仿射非线性系统鲁棒干扰解耦问题可允许摄动范围的研究

对于仿射非线性系统，本文研究了在系统存在不确定时，鲁棒干扰解耦问题。给出了干扰可测和不可测两种情况下，保持标称系统干扰解耦性质不变的可允许摄动范围。     

GPS 定位算法研究

给出卫星信号接收时刻ＧＰＳ时的计算方法，然后在Ｇａｕｓｓ－Ｎｅｗｔｏｎ法的基础上得到一个正常情况下的完整的ＧＰＳ迭代定位算法。最后讨论只有三颗可见卫星时的处理方法。     

机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,文中应用了动态混合控制方法。其中心内容是给出关于“任务规范投影算子”的概念。利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束反力。在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束反力。     

伴随矩阵的秩

本文研究ｎ 阶矩阵与其伴随矩阵的秩的关系，得到伴随矩阵的秩的重要结论，并给出其应用。     

航电系统并行检测过程与检测设备解耦方法

航电系统在使用或升级改造过程中进行可靠性检测是必不可少的。特别是在当前批量航电系统大量投入使用的背景下，迫切需要能高效、快速、准确地对系统进行可靠性检测。由于航电系统安全性要求高，内置检测软件受限，需要外置检测设备通过航电系统指定接口进行检测，检测过程也不允许出现任何泄露等行为。检测设备与具体航电系统耦合，检测过程与具体检测设备耦合，难以实现批量航电系统并行检测。为此，通过引入逻辑检测设备，给出了一种航电系统并行检测分层框架，解决检测设备与被测系统耦合的问题，同时也保证了检测的安全性。通过逻辑检测设备、检测跳转机和被测主机上检测行为的描述，给出了一种面向通用航电系统并行检测的检测设备协同机制，解决检测过程与检测设备耦合的问题，从而支持多个航电系统并行检测。最后，实现了一个通用航电系统并行检测系统，并通过实际应用和实验对比验证所提方法的有效性。     

Friction Stir Welding of Metal Matrix Composites for use in aerospace structures

Friction Stir Welding (FSW) is a relatively nascent solid state joining technique developed at The Welding Institute (TWI) in 1991. The process was first used at NASA to weld the super lightweight external tank for the Space Shuttle. Today FSW is used to join structural components of the Delta IV, Atlas V, and Falcon IX rockets as well as the Orion Crew Exploration Vehicle. A current focus of FSW research is to extend the process to new materials which are difficult to weld using conventional fusion techniques. Metal Matrix Composites (MMCs) consist of a metal alloy reinforced with ceramics and have a very high strength to weight ratio, a property which makes them attractive for use in aerospace and defense applications. MMCs have found use in the space shuttle orbiter's structural tubing, the Hubble Space Telescope's antenna mast, control surfaces and propulsion systems for aircraft, and tank armors. The size of MMC components is severely limited by difficulties encountered in joining these materials using fusion welding. Melting of the material results in formation of an undesirable phase (formed when molten Aluminum reacts with the reinforcement) which leaves a strength depleted region along the joint line. Since FSW occurs below the melting point of the workpiece material, this deleterious phase is absent in FSW-ed MMC joints. FSW of MMCs is, however, plagued by rapid wear of the welding tool, a consequence of the large discrepancy in hardness between the steel tool and the reinforcement material. This work characterizes the effect of process parameters (spindle speed, traverse rate, and length of joint) on the wear process. Based on the results of these experiments, a phenomenological model of the wear process was constructed based on the rotating plug model for FSW. The effectiveness of harder tool materials (such as Tungsten Carbide, high speed steel, and tools with diamond coatings) to combat abrasive wear is explored. In-process force, torque, and vibration signals are analyzed to assess the feasibility of on-line monitoring of tool shape changes as a result of wear (an advancement which would eliminate the need for off-line evaluation of tool condition during joining). Monitoring, controlling, and reducing tool wear in FSW of MMCs is essential to the implementation of these materials in structures (such as launch vehicles) where they would be of maximum benefit.     

舰尾流环境中载机纵向QFT/TECS控制系统设计

为了消除舰尾流对载机着舰过程产生的影响,同时完成低动压状态下飞行速度与高度的解耦工作,基于定量反馈理论/总能量控制理论(QFT/TECS)设计了纵向着舰控制系统。针对着舰过程中数学模型所具有的不确定因素及舰尾流对下滑航迹的影响,以载机高度变化率为控制对象,使用定量反馈理论结合推力补偿系统进行了内回路鲁棒控制律设计。外回路控制律设计是以总能量控制理论为基础,通过粒子群优化算法对待调控制参数进行寻优,进而实现了对高度、速度等参数的精确控制,完成了载机纵向着舰轨迹与速度的解耦工作。仿真结果表明,该控制律在拥有较强的鲁棒性的基础上具有良好的解耦控制能力,实现了载机着舰段的高度与速度的解耦控制,明显提高了载机对着舰轨迹的跟踪能力,可满足不确定条件下载机的着舰要求。     

Inverted decoupling and LMI-based controller design for a turboprop engine with actuator dynamics

The main objective of the turboprop engine control system is to ensure propeller absorbed power at a constant propeller speed by controlling fuel flow and blade angle. Since each input variable affects the selected output variables, there exist strong interactions between different control loops of a Two-Spool TurboProp Engine (TSTPE). Inverted decoupling is used to decouple the interactions and decompose the TSTPE into two independent single-input single-output systems. The multi-variable PI controller and two single-variable PI controllers are designed for the TSTPE with actuator dynamics based on Linear Matrix Inequality (LMI), respectively, which is derived from static output feedback and pole placement condition. The step responses show that due to the difference in the response times of the selected output variables, it is difficult to design an appropriate multi-variable PI controller. The designed single-variable PI controllers are tested on the TSTPE integrated model to illustrate the effectiveness of the proposed method, that is, the interactions are first decoupled and then the controllers are designed, and the resulting simulated responses show that compared with the controller designed without actuator dynamics, the gas-generator shaft speed and power turbine shaft speed can better track their respective commands under the action of the controller designed with actuator dynamics.     

基于鲁棒特征结构配置的无人机直接侧力控制

应用特征结构配置，提出了一种新的无人机直接侧力模态控制系统设计方法——基于输出反馈的鲁棒特征结构配置最优化方法。实现了飞行器侧向运动模态之间的解耦，设计了无人机直接侧力控制律。为了证明该方法的有效性，最后根据研究结果给出了一个直接侧力控制的设计实例，仿真表明其结果是令人满意的。     

松耦合分布式技术在飞参系统设计中应用与发展

分析了计算机系统设计思路与系统结构的发展趋势,进而对如何建立高性能的飞行参数记录系统结构进行了研究,并对采用这一结构模型的飞参系统的未来发展提出了几点看法。