Reliable flight performance assessment of multirotor based on interacting multiple model particle filter and health degree

Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings. Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter (IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System (SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.     

嵌金属丝推进剂燃烧起始阶段增速特性研究

考虑了使用嵌金属丝装药的发动机工作过程中的多种因素,建立了金属丝与药柱、燃气间相互作用的控制方程组,并对方程组进行了数值求解,得到了嵌金属丝推进剂在燃烧起始阶段,增速比随时间的详细变化过程。结果表明,金属丝的热扩散率、熔点、直径和黑度以各自不同的方式影响金属丝的增速效果,熔点相对较低的金属丝可能会在内弹道曲线的初始阶段形成一个轻微的压强峰,固有燃速较低、着火温度较低的推进剂对嵌入金属丝较为敏感。文中数值方法计算量小,结果可靠,适于工程应用。     

航天测控装备跟踪质量考核标准分析

针对航天测控装备在役考核标准缺乏的问题，分析了航天测控（Space tracking telemetry and control，TTC）标准的现状，梳理了可用于在役考核的现有航天装备相关标准。提出了航天测控装备考核跟踪质量稳定性的参考标准，分析了标准对在役考核要求的适用性，并对跟踪质量稳定性考核科目进行了修正扩展。实际工程算例表明考核效果合理有效，跟踪质量稳定性考核标准可为在役考核标准制定提供借鉴参考。     

圆截面曲线管道内二次流动的Galerkin解

本文推导了曲线直角坐标系内的Ｎ－Ｓ方程。结果表明Ｇａｌｅｒｋｉｎ方法可以克服摄动法的小参数局限，得到了纯数值法无法求得的增 解析解。     

基于数值模拟的超塑成形压力—时间曲线计算机辅助设计

确定压力随时间变化的关系曲线对于超塑成形工艺设计非常重要，本文在超塑成形压力计算时引入能量消耗控制策略，提出了一种压力－时间（Ｐ－Ｔ）曲线设计方法即恒能耗率法，实现了基于有际元数值模拟的超塑成形Ｐ－Ｔ曲线计算机辅助设计，文中对有关的压力控制算法及算式进行了较详细的介绍和推导，分别给出了半球壳自由胀形和圆筒形凹模约束成形过程的Ｐ－Ｔ曲线设计计算实例，并对计算结果进行了讨论，本文的研究拓宽了刚粘塑性有     

我国BPL时号的频率控制系统及结果分析

根据我国现行ＢＰＬ时号的频率控制系统，分析ＴＢＰＬ时号频率控制系统的缺陷，对目前ＢＰＬ时号的频率稳定性进行了评价，提出了一种新的频率控制方案。     

亚跨超CFD软件平台研制

亚跨ＣＦＤ软件平台研制的宗旨是综合国内外计算流体动力学的最新研究成果，用计算机软件技术的新发展，建立一个面向对象的计算流体动力学的研究开发环境，加快计算流体动力学最新成果向工程应用的转换速度。本文介绍初级版本的研究进展和研究成果，主要匝数值网格生成技术，流场解算器，面向对象的界面设计等三部分组成。     

一类基于四面体组合单元的模块化构架式可展开天线机构

针对现有基于四面体单元的构架式天线机构结构复杂、收拢率低、运动副数量多等问题，基于3RR-3RRR四面体组合单元和基于3RR-3URU四面体对称组合单元分别提出了两种新型模块化可展结构。以3个组合单元组成的模块化结构为分析对象，首先，详细介绍了模块化结构的组成及虎克铰轴线布置，并利用组合单元本身的自由度数目及性质，采用拆杆-等效-复原的思想，应用螺旋理论和G-K公式分别对提出的两种模块化结构进行了自由度分析，得到了自由度数目及性质。其次，应用Adams动力学仿真软件对两种模块化结构进行运动仿真，仿真结果验证了自由度分析的正确性。以完全展开和完全收拢时机构所占的空间体积比值表征该机构的收拢率，计算现有基于四面体单元的非模块化机构与提出的模块化机构的收拢率。最后，对比分析非模块化机构与模块化机构的自由度数目、运动副数目及收拢率。分析结果表明，基于3RR-3URU四面体对称组合单元的模块化结构既能实现较大收拢率，自由度及运动副数目也相对减少，且组成大型天线时杆件类型较少。研究结果为该类模块化构架式可展天线结构的设计与分析提供一定理论依据。     

Propagation and interaction of interplanetary transient disturbances. Numerical simulations

We study the heliocentric evolution of ICME-like disturbances and their associated transient forward shocks (TFSs) propagating in the interplanetary (IP) medium comparing the solutions of a hydrodynamic (HD) and magnetohydrodynamic (MHD) models using the ZEUS-3D code [Stone, J.M., Norman, M.L., 1992. Zeus-2d: a radiation magnetohydrodynamics code for astrophysical flows in two space dimensions. i – the hydrodynamic algorithms and tests. Astrophysical Journal Supplement Series 80, 753–790]. The simulations show that when a fast ICME and its associated IP shock propagate in the inner heliosphere they have an initial phase of about quasi-constant propagation speed (small deceleration) followed, after a critical distance (deflection point), by an exponential deceleration. By combining white light coronograph and interplanetary scintillation (IPS) measurements of ICMEs propagating within 1 AU [Manoharan, P.K., 2005. Evolution of coronal mass ejections in the inner heliosphere: a study using white-light and scintillation images. Solar Physics 235 (1–2), 345–368], such a critical distance and deceleration has already been inferred observationally. In addition, we also address the interaction between two ICME-like disturbances: a fast ICME 2 overtaking a previously launched slower ICME 1. After interaction, the leading ICME 1 accelerates and the tracking ICME 2 decelerates and both ICMEs tend to arrive at 1 AU having similar speeds. The 2-D HD and MHD models show similar qualitative results for the evolution and interaction of these disturbances in the IP medium.     

Coronal radio-sounding detection of a CME during the 1997 Galileo solar conjunction

Frequency fluctuations of the Galileo S-band radio signal were recorded nearly continuously during the spacecraft’s solar conjunction from December 1996 to February 1997. A strong propagating disturbance, most probably associated with a coronal mass ejection (CME), was detected on 7 February when the radio ray path proximate point was on the west solar limb at about 54 solar radii from the Sun. The CME passage through the line of sight is characterized by a significant increase in the fluctuation intensity of the recorded frequency and by an increase in the plasma speed from about 234 km s⁻¹ up to about 755 km s⁻¹. These velocity estimates are obtained from a correlation analysis of frequency fluctuations recorded simultaneously at two widely-separated ground stations. The density turbulence power spectrum is found to steepen behind the CME front. The Galileo radio-sounding data are compared with SOHO/LASCO observations of the CME in the corona and with WIND spacecraft data near the Earth’s orbit.