基于以太网和TCP/IP的IEC60870-5-104协议的性能分析
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摘要
无人飞艇的路径规划问题是指在特定的约束条件下,寻找飞艇从初始点到目标点满足某种性能指标最优的运动轨迹,从某种意义上讲,路径规划问题就是使明确的目标与各种限制函数相匹配的最优化问题,其中完整、准确的飞艇运动模型是无人飞艇路径规划问题需要考虑的最重要的限制条件,其次,还有控制量的变化界限也是极其重要的约束条件。基于运动模型和控制量变化的共同约束作用,选择适当的路径规划算法,求取性能目标函数的最小值,得到描述飞艇运动空间位置的轨迹曲线和控制量的变化曲线。
飞艇是一种不同于常规飞行器的飞行器,运动情况比较复杂,有自身的运动特点,建立完整、准确的非线性模型是研究无人飞艇的路径规划问题的前提条件,遗传算法为解决非线性系统的路径规划问题提供了有力的应用前景,在模型线性化理论的基础上,最优控制理论中的最小值原理也为解决无人飞艇的路径规划问题提供了便利。这些研究方法,是解决无人飞艇的路径规划问题的大胆尝试,对实际情况下飞艇的路径规划具有一定的参考意义,也对研究飞艇运动的制导律和运动轨迹的跟踪控制技术具有一定的实际指导意义。概括来说,本文主要的研究工作有以下几个方面:
1.首先介绍了飞艇发展的历史和现状,给出了无人飞艇路径规划的目的、意义以及研究现状,指出建立飞艇运动完整准确的非线性模
The problem on path planning of an unmanned airship is to find out optimum trajectory from start point to destination point under certain limitation and performance index. In a way, the above problem is also an optimunm problem to match definite destination with some limitation function. In the first place, intact and correct flighting model is the most important limitation factor. In the second place, the boundary of controlled variables is also restriction term. So that, the solving on path planning of an unmanned airship can acquire the plots of flighting trajectories in the air and controlled variables after getting the minimum value of performance index objective function with the help of some path planning algorithms.
Airship is different from usual flying vehicle with complex motion and particular characters. Intact and correct flighting nonlinear model is the premise condition. Genetic algorithm owns potential application prospect. Based on linearization of the nonlinear model, minimize
飞艇是一种不同于常规飞行器的飞行器,运动情况比较复杂,有自身的运动特点,建立完整、准确的非线性模型是研究无人飞艇的路径规划问题的前提条件,遗传算法为解决非线性系统的路径规划问题提供了有力的应用前景,在模型线性化理论的基础上,最优控制理论中的最小值原理也为解决无人飞艇的路径规划问题提供了便利。这些研究方法,是解决无人飞艇的路径规划问题的大胆尝试,对实际情况下飞艇的路径规划具有一定的参考意义,也对研究飞艇运动的制导律和运动轨迹的跟踪控制技术具有一定的实际指导意义。概括来说,本文主要的研究工作有以下几个方面:
1.首先介绍了飞艇发展的历史和现状,给出了无人飞艇路径规划的目的、意义以及研究现状,指出建立飞艇运动完整准确的非线性模
The problem on path planning of an unmanned airship is to find out optimum trajectory from start point to destination point under certain limitation and performance index. In a way, the above problem is also an optimunm problem to match definite destination with some limitation function. In the first place, intact and correct flighting model is the most important limitation factor. In the second place, the boundary of controlled variables is also restriction term. So that, the solving on path planning of an unmanned airship can acquire the plots of flighting trajectories in the air and controlled variables after getting the minimum value of performance index objective function with the help of some path planning algorithms.
Airship is different from usual flying vehicle with complex motion and particular characters. Intact and correct flighting nonlinear model is the premise condition. Genetic algorithm owns potential application prospect. Based on linearization of the nonlinear model, minimize
引文
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[2]Lindstrand P. ESA-HALE airship research and development program[J]. The 2nd Stratosphric Platform Systems Workshop. Tokyo Japan:2000. 15~21
[3]Ryu M, Mikio S. R&D on telecom and broadcasting system using high altitude platforms conducted by CTL/TAO[J]. The 3rd Stratospheric Platform Systems Workshop. Tokyo Japan:2000. 21~29
[4]Acosta J.-A,Ortega R., Astolfi A., Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one[J], IEEE Transations on Automatic Control, Vol.50,No.12,2005:1936~1955.
[5]Toshitaka T, Takashi A. Effects of meteorological conditions on the operation of a stratospheric platform[J]. The 3rd Stratospheric Platform Systems Workshop. Tokyo Japan:2001. 123~129
[6]Ahmed J.,Coppola V.T., and Bernstein D.,Adaptive asymptotic tracking of spacecraft attitude motion with inertia matrix identification[J], Journal of Guidance, Control, and Dynamics, Vol.21, No.5, 1998:684~691
[7]Yokomaku Y. The stratospheric platform airship R&D program of Japan[J]. The 2nd Stratospheric Platform Systems Workshop. Tokyo Japan:2000. 1~7
[8]Azinheira J.R., Paiva E.C., Ramos J.J.G., Bueno S.S., Misson path following for an autonomous unmanned airship[J], Proceeding of the 2000 IEEE International Conferece on Robotics & Automation, San Francisco, April 2000:1269~1275.
[9]Azinheira J.R., Influence of wind speed on airship dynamics[J], Journal of Guidance, Control, and Dynamics, Vol.25, No.6, Nov-Dec.2002:1116~1124
[10]施生达.潜艇操纵性[M],北京:国防工业出版社,1995.19~20,23~29
[11]朱明华,王霄,蔡兰. 机器人路径规划方法的研究进展和趋势[J]。机床与液压,2006.3:5~8
[12]Beji L., BestaouiY., Stabilization of a nonlinear underactuated autonomous airship-a combined averaging and backstepping approach[J], IEEE 3rd International Workshop on Robot Motion and Control, Nov.2002:223~229.
[13]Bhattacharyya R., Dynamics of marine vehicles[J], John Wiley and Sons, 1978
[14]高晖,陈欣,夏云程. 无人机航路规划研究[J]。南京航空航天大学学报,2001. 33(4):135~138
[15]余翔,王新民,李俨.无人直升机路径规划算法研究[J]。计算机应用,2006. 26(2):494~499
[16]Inge Spangelo, Olav Egeland. Generation of energy-optimal trajectories for an autonomous underwater vehicle[J]. Proceedings of the 1992 IEEE International Conference on Robotics and Automation. France:1992: 2107~2112
[17]张明廉.飞行控制系统[M]。北京:航空工业出版社,1994. 13~14,44~45
[18]Boyd S P, Ghaoui L E, Feron E, et al. Linear matrix inequalities in systems and control theory[J]. Philadeophia: SIAM,1994
[19]Sun X, Mao J, Lin Y. Muili-objective controller design using eigenstructure assignment assignment based on LMI[J]. Chinese Journal of Aeronautics.2001, 14(1):44~48
[20]Bullo F., and Murray R.M., Tracking for fully actuated mechanical systems: a geometric framework[J], Automatical, Vol.35,1999:17~34.
[21]郑大钟.线性系统理论[M]。北京:清华大学出版社,1990.121~134
[22]Bullo F., Stabilization of relative equilibrian for underactuated systems on Riemannian manifolds, Automatical[J], Vol.36,2000:1819~1834.
[23]Byrnes C.I., Isidori A., and Willems J.C., Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems[J], IEEE Transactions on Automatic Control, Vol.36, No.11, 1991:1228~1240
[24]赵经文,王铎.理论力学[M].北京:高等教育出版社,1997
[25]Gomes S B V, Ramos J J G. Airship dynamic modeling for autonomous operation [J]. Proceedings of the 1998 IEEE International Conference on Robotics & Autom -ation. Belgium:1998. 3462~3467
[26]de Paiva E C, Bueno S S,Gomes S B V,el al. A control system development enviro -nment for AURORA’s semi-autonomous robotic airship[J]. Proceedings of the 1999 IEEE International Conference on Robotics & Automation. Detroit Michigan: 1999. 2328~2335
[27]de Paiva E C, Bueno S S, Bergerman M. A robust pitch attitude controller for AURORA’s semi-autonomous robotic airship[J]. 1999 American Institute of Aeronautics & Astronautics. AIAA-99-3907. 141~148
[28]Azinheira J R, de Paiva E C, Ramos J J G,et al. Mission path following for an autonomou unmanned airship[J]. Proceedings of the 2000 IEEE International Conference on Robotic & Automation. San Francisco: 2000. 1269~1275
[29]Silveira G F, Carvalho J R H, Madrid M K, et al. Lateral control of an aerial unmanned robot using visual servoing techniques[J]. The 2nd Workshop on RobotMotion and Control. 2001. 263~268
[30]Ramos J J G, de Paiva E C, Azinheira J R, et al. Autonomous flight experiment with a robotic unmanned airship[J]. Proceedings of the 2001 IEEE International Conference on Robotics & Automation. Seoul Korea:2001. 4152~4157
[31]Egeland O., Godhavn J.-M., Passivity-based adaptive control of a rigid spacecraft, IEEE Transactions on Automatic Control[J], Vol.36, No.10,1991:1148~1162
[32]Shields R W. Pearson J B. Structural controllability of multi-input linear systems[J]. IEEE Transaction, 1976,21(2):203~212
[33]麦崇裔,林良养,翁开潮等.电机学与拖动基础[M]。广州:华南理工大学出版社,1998.43~87.
[34]Fossen T.L., Guidance and Control of Ocean Vehicles[M], John Wiley and Sons, New York,1994.
[35]Frost W., Boweles R., Wind shear terms in the equations of aircraft motion[J], Journal of Aircraft, Vol.21,1984:866~872.
[36]席裕庚,柴天佑,恽为民.遗传算法综述[J]。控制理论与应用,1996,13(6):697~708
[37]Galdi G.P., On the steady self-propelled motion of a body in a vicous incompressible fluid[J], Archive of Rational Mechanics Analysis, 148,1999:53~88
[38]Gunzburger M.D., Lee H.C., and Seregin G.A., Global existence of weak solutions for viscous incompressible flows around a moving rigid body in three dimesions[J], Journal of Mathematical Fluid Mechanics,2,2000:219~266
[39]Gomes S.B.B., and Ramos J.J.G., Airship dynamic modeling for autonomous operation[J],Proceeding of the 1998 IEEE International Conference on Robotics & Automation, Leuven,Belgium,May 1998:3462~3467
[40]R.chelouah.A continous genetic algorithm designed for the global optimi -zation of multimodal functions[J]. Journal of Heuristics, 2000, 6:191~213
[41]王晓亮,刘丹,单雪雄.飞艇最优飞行轨迹研究[J].力学季刊,2005,26(4):555~561
[42]Yasmina Bestaoui.Characterization of non trim trajectories of an autonomous underactuated airship in a low velocity flight[J]. Proceeding of the 2005 IEEE Interna -tional Conference on Robotics and Automation Barcelona, Spain, April 2005
[43]欧阳晋,屈卫东,席裕庚.平流层验证飞艇的建模与分析[J].上海交通大学学报.2003,37(6):956~960
[44]Estela Bicho, Andre Moreira, Manuel Carvalheira, et al.Autonomous flighttrajectory generation via attractor dynamics[J]. Proceeding of the IEEE International Conference on mechatronics & Robotics. Germany, September 2004.
[45]S.B.V Gomesm,”An investigation of the flight dynamics of airships with application to the YEA-2A”, PhD Thesis, College of Aeronautics, Cranfield Univ- ersity, October 1990.
[46]Wimmer, D., Bildstein, M., Well, K., Schlenker, M,.et al. Development and operation controllers for autonomous flight phase[J]. In Workshop on Aerial Robotics, IEEE International Conference on Intelligent Robots and Systems. Lausanne, Switzerland.September 2002,55~80.
[47]Goldberg. D.E., Genetic Algorithms in search. Optimization and Machine Learing, Reading. MA: Addison Wesley,1989
[48]Lamb, H., The inertia coefficients of an ellipsoid moving in fluid[J]. British Aeronautical Research Committee Report and MemorandaNo.623
[49]Khalil Hassan K., Nonlinear Systens[M], Prentice Hall, Pearson Euducation, Inc.
[50]欧阳晋.空中无人飞艇的建模与控制方法研究,上海交通大学博士论文,2003
[51]Khoury G.A., Gillett J.D., Airship Technology[M], Cambridge University Press,1999.
[52]Kirizazov Petko, Kreuzer E., Pinto F.C., Robust feedback stabilization of underwater robotic vehicles[J], Robotics and Autonomous Systems,21,1997: 415~423
[53]Yun, W. M., Xi, Y. G.., Optimun Motion Planning for Robots Using Genetic Algorithm[J]. Robotics and Autonomous System,1996
[54]Leonard N.E., Stability of a bottom-heavy underwater vehicle[J]. Automatical, Vol.33,1997:331-346
[55]肖业伦.航空航天器运动的建模[M]。北京:北京航空航天大学出版社,2003.6~37,103~110
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