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学者姓名：林忠麟
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Abstract ：
Unmanned Aerial Vehicles (UAVs) are playing an increasingly critical role in military surveillance missions. However, due to safety and economic issues, it is necessary to validate the UAV performance and algorithms in a semi-physical simulation environment before the real flights. In this study, the mechanical structure and control system of the semi-physical simulation system is developed for the UAVs. In order to better simulate the attitude of the UAV during a flight, the flight attitude simulator is designed. Also, a sand table of the mountainous scenery from real inspection tasks is developed to work with the simulation system. Path planning algorithms are embedded in the platform, and improvements and evaluations of traditional algorithms are carried out. Then, an improved adaptive particle swarm optimization (IAPSO) algorithm is proposed to improve the accuracy of the path of UAVs. An energy-consumption prediction model is established for the platform. By combining the IAPSO algorithm with the energy-consumption prediction model, the best path with low energy consumption can be obtained. Finally, the effectiveness of the simulation system is verified by comparison experiments of the mathematical simulation, semi-physical simulation, and real flight. © 2024 Elsevier Ltd
Keyword ：
Flight simulators Flight simulators Military vehicles Military vehicles Motion planning Motion planning Particle swarm optimization (PSO) Particle swarm optimization (PSO) Unmanned aerial vehicles (UAV) Unmanned aerial vehicles (UAV)
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| GB/T 7714 | Lin, Zhonglin , Li, Yufeng , Qian, Qiang et al. Construction of an improved semi-physical simulation system for UAV with integrated energy-consumption prediction model and its evaluation of the path planning algorithms in mountainous scenery [J]. | Computers and Industrial Engineering , 2024 , 197 . |
| MLA | Lin, Zhonglin et al. "Construction of an improved semi-physical simulation system for UAV with integrated energy-consumption prediction model and its evaluation of the path planning algorithms in mountainous scenery" . | Computers and Industrial Engineering 197 (2024) . |
| APA | Lin, Zhonglin , Li, Yufeng , Qian, Qiang , Huang, Feng , Zhang, Xinglong , Zhang, Tianhong et al. Construction of an improved semi-physical simulation system for UAV with integrated energy-consumption prediction model and its evaluation of the path planning algorithms in mountainous scenery . | Computers and Industrial Engineering , 2024 , 197 . |
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在航空发动机硬件在环仿真试验中,压气机出口压力模拟是一个重要的环节.为模拟压气机失稳过程中的气流突变现象,需要设计一种高精度的压力模拟系统,通过该模拟系统生成真实压力信号为全权限数字发动机控制器提供准确的压力激励.根据开关阀特性提出多模式加速切换策略,设计加速驱动波形及生成方法,结合现场可编程门阵列模块精确输出加速波形,提高开关阀启闭速度;在传统三模式与五模式切换的基础上设计七模式切换方法,结合反步滑模控制方法提高控制精度并证明了控制系统的稳定性.研究结果表明:在稳态压力测试中最大平均超调量为1.25%,最大平均稳态误差为 0.016 MPa;在随机阶跃响应试验与正弦跟踪试验中仅有低于 0.02 MPa的平均误差;压力模拟方法可满足航空发动机硬件在环仿真试验的高精度压力模拟需求,低成本的实现精准模拟压力.
Keyword ：
压力模拟 压力模拟 压气机 压气机 反步滑模控制 反步滑模控制 开关阀 开关阀 硬件在环仿真 硬件在环仿真
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| GB/T 7714 | 林忠麟 , 王海涛 , 刘文超 et al. 基于多模式加速及反步滑模的航空发动机压气机压力模拟方法 [J]. | 兵工学报 , 2024 , 45 (6) : 1776-1786 . |
| MLA | 林忠麟 et al. "基于多模式加速及反步滑模的航空发动机压气机压力模拟方法" . | 兵工学报 45 . 6 (2024) : 1776-1786 . |
| APA | 林忠麟 , 王海涛 , 刘文超 , 甘锦裕 , 张天宏 , 黄峰 . 基于多模式加速及反步滑模的航空发动机压气机压力模拟方法 . | 兵工学报 , 2024 , 45 (6) , 1776-1786 . |
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This study proposes an active surge control method based on deep reinforcement learning to ensure the stability of compressors when adhering to the pressure rise command across the wide operating range of an aeroengine. Initially, the study establishes the compressor dynamic model with uncertainties, disturbances, and Close-Coupled Valve (CCV) actuator delay. Building upon this foundation, a Partially Observable Markov Decision Process (POMDP) is defined to facilitate active surge control. To address the issue of unobservability, a nonlinear state observer is designed using a finite-time high-order sliding mode. Furthermore, an Improved Soft Actor-Critic (ISAC) algorithm is developed, incorporating prioritized experience replay and adaptive temperature parameter techniques, to strike a balance between exploration and convergence during training. In addition, reasonable observation variables, error-segmented reward functions, and random initialization of model parameters are employed to enhance the robustness and generalization capability. Finally, to assess the effectiveness of the proposed method, numerical simulations are conducted, and it is compared with the fuzzy adaptive backstepping method and Second-Order Sliding Mode Control (SOSMC) method. The simulation results demonstrate that the deep reinforcement learning based controller outperforms other methods in both tracking accuracy and robustness. Consequently, the proposed active surge controller can effectively ensure stable operation of compressors in the high-pressure-ratio and high-efficiency region. © 2024
Keyword ：
Active surge control Active surge control Aeroengine surge Aeroengine surge Deep reinforcement learning Deep reinforcement learning Moore-Greitzer model Moore-Greitzer model Nonlinear observer Nonlinear observer Soft actor-critic Soft actor-critic
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| GB/T 7714 | ZHANG, X. , LIN, Z. , JI, R. et al. Deep reinforcement learning based active surge control for aeroengine compressors [J]. | Chinese Journal of Aeronautics , 2024 , 37 (7) : 418-438 . |
| MLA | ZHANG, X. et al. "Deep reinforcement learning based active surge control for aeroengine compressors" . | Chinese Journal of Aeronautics 37 . 7 (2024) : 418-438 . |
| APA | ZHANG, X. , LIN, Z. , JI, R. , ZHANG, T. . Deep reinforcement learning based active surge control for aeroengine compressors . | Chinese Journal of Aeronautics , 2024 , 37 (7) , 418-438 . |
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In the process of unmanned aerial vehicle (UAV) visual-navigation-algorithm design and accuracy verification, the question of how to develop a high-precision and high-reliability semi-physical simulation platform has become a significant engineering problem. In this study, a new UAV semi-physical-simulation-platform architecture is proposed, which includes a six-degree-of-freedom mechanical structure, a real-time control system and real-time animation-simulation software. The mechanical structure can realistically simulate the flight attitude of a UAV in a three-dimensional space of 4 x 2 x 1.4 m. Based on the designed mechanical structure and its dynamics, the control system and the UAV real-time flight-animation simulation were designed. Compared with the conventional simulation system, this system enables real-time flight-attitude simulation in a real physical environment and simultaneous flight-attitude simulation in virtual-animation space. The test results show that the repeated positioning accuracy of the three-axis rotary table reaches 0.006 degrees, the repeated positioning accuracy of the three-axis translation table reaches 0.033 mm, and the dynamic-positioning accuracy reaches 0.04 degrees and 0.4 mm, which meets the simulation requirements of high-precision visual UAV navigation.
Keyword ：
optical flow optical flow semi-physical simulation platform semi-physical simulation platform six degrees of freedom six degrees of freedom unmanned aerial vehicle unmanned aerial vehicle visual navigation visual navigation
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| GB/T 7714 | Lin, Zhonglin , Wang, Weixiong , Li, Yufeng et al. Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation [J]. | AEROSPACE , 2023 , 10 (2) . |
| MLA | Lin, Zhonglin et al. "Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation" . | AEROSPACE 10 . 2 (2023) . |
| APA | Lin, Zhonglin , Wang, Weixiong , Li, Yufeng , Zhang, Xinglong , Zhang, Tianhong , Wang, Haitao et al. Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation . | AEROSPACE , 2023 , 10 (2) . |
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无人机视觉导航仿真实验能够验证算法的鲁棒性和精确度，加快算法的迭代优化。传统的基于计算机仿真模型的硬件在环仿真实验平台难以复现真实的视觉导航飞行过程，需要设计一种高精度的用于无人机视觉导航试验的半物理仿真平台。根据四旋翼无人机的特性和仿真模型，提出一种新型的由三轴转台和三轴桁架组成的6自由度机械结构，该机械结构可以在4.0 m×2.0 m×1.4 m的三维空间范围内真实地模拟四旋翼无人机的飞行姿态；根据设计的机械结构及其动力学特性，设计基于EtherCAT通讯的控制系统，同时实现真实物理环境飞行姿态模拟与虚拟动画空间同步飞行姿态仿真。测试结果表明：三轴转台的重复定位精度达到0.006°,三轴桁架的重复定位精度达到0.033 mm,动态误差精度达到0.04°和0.4 mm;通过室内外对比试验验证了仿真平台的有效性，表明仿真平台可满足高精度无人机视觉导航模拟的需求。
Keyword ：
6自由度机械结构 6自由度机械结构 半物理仿真平台 半物理仿真平台 四旋翼无人机 四旋翼无人机 视觉导航 视觉导航
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| GB/T 7714 | 黄峰 , 王威雄 , 林忠麟 et al. 新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验 [J]. | 兵工学报 , 2023 , 44 (09) : 2836-2848 . |
| MLA | 黄峰 et al. "新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验" . | 兵工学报 44 . 09 (2023) : 2836-2848 . |
| APA | 黄峰 , 王威雄 , 林忠麟 , 吴衔誉 , 庄嘉权 . 新型结构的四旋翼无人机视觉导航半物理仿真平台设计及试验 . | 兵工学报 , 2023 , 44 (09) , 2836-2848 . |
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Pressure servo control plays a crucial role in the majority of industrial applications that use compressed air as their power source. How to reduce the energy consumption of the pneumatic system while ensuring the high accuracy of pressure control remains a key problem to be solved. This paper proposes a Gaussian Process (GP) 1 model predictive controller (MPC) applied to a pressure servo control system based on high-speed on-off valves. The smallest quantity of collected data is used to create the GP model. The entire model, which includes some predictive data, is produced once the generated model has been optimized. The GP model is combined with the MPC to perform comparative experiments using an industrial controller with a Field Programmable Gate Array (FPGA). The system responds quickly and with little tracking error in steady-state response studies as well as dynamic response experiments. The GP-MPC achieves the best outcomes in the dynamic comparison tests. The root mean square error (RMSE) is just 2.42 kPa, and the overshoot is less than 59.9% of the Proportional-Integral-Derivative (PID) controller and 68.5% of the sliding mode controller (SMC). Although the compressed air con-sumption of GP-MPC is basically the same as that of PID, it is significantly better than SMC, with a total saving of about 70.2%. All the experiments prove that the controller proposed in this paper can effectively improve the energy efficiency and tracking accuracy of the pressure servo control system.
Keyword ：
Energy efficiency Energy efficiency Gaussian process Gaussian process Model predictive control Model predictive control Pneumatic system Pneumatic system Pressure tracking Pressure tracking
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| GB/T 7714 | Lin, Zhonglin , Gan, Jinyu , Qian, Qiang et al. Developing a novel Gaussian process model predictive controller to improve the energy efficiency and tracking accuracy of the pressure servo control system [J]. | JOURNAL OF CLEANER PRODUCTION , 2023 , 417 . |
| MLA | Lin, Zhonglin et al. "Developing a novel Gaussian process model predictive controller to improve the energy efficiency and tracking accuracy of the pressure servo control system" . | JOURNAL OF CLEANER PRODUCTION 417 (2023) . |
| APA | Lin, Zhonglin , Gan, Jinyu , Qian, Qiang , Huang, Feng , Zhang, Xinglong , Zhang, Tianhong et al. Developing a novel Gaussian process model predictive controller to improve the energy efficiency and tracking accuracy of the pressure servo control system . | JOURNAL OF CLEANER PRODUCTION , 2023 , 417 . |
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In the semi-physical simulation of aeroengines, using the pneumatic pressure servo con-trol technology to provide realistic pneumatic excitation to the sensors and electronic controller can improve the confidence of the simulation and reduce the test cost and risk. However, the existing methods could not satisfy the precise simulation of large-amplitude and high-frequency pulsating pressure during aeroengine surge. In this paper, a pneumatic pressure control system with asymmet-ric groups of the High-Speed on-off Valve (HSV) is designed, and an Improved Nonlinear Model Predictive Control (INMPC) method is proposed. First, the volumetric flow characteristics of HSV are tested and analyzed with Pulse Width Modulation (PWM) signal input. Then, a simplified HSV model with the volume flow characteristic correction is developed. Based on these, an integrated model for the whole system is further established and used as the prediction model in INMPC. To improve the computational speed of the rolling optimization process, the mapping scheme from control signal to PWM duty cycle of HSVs and the objective function with exterior penalty function are designed. Finally, the random step, sinusoidal and real engine surge data are set as the reference pressure in multiple comparative experiments to verify the effectiveness of the pressure tracking sys-tem.(c) 2022 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/ licenses/by-nc-nd/4.0/).
Keyword ：
Aeroengine surge simulation Aeroengine surge simulation Asymmetric valve groups Asymmetric valve groups High-speed on-off valve High-speed on-off valve Nonlinear model predictive control Nonlinear model predictive control Pneumatic pressure tracking control Pneumatic pressure tracking control
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| GB/T 7714 | Zhang, Xinglong , Lin, Zhonglin , LI, Jiaao et al. Pneumatic pressure control based on improved NMPC and its application to aeroengine surge simulation [J]. | CHINESE JOURNAL OF AERONAUTICS , 2023 , 36 (4) : 468-485 . |
| MLA | Zhang, Xinglong et al. "Pneumatic pressure control based on improved NMPC and its application to aeroengine surge simulation" . | CHINESE JOURNAL OF AERONAUTICS 36 . 4 (2023) : 468-485 . |
| APA | Zhang, Xinglong , Lin, Zhonglin , LI, Jiaao , Zhang, Tianhong . Pneumatic pressure control based on improved NMPC and its application to aeroengine surge simulation . | CHINESE JOURNAL OF AERONAUTICS , 2023 , 36 (4) , 468-485 . |
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Risley-prism-based image sensors can expand the imaging field of view through beam control. The larger the top angle of the prism, the higher the magnification of the field of view, but at the same time, it aggravates the problem of imaging aberrations, which also puts higher requirements on the aberration correction method for the Risley-prism-based image sensor. To improve the speed, accuracy, and stability of the aberration correction process, an automatic calibration method for the Risley-prism-based image sensor is proposed based on a two-axis turntable. The image datasets of the calibration plate with different prism rotation angles and object distances are acquired using a two-axis turntable. Then, the images of the calibration plate are pre-processed using the bicubic interpolation algorithm. The calibration parameters are finally calculated, and parameter optimization is performed. The experimental results verify the feasibility of this automated calibration method. The reprojection error of the calibration is within 0.26 pixels when the distance of the imaging sensor is 3.6 m from the object, and the fine aberration correction results are observed.
Keyword ：
aberration correction aberration correction automatic calibration automatic calibration field of view field of view risley prisms risley prisms
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| GB/T 7714 | Lin, Zhonglin , Liu, Wenchao , Gan, Jinyu et al. An Automatic Calibration Method for the Field of View Aberration in a Risley-Prism-Based Image Sensor [J]. | SENSORS , 2023 , 23 (18) . |
| MLA | Lin, Zhonglin et al. "An Automatic Calibration Method for the Field of View Aberration in a Risley-Prism-Based Image Sensor" . | SENSORS 23 . 18 (2023) . |
| APA | Lin, Zhonglin , Liu, Wenchao , Gan, Jinyu , Lu, Jilian , Huang, Feng , Wu, Xianyu et al. An Automatic Calibration Method for the Field of View Aberration in a Risley-Prism-Based Image Sensor . | SENSORS , 2023 , 23 (18) . |
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对各种具有复杂曲面及平面的材料进行缺陷检测的过程中，传统触觉传感器存在探测面积小、探测效率低等缺点。针对这些问题设计并制备了一种指尖型大面积光学式触觉传感器，并将该传感器应用于多种材料的表面缺陷探测中。所设计的传感器外形类似人类手指尖端，同时具备指型曲面和平面双接触面，可满足各种复杂接触面的探测需求。传感器中设计了微型传动装置用于带动摄像头转动以提高成像质量，并通过转动采集多张图像使用APAP图像拼接算法对其进行拼接，增大单次探测有效面积。通过模拟多种材料表面缺陷并制作触觉图像数据集，采用DeepLabv3模型对其进行训练。实验结果表明，在单次采集的情况下，有效探测面积达到16.3 cm~2,模型通过训练MIoU达到91.2%,可实现多种材料复杂曲面和平面的缺陷探测。
Keyword ：
仿生结构 仿生结构 图像拼接 图像拼接 缺陷检测 缺陷检测 触觉传感器 触觉传感器
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| GB/T 7714 | 吴衔誉 , 庄嘉权 , 林忠麟 et al. 用于缺陷检测的指尖型大面积光学式触觉传感器设计与性能研究 [J]. | 仪器仪表学报 , 2023 , 44 (02) : 164-174 . |
| MLA | 吴衔誉 et al. "用于缺陷检测的指尖型大面积光学式触觉传感器设计与性能研究" . | 仪器仪表学报 44 . 02 (2023) : 164-174 . |
| APA | 吴衔誉 , 庄嘉权 , 林忠麟 , 黄峰 , 杨铮 . 用于缺陷检测的指尖型大面积光学式触觉传感器设计与性能研究 . | 仪器仪表学报 , 2023 , 44 (02) , 164-174 . |
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Visual-tactile sensors that use a camera to capture the deformation of a soft gel layer have become popular in recent years. However, these sensors have a limited receptive field, which can hinder their ability to perceive tactile information effectively. In this letter, we propose a novel visual-tactile sensor named GelFinger that closely resembles the human finger and is well-suited for detecting various complex surfaces. The GelFinger sensor is equipped with an embedded miniature motor that allows for the adaptation of the camera pose and the scanning of a large contact area. During the detection process, the camera rotates to multiple angles to capture the tactile image of the contact area. To stitch together the tactile images obtained at different camera poses, we use an As-Projective-As-Possible image stitching algorithm to form a global view of the contact. We demonstrate the effectiveness of the GelFinger sensor in assessing large surfaces by using it to reconstruct curved crack outlines. Comparative experimental results show that the proposed sensor can effectively detect cracks and has the potential to assist humans in detecting defects on curved surfaces of infrastructure such as pipelines.
Keyword ：
Force and tactile sensing Force and tactile sensing object detection object detection perception for grasping and manipulation perception for grasping and manipulation segmentation and categorization segmentation and categorization
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| GB/T 7714 | Lin, Zhonglin , Zhuang, Jiaquan , Li, Yufeng et al. GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching [J]. | IEEE ROBOTICS AND AUTOMATION LETTERS , 2023 , 8 (9) : 5982-5989 . |
| MLA | Lin, Zhonglin et al. "GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching" . | IEEE ROBOTICS AND AUTOMATION LETTERS 8 . 9 (2023) : 5982-5989 . |
| APA | Lin, Zhonglin , Zhuang, Jiaquan , Li, Yufeng , Wu, Xianyu , Luo, Shan , Gomes, Daniel Fernandes et al. GelFinger: A Novel Visual-Tactile Sensor With Multi-Angle Tactile Image Stitching . | IEEE ROBOTICS AND AUTOMATION LETTERS , 2023 , 8 (9) , 5982-5989 . |
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