采用冗余驱动提高并联机床精度的研究

 由于并联机构铰链间隙的存在,使并联机构的实际精度和刚性明显减小。本文论述了采用冗余驱动技术改善并联机构精度的研究。首先分析了可以将铰链间隙对并联机构运动误差的影响转化为杆长偏差对机构误差的影响;然后通过分析得出 :由于铰链间隙的影响,并联机构运动空间是空间几个球环的交集,采用数值法,利用球坐标数值积分求出误差空间的体积大小;最后对具有相同结构参数的非冗余和具有冗余驱动的两种并联机构,在同样的工作空间内分别计算了误差分布,得出采用冗余驱动技术可以有效减小因铰链间隙而引起的并联机构运动误差的结论。     

自由漂浮空间机器人点到点避奇异运动控制方法

针对具有冗余机械臂的自由漂浮空间机器人（Free Floating Space Robot, FFSR）点到点避免奇异性规划和控制问题,提出了一种冗余FFSR的点到点避免奇异控制方法。首先,该方法基于离散状态依赖李卡提方程（DSDRE）控制器设计方法,利用FFSR的动力学和运动学方程实现了FFSR系统方程的伪线性重构;然后,基于伪线性重构系统及DSDRE状态调节器设计方法实现了FFSR的关节角速度和末端位姿的同时跟踪控制;其次,根据跟踪控制器对FFSR广义雅克比矩阵（GJM）行满秩的设计要求,定义FFSR的奇异性判别依据,构造了避奇异约束函数;再次,由于冗余FFSR系统具有多逆运动学解特点,考虑关节角及关节角速度约束,结合避奇异约束函数设计了FFSR的期望轨迹在线规划器,进一步将设计的跟踪控制器与规划器相结合提出了冗余FFSR末端点到点避奇异运动控制方法。最后,为验证所提方法的有效性同时考虑简化计算,采用平面4连杆FFSR模型进行数值仿真,仿真结果表明所提点到点避奇异运动控制方法能够有效实现冗余FFSR系统的点到点避奇异运动。     

基于奇异值分解的关系相似度计算方法

关系相似度计算在信息检索等领域有重要的应用.目前,关系相似度主要通过向量空间模型计算,但数据稀疏严重影响计算效果.为此提出以上下文模板表示特征,并通过对特征矩阵的奇异值分解降维消除噪声,冉通过向量余弦夹角计算关系相似度.实验表明,该算法比传统的向量空间模型算法在分类准确率方面有明显提高.     

一类空间对称6R机构的运动学研究及组合应用

可展开平板机构已广泛应用于平板天线、太阳翼等航天机构产品。为提高可展开平板机构的刚度和展收比,将空间对称6R机构应用于可展开平板机构设计。首先,根据约束条件,计算后给出了一种空间3R运动链的几何参数关系;然后,结合螺旋理论,分析了该3R运动链的约束螺旋系;进而根据对称性,研究了空间对称6R机构的自由度、奇异性等运动特征;在此基础上,提出了一种特殊的空间对称6R转动机构;最后,研究了空间对称6R机构的组合方法,设计出一种新型单自由度可展开平板组合机构,并对其进行了运动学仿真验证。该可展机构具有二维方向的展开收拢能力,为可展开平板机构的创新设计提供了有益参考。     

一种飞船用并联式太阳电池阵指向机构设计与分析

为满足太阳电池阵在飞船上大范围指向要求,实现光照效率最大化,设计了一种用于飞船等航天器的新型并联式太阳电池阵指向机构,采用规则对称的模块化设计形式,具有工作空间大、可靠性高等特点。对新型并联式太阳电池阵指向机构进行了运动学正逆解计算,运用极限边界搜索法在MATLAB中计算了工作空间,建立了基于ADAMS的虚拟样机模型,并对其逆解进行了验证,以工程可实现性为原则,得出了多个逆解的筛选原则,为控制系统的参数筛选提供了依据。通过对并联机构的冗余特性进行分析,证明了在某一驱动组件卡死时,其仍具备较大的工作空间。该并联式指向机构还可用于航天器矢量推进器、天线指向等空间领域。     

方形静平台并联机构工作空间分析与优化设计

基于一种静平台为正方形的6-SPS并联机构,针对其铰链点布置不规则的特点,进行了以下三方面的探索:研究并联机构位置空间与姿态空间之间的耦合关系,在此基础上提出了工作空间指标的制定策略;以实现指标的最大化为目标,对结构参数进行了优化设计;分析设计结果,得到参数设计的规律,为铰链点布置不规则的并联机构设计提供了参考。     

基于遗传算法的新型四轴混联机床优化设计

基于模块化设计技术,提出了一种完全由直线电机驱动的新型四轴混联数控机床,并介绍了其基本结构型式。以该机床并联主轴模块为研究对象,建立了主轴机构运动学方程,并给出了机构的雅克比矩阵。同时,基于遗传算法,以机构的灵巧度为目标对机床主轴进行了优化。经仿真验证表明:机床并联主轴在整个工作空间内操作性能得到了较优的改善。     

空间对称型7R机构运动特性分析及组合应用

提出了一种空间对称型7R机构，可利用此机构组合构造空间可展开机构。通过旋量拓扑图分析了其整体自由度，得到了其运动副轴线方位变化时整体机构自由度数目的变化情况；基于反螺旋理论分析了运动副轴线方位不同的情况下运动输出构件的自由度数目和性质，并针对其瞬时性做了判别，发现其在不同运动副轴线方位布置情况下会出现局部自由度与瞬时自由度；分析了机构在不同驱动情况下的奇异特性，得到了机构在不同的驱动下处于奇异位形时的几何条件；最后选定自由度为1时的空间对称型7R机构组合构造了一类单自由度多棱锥型空间可展开机构，通过设置其运动副轴线方位，可以使其具有较大收拢率，同时当机构完全展开时，奇异特性使得其具有较好的力学性能。通过多个棱锥型空间可展开机构的组合，可以构造出新型大尺度空间可展开机构，在航空航天领域具有较好的应用前景。     

飞翼翼型高维目标空间多学科综合优化设计

传统的优化方法在处理高维多目标问题上面临多重困难,针对高维多目标优化问题,进行合理的目标降维是一种实用高效的方法。本文首先讨论、研究了PCA目标降维算法在高维多目标应用中的思路,通过典型高维度目标测试函数中的应用,验证了降维方法的有效性,进一步将该方法推广应用于翼型气动隐身多学科综合设计中,对综合设计高维度目标空间进行主成分分析。利用主成分分析提取主成分并辨识"冗余"或者不重要的目标,将冗余目标去除或者作为约束加入到重要目标的优化过程中。结果显示,目标空间降维以后的优化设计结果满足力矩、阻力发散、巡航升阻比、低速升力特性以及隐身特性等综合设计的要求。进一步探讨、展望了该方法在飞行器多目标、多学科优化设计中的应用前景。     

基于数据驱动的结构钢表面应力磁巴克豪森噪声表征方法

磁巴克豪森噪声（MBN）技术可用于定量评估铁磁材料的表面应力。当前MBN法应力评估技术存在特征量选取较难、定量预测模型复杂且对标定数据集的拟合精度较低的不足。提出一种数据驱动的非线性映射算法拟合MBN噪声和应力的关系，研究了基于小波包变换系数的时频特征替代统计特征量，减少了样本数据计算量。采用MBN噪声在小波包变换时-频域内的小波包变换系数作为特征向量，利用基于奇异值分解的数据降维算法降低特征向量的维数，将经过数据降维后的特征向量输入反向传播（BP）神经网络进行模型训练以建立预测模型。结果表明：采用基于奇异值分解的数据降维算法可降低模型的复杂度，利用降维后的小波包变换系数特征向量训练BP神经网络可实现铁磁材料表面应力的高精度预测。建立的表征方法有效解决了铁磁构件应力分布成像问题，在预防应力腐蚀、提高疲劳强度等损伤预警方面具有广阔的应用前景。     

Geometric error analysis of an over-constrained parallel tracking mechanism using the screw theory

This paper deals with geometric error modeling and sensitivity analysis of an overconstrained parallel tracking mechanism. The main contribution is the consideration of overconstrained features that are usually ignored in previous research. The reciprocal property between a motion and a force is applied to tackle this problem in the framework of the screw theory. First of all, a nominal kinematic model of the parallel tracking mechanism is formulated. On this basis, the actual twist of the moving platform is computed through the superposition of the joint twist and geometric errors. The actuation and constrained wrenches of each limb are applied to exclude the joint displacement. After eliminating repeated errors brought by the multiplication of wrenches, a geometric error model of the parallel tracking mechanism is built. Furthermore,two sensitivity indices are defined to select essential geometric errors for future kinematic calibration. Finally, the geometric error model with minimum geometric errors is verified by simulation with SolidWorks software. Two typical poses of the parallel tracking mechanism are selected, and the differences between simulation and calculation results are very small. The results confirm the correctness and accuracy of the geometric error modeling method for over-constrained parallel mechanisms.     

Generalized Kutta–Joukowski theorem for multi-vortex and multi-airfoil flow with vortex production——A general model

By using a special momentum approach and with the help of interchange between singularity velocity and induced flow velocity, we derive in a physical way explicit force formulas for twodimensional inviscid flow involving multiple bound and free vortices, multiple airfoils, and vortex production. These force formulas hold individually for each airfoil thus allowing for force decomposition, and the contributions to forces from singularities(such as bound and image vortices,sources, and doublets) and bodies out of an airfoil are related to their induced velocities at the locations of singularities inside this airfoil. The force contribution due to vortex production is related to the vortex production rate and the distance between each pair of vortices in production, thus frameindependent. The formulas are validated against a number of standard problems. These force formulas, which generalize the classic Kutta–Joukowski theorem(for a single bound vortex) and the recent generalized Lagally theorem(for problems without a bound vortex and vortex production) to more general cases, can be used to identify or understand the roles of outside vortices and bodies on the forces of the actual body, optimize arrangement of outside vortices and bodies for force enhancement or reduction, and derive analytical force formulas once the flow field is given or known.     

Singularity radius gradient-based rapid singularity-escape steering law for SGCMGs

In order to visualize singularity of SGCMGs in gimbal angle space, a novel continuous bounded singularity parameter--Singularity Radius, whose sign can distinctly determine singularity type, is proposed. Then a rapid singularity-escape steering law is proposed basing on gradient of Singularity Radius and residual base vector to drive the SGCMG system to neighboring singular boundary, and quickly escape elliptic singularities. Finally, simulation results on Pyramid-type and skew-type configuration demonstrate the effectiveness and rapidness of the proposed steering law.     

Optimal deployment schedule of an active twist rotor for performance enhancement and vibration reduction in high-speed flights

The best active twist schedules exploiting various waveform types are sought taking advantage of the global search algorithm for the reduction of hub vibration and/or power required of a rotor in high-speed conditions.The active twist schedules include two non-harmonic inputs formed based on segmented step functions as well as the simple harmonic waveform input.An advanced Particle Swarm assisted Genetic Algorithm (PSGA) is employed for the optimizer.A rotorcraft Computational Structural Dynamics (CSD) code CAMRAD Ⅱ is used to perform the rotor aeromechanics analysis.A Computation Fluid Dynamics (CFD) code is coupled with CSD for verification and some physical insights.The PSGA optimization results are verified against the parameter sweep study performed using the harmonic actuation.The optimum twist schedules according to the performance and/or vibration reduction strategy are obtained and their optimization gains are compared between the actuation cases.A two-phase non-harmonic actuation schedule demonstrates the best outcome in decreasing the power required while a four-phase non-harmonic schedule results in the best vibration reduction as well as the simultaneous reductions in the power required and vibration.The mechanism of reduction to the performance gains is identified illustrating the section airloads,angle-of-attack distribution,and elastic twist deformation predicted by the present approaches.     

无人机机载作动系统技术发展现状

首先介绍了高性能无人机机载作动系统组成,国内外应用现状和技术发展趋势,在此基础上分析了多余度电传飞行和作动系统所涉及的关键技术,最后给出研发该类系统的初步思路。     

Modeling of reliability and performance assessment of a dissimilar redundancy actuation system with failure monitoring

Actuation system is a vital system in an aircraft, providing the force necessary to move flight control surfaces. The system has a significant influence on the overall aircraft performance and its safety. In order to further increase already high reliability and safety, Airbus has imple-mented a dissimilar redundancy actuation system (DRAS) in its aircraft. The DRAS consists of a hydraulic actuation system (HAS) and an electro-hydrostatic actuation system (EHAS), in which the HAS utilizes a hydraulic source (HS) to move the control surface and the EHAS utilizes an elec-trical supply (ES) to provide the motion force. This paper focuses on the performance degradation processes and fault monitoring strategies of the DRAS, establishes its reliability model based on the generalized stochastic Petri nets (GSPN), and carries out a reliability assessment considering the fault monitoring coverage rate and the false alarm rate. The results indicate that the proposed reli-ability model of the DRAS, considering the fault monitoring, can express its fault logical relation and redundancy degradation process and identify potential safety hazards.     

等离子体气动激励诱导空气流动的PIV研究

为了揭示等离子体气动激励与边界层相互作用的物理机制,作者进行了等离子体气动激励诱导空气流动的PIV研究。实验结果表明：毫秒、微秒等离子体气动激励诱导空气流动以“启动涡”和“壁面射流”的形式出现;当激励电压为12kV时,最大诱导速度约为3m／s;激励电压越大,“启动涡”和“壁面射流”的强度越大;脉冲激励的作用强度和作用范围要强于定常激励。该结论为提高等离子体流动控制的作用能力提供了指导。     

Numerical research on airfoil transition delay by alternative current dielectric barrier discharge actuation

A Dielectric Barrier Discharge (DBD) plasma actuator can create a body force which locally accelerates the base flow leading to an attenuation of broadband disturbance to delay the transition. In this study, numerical simulation on an NLF0416 airfoil is conducted to investigate transition delay and drag reduction by a DBD plasma actuator. To simulate plasma’s effect more accurately, boundary-layer data is acquired from Reynolds Averaged Navier Stocks (RANS) equations instead of laminar boundary layer equations, although RANS equations need a much finer boundary-layer grid, and the linear stability analysis method is used to analyze the boundary layer and get the transition point. In this study, the influences of different actuation intensities and positions are investigated, and results show that if the actuation intensity is stronger and the actuation position is closer to the base transition point, more drag reduction can be obtained. However, the efficiency of plasma transition delay is really low. For example, when the actuation voltage is 16 kV, the actuation frequency is 1 kHz, and the main Mach number is 0.1, the saved power due to drag reduction is about 5.09 W, but the power consumed is about 32.61 W, and the efficiency is just 15.6%.     

Design and experimental testing of a control system for a morphing wing model actuated with miniature BLDC motors

The paper deals with the design and experimental validation of the actuation mechanism control system for a morphing wing model. The experimental morphable wing model manufactured in this project is a full-size scale wing tip for a real aircraft equipped with an aileron. The morphing actuation of the model is based on a mechanism with four similar in house designed and manufactured actuators, positioned inside the wing on two parallel lines. Each of the four actuators used a BrushLess Direct Current (BLDC) electric motor integrated with a mechanical part performing the conversion of the angular displacements into linear displacements. The following have been chosen as successive steps in the design of the actuator control system: (A) Mathematical and software modelling of the actuator; (B) Design of the control system architecture and tuning using Internal Model Control (IMC) methodology; (C) Numerical simulation of the controlled actuator and its testing on bench and wind tunnel. The morphing wing experimental model is tested both at the laboratory level, with no airflow, to evaluate the components integration and the whole system functioning, but also in the wind tunnel, in the presence of airflow, to evaluate its behavior and the aerodynamic gain.     

基于牛顿欧拉法的3-RPS并联机构逆动力学分析

 以3-RPS机构为例，研究了对称少自由度并联机构的逆动力学问题。因其自由度数目小于6，该类机构的支链不仅传递驱动力，同时还需为动平台提供约束。然而，现有文献大多未对广义约束力给予足够的重视。采用牛顿欧拉法建立了3-RPS机构的刚体动力学方程，给定动平台的运动规律及外载荷后，可一并求解机构所需的驱动力与约束力矩。算例仿真表明，与动平台自由速度方向不一致的外载荷主要需由约束力矩平衡。因此，在对称少自由度并联机构动力学设计中，必须计入广义约束力的影响。