Active and passive compliant force control of ultrasonic surface rolling process on a curved surface

Ultrasonic surface rolling process(USRP) is one of the effective mechanical surface enhancement techniques. During the USRP, unstable static force will easily do harm to the surface quality. In order to achieve a higher surface quality on the part with a curved surface, an active and passive compliant USRP system has been developed. The compliant USRP tool can produce the natural obedience deformation along the part surface. Force control based on the fuzzy Proportional-integral-derivative(PID) ...     

Ka频段双极化低剖面卫通相控阵天线

当前国内外低轨通信互联网星座发展迅猛，面向卫通天线跨星跨波束快速切换、低剖面应用需求，提出了一种Ka频段层叠式缝隙耦合双圆极化发射相控阵天线。基于多层PCB叠层瓦式架构，将天线层、电源与控制层、功分网络层和芯片层一体化集成。基于“双线极化天线+移相控制”设计实现左右旋圆极化及其极化切换，采用子阵相位旋转排布实现天线整阵二次圆极化。测试结果表明：天线工作频段为27.5~31GHz，29.2GHz处法向等效各向同性辐射功率值为16.5dBW，可实现±60°扫描，法向轴比＜2dB，左右旋圆极化可切换，天线子阵厚度3mm。相比传统砖式相控阵天线，大幅降低了剖面和重量，对卫通天线低剖面、波束快速切换等具有重要应用意义。     

驱动模式和转速对某星载天线扰动特性的影响

空间天线姿态调整过程中产生的微振动，对航天器指向精度和稳定性影响较大，因此其微振动分析与设计已成为高精度航天器设计的重要内容。基于Ansys软件和Admas软件，建立天线结构的多柔体系统动力学分析模型，分析典型驱动条件下天线结构的扰动力和扰动力矩，通过地面微振动物理试验，验证动力学分析方法的可靠性。基于天线多柔体系统动力学分析模型，探讨驱动模式、驱动转速对天线扰动力和扰动力矩的影响。结果表明:扰动力和力矩主要幅值集中在频率f=0~50 Hz的低频段;驱动模式和驱动转速对天线结构的扰动频率无明显影响，主要影响扰动力和扰动力矩的幅值;单轴驱动模式下，驱动转速n=0.2 °/s时，天线的扰动最剧烈;XY双轴同时驱动时，X轴和Y轴转动单元引起的天线扰动产生一定程度的叠加，天线结构的扰动更为剧烈，扰动力和扰动力矩变化较为复杂。研究工作可为空间天线的微振动抑振策略制定提供技术支持。     

Capture and detumbling control for active debris removal by a dual-arm space robot

Active debris removal (ADR) technology is an effective approach to remediate the proliferation of space debris, which seriously threatens the operational safety of orbital spacecraft. This study aims to design a controller for a dual-arm space robot to capture tumbling debris, including capture control and detumbling control. Typical space debris is considered as a non-cooperative target, which has no specific capture points and unknown dynamic parameters. Compliant clamping control and the adaptive backstepping-based prescribed trajectory tracking control (PTTC) method are proposed in this paper. First, the differential geometry theory is utilized to establish the constraint equations, the dynamic model of the chaser-target system is obtained by applying the Hamilton variational principle, and the compliance clamping controller is further designed to capture the non-cooperative target without contact force feedback. Next, in the post-capture phase, an adaptive backstepping-based PTTC is proposed to detumble the combined spacecraft in the presence of model uncertainties. Finally, numerical simulations are carried out to validate the feasibility of the proposed capture and detumbling control method. Simulation results indicate that the target detumbling achieved by the PTTC method can reduce propellant consumption by up to 24.11%.     

星载高增益毫米波SAR相控天线阵设计

介绍了一种高增益、高效率的星载毫米波合成孔径雷达(SAR)有源相控天线阵的设计。天线单元采用了窄边开缝的波导缝隙天线，辐射缝隙与波导宽边垂直，天线具有效率高、匹配良好的特点。在方位向，波导缝隙天线组成直线阵，直线阵内采用折叠的波导功分器降低了直线阵的剖面高度。在距离向，波导缝隙直线阵紧密排布，形成一维相扫阵列。定标网络及馈电网络均采用波导形式并集成于天线阵列背面，其中，定标网络通过定向耦合器改善了定标通道的一致性及带内起伏特性，馈电网络通过魔T结构改善各有源通道间的隔离度。以距离向84个直线阵为一个子阵列，最终设计的天线全阵在方位向共包含8个子阵列，总体尺寸是595.8λ0×56λ0(λ0是中心频率在自由空间中的波长)。实测天线带内最高增益为54.37 dBi，辐射效率65.2%。天线阵列具有高增益、高效率的优点，同时结构简洁紧凑，适用于星载毫米波SAR系统。     

一种星载伞天线展开机构研究

天线展开机构使用动力绳实现天线展开和收拢过程中易出现动力绳松弛、脱槽现象。以星载高精度伞状天线展开机构为研究对象，分析天线展开机构的工作原理；利用解析法获得展开机构的运动方程，结合天线展开机构运动部件结构参数，得到天线展开过程中展开机构动力绳的松弛规律；建立以展开机构结构参数为设计变量，以动力绳松弛量最小为目标的展开机构结构优化模型，通过模拟退火法进行求解，得到优化的展开机构结构参数，通过优化前后的展开机构展开、收扰功能试验，测试了机构工作时动力绳的松弛量，验证了展开机构优化的正确性。结果表明：优化后的展开机构动力绳松弛量较优化前降低了90%，优化效果显著。     

基于液体金属的接触PIM抑制方法和实验验证

接触非线性是射频设备和电路中产生无源互调（passive intermodulation，PIM）信号的重要原因之一。基于对接触结点射频等效电路的分析，提出了一种基于共晶镓铟合金（eutectic gallium-indium，EGaIn）的PIM抑制方法。EGaIn不同于传统的焊锡，它可以在室温下实现接触结位置上的稳定、可重构连接。首先分析了射频（radio frequency，RF）下的金属接触结的电路模型。其次设计并实现了两个包含不同金属接触结构且工作在2.6GHz的平面倒F天线（planar inverted F antenna，PIFA）。最后比较了EGaIn焊接前后PIFA的互调水平，其中对PIM指标的最大抑制程度为35dB。验证了EGaIn可以在室温下对PIFA的接触结点进行可重构焊接，这为电连接中的非线性抑制提供了一种参考方法。     

美国地下领域无人系统发展现状及启示

随着科学技术的高速发展,地下领域(如天然洞穴网络、人造隧道和城市地下环境等)逐渐成为人类研究的热点,利用无人系统在地下等复杂场景执行探索、搜索与搜救等任务仍面临着许多挑战.深入分析了美国地下领域无人系统技术发展的模式框架,梳理了快速轻量自主、机械天线和地下挑战赛等DARPA典型研发项目的 研究目标与现状,提炼出地下领域无人系统需要解决的关键技术,在此基础上归纳总结了美国地下领域无人系统的发展趋势.最后,结合国内发展情况提出了地下领域无人系统的发展启示.     

Structural design and model fabrication of cable-rib tensioned deployable parabolic cylindrical antenna

Deployable mechanisms with light weight and high storage ratio have received considerable attention for space applications. To meet the requirements of space missions, a parabolic cylindrical deployable antenna based on cable-rib tension structures is proposed and verified by a physical prototype. The parabolic cylindrical antenna adopts simple parallel four-bar mechanisms to construct the basic deployable unit, and the cylindrical direction dimension can be easily extended by modularization, which has obvious advantages in storage ratio and area density. Considering the complexity of the entire antenna structure design, including cable networks and flexible trusses, the form-finding design optimization model of a parabolic cylindrical antenna is established using the force density sensitivity method, and then the kinematics analysis of the deployable mechanism is carried out. Finally, a single-module prototype with a deployable diameter of 4 m × 2 m was designed and fabricated. The results of the ground deployment process test and surface accuracy measurements show that the antenna has good feasibility and practicability.     

Novel roll effector based on zero-mass-flux dual synthetic jets and its flight test

The autonomous and controllable Dual Synthetic Jet Actuator (DSJA) is firstly integrated into the Unmanned Aerial Vehicle (UAV), and flight tests without the deflection of rudders are carried out to verify the viability of DSJA to control the attitudes of UAV during cruising. DSJA is improved into an actuator with two diaphragms and three cavities, which has higher energy levels. Actuators, differentially distributed on both sides of the wings, are installed on the trailing edge close to the wing tips. Flight tests, containing Differential Circulation Control (DCC) using double-side actuators, Positive Circulation Control (PCC) using left-side actuators and Negative Circulation Control (NCC) using right-side actuators, are implemented at cruising speed of 25 m/s. Results show that roll attitude control without rudders could be realized by DSJAs. DCC and NCC can generate the rightward roll and yaw angular velocity, prompting UAV to turn right. The stronger controlling ability can be achieved by DCC, with the maximum roll angular velocity of 15.62 (°)/s. PCC can generate a rightward roll moment, but a leftward yaw moment will be produced at the same time. Leftward yaw induces the leftward rolling moment, which weakens the roll control effect, making UAV keep to yaw to the left with a small slope.