15 results on '"Dengyan Duan"'
Search Results
2. Research on Integrated Optimization Design Method of High-Efficiency Motor Propeller System for UAVs With Multi-States
- Author
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Dengyan Duan, Zhigang Wang, Qiannan Wang, and Jianbo Li
- Subjects
Electric aircraft ,motor ,propeller ,integrated design ,improved PSODE optimization ,tilt quad rotor ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
With the popularity of electric multi-rotor unmanned aerial vehicles (EMRUAV), the problem of low efficiency of the motor propeller system (MPS) becomes serious especially for EMRUAVs which have multiple working states. To solve this problem, an integrated optimization design method for high-efficiency MPS is proposed using an improved parallel particle swarm optimization and differential evolution (PSODE) hybrid algorithm. First, the brushless motor as well as the variable-speed and the adjustable-pitch propellers is modelled. Then considering the characteristics of the motor and the propeller sufficiently, an integrated optimization method for variable-speed and adjustable-pitch MPS is proposed by utilizing the improved PSODE. Specially, the self-organizing feature map theory is added to substitute the traditional “winner-take-all” method in the interactive study of the improved PSODE. Next, the optimization of a small electric-powered tilt quad rotor (TQR) which has four states: hovering, cruising, transition and maximum speed is carried out. At last, the wind-tunnel experiments are implemented to verify the feasibility and effectiveness of the proposed optimization method. The results indicate that the adjustable-pitch MPS is more suitable for EMRUAVs which have multiple working states, and that the improved PSODE has faster convergence speed and better global search ability than other optimization methods.
- Published
- 2020
- Full Text
- View/download PDF
3. Tilting Path Optimization of Tilt Quad Rotor in Conversion Process Based on Ant Colony Optimization Algorithm
- Author
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Zhichao Lyu, Zhigang Wang, Dengyan Duan, Lili Lin, Jianbo Li, Yongwen Yang, Yonghong Chen, and Yibo Li
- Subjects
Tilt quad rotor ,manipulation strategy ,ant colony optimization ,tilting path ,flight test ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
The tilt quad rotor (TQR) has the problem of manipulation redundancy due to the aerodynamic structure changing in conversion mode. The tilting path is limited by the conversion corridor. In order to solve the problem of manipulation redundancy in conversion mode and find out the optimal tilting path in conversion corridor, the aerodynamic model of the TQR based on Goldstein vortex theory is established to obtain the manipulation derivative matrix and conversion corridor. A novel manipulation strategy is proposed, the altitude, forward velocity and tilt angle are introduced into the manipulation strategy to ensure the stability of the altitude and attitude in conversion process. To find out the optimal tilting path in conversion corridor, a novel tilting strategy is proposed based on Ant Colony Optimization (ACO) algorithm and compared with another three tilting path. To verify the credibility of the flight dynamics model, the effectiveness of manipulation strategy and tilting path optimization, the simulation and flight test were carried out. The simulation and flight test results show that the manipulation strategy proposed in this paper can solve the manipulation redundancy in conversion mode very well, and the proposed tilting path can ensure the stability of the altitude and attitude in conversion corridor.
- Published
- 2020
- Full Text
- View/download PDF
4. Tuning of ADRC for QTR in Transition Process Based on NBPO Hybrid Algorithm
- Author
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Zhigang Wang, Rui Zu, Dengyan Duan, and Jianbo Li
- Subjects
ADRC ,optimization algorithm ,quad tilt rotor ,parameters tuning ,nonlinear control ,Electrical engineering. Electronics. Nuclear engineering ,TK1-9971 - Abstract
The quad tilt rotor (QTR) has complex dynamics characteristics, and the environmental factors have a great influence on it. This increases the difficulty of its control especially in transition mode. To solve this problem, the design of the controller based on active disturbance rejection control (ADRC) with a novel tuning algorithm is proposed in this paper. The aerodynamic models of propeller, wing, vertical tail and fuselage are build respectively by using the idea of component modeling. The pitch channel of the linearized flight dynamic model is provided for the control system. A simple tuning method of active disturbance rejection control for the quad tilt rotor in transition process that achieves high performance and good robustness is presented. The proposed method makes ADRC become easy to tune and more practical. The problem of parameter tuning is turned into a multi-objective optimization problem, and using radial basis function (RBF) neural network with particle swarm optimization algorithm (PSO) and bacterial foraging optimization algorithm (BFO) hybrid algorithm tuning method (NBPO) to fit the tuning rules. We introduce the control input, the overshoot and rise time of the system into the fitness function. The local and global optimal solutions are introduced into the chemotaxis and migration to improve the information exchange ability of BFO. The correctness and effectiveness of the NBPO tuning method were verified by numerical simulation results, compared with the one parameter tuning method (OPM) and PID, the results showed that the NBPO tuning method can greatly improve the control performance of the system.
- Published
- 2019
- Full Text
- View/download PDF
5. Load distribution strategy for multi-lift system with helicopters based on power consumption and robust adaptive game control
- Author
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Dengyan DUAN, Gen LENG, Jie GAO, Xinming FENG, and Jianbo LI
- Subjects
Mechanical Engineering ,Aerospace Engineering - Published
- 2023
6. Flight dynamics analysis of a small tandem helicopter considering aerodynamic interference
- Author
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Dengyan Duan, Yujun Li, Zhiwei Ding, and Jianbo Li
- Subjects
Mechanical Engineering ,Aerospace Engineering - Abstract
The interference calculation is essential to the flight dynamic analysis especially for multi-rotors configurations. To analyze the flight dynamic characteristics of a small tandem helicopter precisely, a vortex method is utilized to obtain the aerodynamic interaction between the tandem rotors and the fuselage. Specially, the unsteady air loads and the wake of the rotors are developed using a lifting surface method and the viscous vortex particle theory, respectively, and the fuselage is modeled by the panel method to simulate the blocking effect on the rotors. Then the aerodynamic interference of the small tandem helicopter is analyzed under the conditions of different vertical or horizontal distance between the rear and front rotors. Subsequently, to save calculation time during flight dynamic analysis, a hybrid optimization trimming method combining the equilibrium optimizer and the improved delta method is proposed. At last, the flight dynamic analysis for the small tandem helicopter with different configurations are carried out and the results indicate that configuration in which the rear rotor is located higher than the front rotor and the one with larger longitudinal distance between tandem rotors are beneficial to increase the stability in lateral and longitudinal directions, respectively.
- Published
- 2022
7. Differential Flatness-Based Real-Time Trajectory Planning for Multihelicopter Cooperative Transportation in Crowded Environments.
- Author
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Dengyan Duan, Rui Zu, Tianle Yu, Chaoqun Zhang, and Jianbo Li
- Abstract
Trajectory planning for a multihelicopter transportation system requires optimizing numerous variables while considering obstacle avoidance, formation shape change, multibody dynamics and other feasibility constraints, making it challenging to achieve real-time effectiveness and convergence. To overcome this issue, a real-time trajectory planning method based on differential flatness and a minimum control effort (MINCO) trajectory expression is proposed. This method enables the implicit consideration of dynamic constraints and formation shape change requirements, and it handles obstacle avoidance and feasibility constraints linearly, reducing the complexity of planning. Specifically, the flatness characteristics and related assumptions of the system are given in detail by considering two cases where the load is modeled as a mass point or a rigid body. The obstacle avoidance trajectory planning problem is transformed into an unconstrained optimization problem based on MINCO and its spatial-temporal deformation. This optimization aims to minimize the trajectory energy and total time consumption while considering cost functions related to load obstacle avoidance, load state feasibility, helicopter obstacle avoidance, swarm avoidance between helicopters, cable obstacle avoidance, and cable force feasibility constraints. Finally, simulations are conducted in both cases where the load is modeled as a mass point and a rigid body to verify the feasibility of the proposed method. Overall, the proposed method has the potential to solve the problem of trajectory planning with obstacle avoidance in a multihelicopter transportation system in real time with improved efficiency and effectiveness. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
8. Application of social spider optimization and improved active disturbance rejection controller in hierarchical control of cooperative multi-lift with four unmanned helicopters
- Author
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Chaoqun Zhang, Jianbo Li, Tianle Yu, Dengyan Duan, and Hong Zhao
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Disturbance (geology) ,biology ,Control theory ,Computer science ,Lift (data mining) ,Mechanical Engineering ,Control (management) ,Aerospace Engineering ,Free movement ,biology.organism_classification ,Non convex optimization ,Social spider - Abstract
To achieve the three-dimensional free movement of the slung load, a load-leading hierarchical control strategy has been adopted recently which divides the cooperative multi-lift system into a load layer, a cable layer, and an aircraft layer. But there exists a non-convex optimization problem in the cable layer when computing the force of each cable, and more control difficulties of the aircraft due to the additional disturbances resulting from the load movement. To solve these problems, an application of the social spider optimization (SSO) algorithm and the improved active disturbance rejection controller (IADRC) in hierarchical control of cooperative multi-lift with four unmanned helicopters is proposed in this study. First, the unmanned helicopters as well as the load are modeled. Then the three layers mentioned above are designed, respectively. Specifically, an optimization method combining SSO with the MATLAB/fmincon function is proposed to solve the non-convex problem in the cable layer. And within the unmanned helicopter layer, the fuzzy theory is introduced into the nonlinear error feedback control strategy of the traditional active disturbance rejection controller (ADRC) to realize the control of the unmanned helicopter. At last, some simulations are carried out, and the results indicate that the system has higher calculation efficiency, smaller steady-state error, and better adaptability to trajectory change or load release with the designed hierarchical control strategy.
- Published
- 2021
9. Stabilization control for unmanned helicopter-slung load system based on active disturbance rejection control and improved sliding mode control
- Author
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Dengyan Duan, Zhigang Wang, Chaoqun Zhang, Jianbo Li, and Qiannan Wang
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020301 aerospace & aeronautics ,0203 mechanical engineering ,Computer science ,Control theory ,Mechanical Engineering ,Stabilization control ,0202 electrical engineering, electronic engineering, information engineering ,Aerospace Engineering ,020201 artificial intelligence & image processing ,02 engineering and technology ,Active disturbance rejection control ,Sliding mode control - Abstract
Unmanned helicopters are widely used in military and civil fields. One of the most important applications is flying with an underslung load, but the pendulum-like behavior of the load can cause damage or even forced landing to the helicopter. To solve this problem, a control strategy to stabilize the helicopter/load system based on active disturbance rejection control (ADRC) and improved sliding mode control (ISMC) algorithms is proposed in this paper. First, the helicopter/load system is modelled using Newton-Euler equations according to the multi-body dynamics theory. Then a manipulation strategy which can reduce the swing angle of the load and an overall control strategy for the helicopter/load system are presented. Specifically, ADRC is applied to attitude control due to its ability to regard the pendulum-like behavior as the internal uncertainties of the system, meanwhile ISMC to position control. Within ISMC, two sliding surfaces with adjustable weights are constructed by employing the position of the helicopter as well as the swing angle of the load. In addition, a real-time beetle antennae search algorithm is designed to online modify the weights by taking the minimum error at current time as the optimization objective. Besides, the radial basis function neural network is introduced to approach the uncertainty coefficients considering the system’s complexity. At last, relevant simulations are carried out and the results indicate that the system is capable of not only controlling the attitude and position of the helicopter precisely but also stabilizing the underslung load rapidly with ADRC and ISMC.
- Published
- 2021
10. A novel system identification algorithm for quad tilt-rotor based on neural network with foraging strategy
- Author
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Zhigang Wang, Zhichao Lyu, Jianbo Li, and Dengyan Duan
- Subjects
020301 aerospace & aeronautics ,0209 industrial biotechnology ,Artificial neural network ,Computer science ,Rotor (electric) ,Mechanical Engineering ,Foraging ,System identification ,Mode (statistics) ,Aerospace Engineering ,02 engineering and technology ,law.invention ,Nonlinear system ,020901 industrial engineering & automation ,Tilt (optics) ,0203 mechanical engineering ,Control theory ,law - Abstract
Quad tilt-rotor(QTR) UAV is a nonlinear time-varying system in full flight mode. It is difficult and inaccurate to model the nonlinear time-varying system, which cannot fully reflect the problem of controlling input and system response output in the full flight mode. In order to solve the above problems, a novel neural network model was adopt to identify the nonlinear time-varying system of quad tilt-rotor in full flight mode. An adaptive learning rate algorithm based on foraging strategy is proposed based on the global error BP neural network. Corresponding to the nonlinear time-varying system, BP neural network is set as the time-invariant system structure with constant network structure and continuously changing weights at multiple times, and the nonlinear input-output relationship under the time-varying system is jointly described by fitting the network at all times. The extended Kalman filtering algorithm is used to track the network connection weights by modifying the network weights at the current moment with the input and output data at the next moment. The final identification result shows that the smaller mean square error of both only transition process and full flight mode, shows that using this optimization algorithm can well describe the input and output characteristics of the nonlinear time-varying systems. When the same network structure is adopted, no matter for transition mode or full mode, the BP optimization algorithm based on foraging strategy is better than the global BP algorithm for system identification of the full mode quad tilt-rotor. Therefore, when the BP neural network based on foraging strategy is adopted, the same network structure can be adopted to systematically identify the full mode of quad tilt-rotor by changing the weight.
- Published
- 2020
11. Tilting Path Optimization of Tilt Quad Rotor in Conversion Process Based on Ant Colony Optimization Algorithm
- Author
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Dengyan Duan, Zhichao Lyu, Yibo Li, Zhigang Wang, Lili Lin, Jianbo Li, Yonghong Chen, and Yongwen Yang
- Subjects
ant colony optimization ,General Computer Science ,Computer science ,Ant colony optimization algorithms ,manipulation strategy ,General Engineering ,Process (computing) ,tilting path ,Aerodynamics ,Flight test ,GeneralLiterature_MISCELLANEOUS ,Tilt quad rotor ,Flight dynamics ,Path (graph theory) ,flight test ,General Materials Science ,lcsh:Electrical engineering. Electronics. Nuclear engineering ,Algorithm ,Tilt (camera) ,lcsh:TK1-9971 - Abstract
The tilt quad rotor (TQR) has the problem of manipulation redundancy due to the aerodynamic structure changing in conversion mode. The tilting path is limited by the conversion corridor. In order to solve the problem of manipulation redundancy in conversion mode and find out the optimal tilting path in conversion corridor, the aerodynamic model of the TQR based on Goldstein vortex theory is established to obtain the manipulation derivative matrix and conversion corridor. A novel manipulation strategy is proposed, the altitude, forward velocity and tilt angle are introduced into the manipulation strategy to ensure the stability of the altitude and attitude in conversion process. To find out the optimal tilting path in conversion corridor, a novel tilting strategy is proposed based on Ant Colony Optimization (ACO) algorithm and compared with another three tilting path. To verify the credibility of the flight dynamics model, the effectiveness of manipulation strategy and tilting path optimization, the simulation and flight test were carried out. The simulation and flight test results show that the manipulation strategy proposed in this paper can solve the manipulation redundancy in conversion mode very well, and the proposed tilting path can ensure the stability of the altitude and attitude in conversion corridor.
- Published
- 2020
12. Manipulation strategy of tilt quad rotor based on active disturbance rejection control
- Author
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Zhigang Wang, Jianbo Li, and Dengyan Duan
- Subjects
020301 aerospace & aeronautics ,0209 industrial biotechnology ,Computer science ,Mechanical Engineering ,Aerospace Engineering ,02 engineering and technology ,Active disturbance rejection control ,Sliding mode control ,Flight test ,020901 industrial engineering & automation ,0203 mechanical engineering ,Control theory ,Redundancy (engineering) ,Quad rotor - Abstract
To solve the problem of manipulation redundancy and coupling in transition mode of tilt quad rotor, this paper studied the manipulation strategy in transition mode, and carried out the design of the attitude controller based on active disturbance rejection control (ADRC) with sliding mode control in nonlinear state error feedback (NLSEF). According to the characteristics of flight in transition mode, the rudders and propellers were assigned different control rights. The differential output of the tracking differentiator was used as the attitude angular rate instruction to simplify the structure of the attitude controller. Extended state observer was used to estimate and compensate internal and external uncertainties. The sliding mode control in NLSEF was used to improve response speed of the controller. Through the flight control simulation and flight test of the tilt quad rotor, the validity of the control system and the rationality of the manipulation strategy were verified.
- Published
- 2019
13. Active Control for Helicopters with Slung Load by Combining ADRC and Input Shaper Technology
- Author
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Dengyan Duan, Zhigang Wang, Jianbo Li, and Chaoqun Zhang
- Subjects
Generalized coordinates ,Flight envelope ,Control theory ,Computer science ,PID controller ,Active disturbance rejection control ,Active control - Abstract
Helicopters have unique characteristics enable it to flywith an underslung load in many civil and military operations. But the slung load’s pendulum-like behaviour makes it a highly hazardous and notoriously difficult task which will reduce the helicopter’s flight envelope. To eliminate the slung load’s pendulum-like behaviour, this paper discusses a control strategy for helicopters with slung load by combining Active Disturbance Rejection Control (ADRC) and Input Shaper Technology. The motion of the helicopter/load complex was modeled by the Newton-Euler equations in terms of generalized coordinates and velocities. This mathematical model was then used in conjunction with the control strategy to stabilize the helicopter/load complex. The control results by combining ADRC and Input Shaper Technology were compared with the PID control, and the improvements related to eliminate the slung load’s pendulum-like behaviour were significant.
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- 2020
14. Research on Optimal Design Method of Tilt-Rotor Electric Propulsion System
- Author
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Jianbo Li, Dengyan Duan, Minghua Peng, and Hong Zhao
- Subjects
Optimal design ,Tilt (optics) ,Power demand ,Matching (graph theory) ,Positive polynomial ,Computer science ,Control theory ,Equivalent circuit ,ComputerApplications_COMPUTERSINOTHERSYSTEMS ,Performance improvement ,Propulsion - Abstract
Improve the efficiency of propulsion system is an effective mean to archive flight performance improvement of electric-powered tilt-rotor. In this paper, the motor is constructed by combining the motor equivalent circuit model and the positive polynomial loss model. The proprotor is modeled by Goldstein vortex theory and the validity is verified. Based on this, aimed at an effective optimization goal, a comprehensive optimization method for the propulsion system is proposed using optimization algorithm. Then the optimization of the propulsion system was carried out and an effective optimization program was obtained for a small electric-powered tilt quad rotor. The research results show that this optimization method can effectively solve the problem of motor and proprotor matching. By optimizing the design of the propulsion system, the power demand can be effectively reduced and the flight performance can be improved.
- Published
- 2019
15. Trimming Analysis Method of Quad Tilt Rotor Based on Aerodynamic Interference Model.
- Author
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Zhigang Wang, Qiannan Wang, Hongrui Yu, Dengyan Duan, Zhiwei Ding, and Jianbo Li
- Abstract
The quad tilt rotor (QTR) has complex aerodynamic characteristics and strong aerodynamic interference. The flight dynamic model is the basis of control. To effectively account for the aerodynamic interference between the multiple aerodynamic surfaces of the QTR unmanned aerial vehicle, a hybrid optimization trimming analysis method based on Immune Algorithm/Levenberg-Marquardt (IA/LM) and lattice Boltzmann method (LBM) is proposed. The aerodynamic characteristics between the wing and the rotor calculated by the LBM are compensated into the flight dynamics model. The IA/LM algorithm is used to reduce the dependence on the initial trimming value. The effectiveness of the hybrid optimal trimming analysis method is verified through the analysis of trimming simulation results. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
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