了四元数协方差奇异性问题,通过扩展卡尔曼滤波器进行数据融合以获得姿态的准确输出。经数值仿真分析和三轴飞行转台测试,姿态角的静态精度优于0.5°、动态精度优于2°,并在微型无人飞行器上进行了飞行验证,结果表明其能够满足小型无人飞行器等的应用需求。
基金supported by the projects of the National Natural Science Foundation of China(NSFC)(Grant No.40272086,40234048 and 49972071)International Collaborative Research Projects of NSFC(Grants No.4991012214,4000122036)Geological Survey of China Mapping Project(Grant No.20001300005141).
文摘The northwest trending tectonic belt in the middle part of the Mesozoic intraplate Yanshan Orogenic Belt, northeast Hebei Province, is composed of thrusts, extensional faults, strike-slip faults and syntectonic sedimentations as well. The northeastward basement-involved major thrusting deformation occurred between 174Ma and 168MaBP and was followed by an intrusion of the granitic plutonic rocks. As a part of the post-thrusting extensional deformations a northwest extending volcano-sedimentation system of Late Jurassic and Early Cretaceous formed in the southwest side of the belt. These volcano-sedimentary sequences are divided into Tuchengzi Formation, Zhangjiakou Formation, Yixian Formation and Jiufotang Formation re- spectively. They are characterized by southeastward migration as a result of the increasing down-dip slip displacement along the major extensional fault toward the southeast of the belt. The provenance area of the Jiufotang Formation north to it experienced southwestward thrusting during and after its later sedimentation. The thrusting in this stage resulted in the formation of an asymmetric footwall syncline with vergence to SW in the Jiufotang Formation in the NE side of the basin. Finally a dextral strike-slip deformation occurred along the NW tectonic belt. The striking tectono-geomorphological features and present seismic activities along this belt indicate that it has been being active since Cenozoic era and is still in the active state at present. This northwest extending tectonic belt was following the same direction and location as the existing fault systems within the basement as revealed by former geological and geophysical studies. So it is reasonable to infer the Mesozoic deformation along this belt to be a result of reactivation of the basement structures in a favorable tectonic stress field. The reactivation of basement struc- tures might be taken as one of the mechanisms of intraplate deformation and orogeny.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 50525721, 50595411) Chinese State Power Corporation (Grant No. SPKJ008-05)
文摘There exists a large class of nonlinear systems with uncertainties, such as hydrau- lic turbine governors, whose robust control problem is hard to solve by means of the existing robust control approaches. For this class of systems, this work pre- sents a dynamic extending H∞ controller via both differential geometry and H∞ the- ory. Furthermore, based on differential game theory, it has been verified that the proposed control strategy has robustness in the sense that the disturbance can be attenuated effectively because the L2-gain from the disturbance input to the regu- lation output signal could be reduced to any given level. Thirdly, a robust control strategy for hydraulic turbine governor is designed according to the proposed ex- tending H∞ control method, and has been developed into a real control equipment. Finally the field experiments are carried out which show clearly that the developed control equipment can enhance transient stability of power systems more effec- tively than the conventional controller.
