Adaptive sliding mode control of the A-axis used for blisk manufacturing

As a key assembly in the 5-axis CNC machine tools, positioning precision of the A-axis directly affects the machining accuracy and surface quality of the parts. First of all, mechanical structure and control system of the A-axis are designed. Then, considering the influence of nonlin- ear friction, backlash, unmodeled dynamics, uncertain cutting force and other external disturbance on the control precision of the A-axis, an adaptive sliding mode control （ASMC） based on extended state observer （ESO） is proposed. ESO is employed to estimate the state variables of the unknown system and an adaptive law is adopted to compensate for the input dead-zone caused by friction, backlash and other nonlinear characteristics. Finally, stability of the closed-loop system is guaran- teed by the Lyapunov theory. Positioning experiments illustrate the perfect estimation of ESO and the stronger anti-interference and robustness of ASMC, which can improve the control precision of the A-axis by about 40 times. Processing experiments show that the ASMC can reduce the waviness, averaKe error and roughness of the nrocessed surface by 35.63%, 31.31% and 30.35%, respectively.     

一种机器人移动定位双电机消隙控制方法

针对一种用于壁板类部件的机器人自动钻铆系统,对机器人移动定位控制技术进行了研究,提出了用于机器人移动定位控制的双电机消隙伺服驱动控制方法,并给出了实现方式和进行了试验验证,此项研究的控制方法也可扩展应用于其他大行程的移动定位系统。     

Landslide monitoring by combining of CR-InSAR and GPS techniques

Considering the limitations related to the landslide monitoring by Interferometric Synthetic Aperture Radar (InSAR) technique, the method of integration of Globe Positioning System (GPS) with Corner Reflector Interferometric SAR (CR-InSAR) techniques is proposed in this paper. Firstly, deformation in radar line-of-slight (LOS) direction is optimized by introducing the GPS-measured height and atmospheric delay products into the CR-InSAR model. Then, GPS-measured horizontal deformation and CR-InSAR measured LOS deformation are combined to produce the more accurate vertical deformation. Finally, high precision three-dimensional deformation (N, E, U) is projected to the along-slope direction to monitor the actual movement of landslide. In order to test this method, four X-band stripmap-mode TerraSAR images, eight Trihedral Corner Reflectors (TCR) data and eight GPS observed data are collected to monitor the deformation of three potential landslide fields located at the north of Shaanxi province, China. The detailed analysis demonstrates that the estimated precision of along-slope direction is about two times better for proposed method (±1.1 mm) versus GPS (±2.1 mm) in this case. Meanwhile, our result indicates that almost all of the monitoring points present the trends of sliding down along the slope at the different levels from April 9 2011 to August 30 2011, showing the certain instability. Further investigation of the relationship between the magnitudes of displacement at CR points and the implementation of early control reflects the rationality of our result. Our proposed method could provide of the strong support in the high precision landslide deformation monitoring.     

编队飞行卫星三维定位系统的动力学和控制策略

提出应用多颗编队飞行小卫星实现的三维定位系统。首先建立精确动力学模型和摄动方程,然后进行数学仿真和估算三维位置精度,最后讨论位置保持控制策略。仿真结果表明:编队飞行三维定位系统定位精度高,不受纬度影响,而且可以实现全球同时定位功能。     

瓜瓣模上定位销孔的改进加工工艺

针对瓜瓣阳模上定位销孔加工的找正误差大、实物与数模不一致、加工成本高的难题,通过改进找正方法,粗、精找正结合,并利用3D寻边器进行程序验证的思路,实现了理论数模和实物的精确对齐、找正。在此基础上通过椭球参数方程的坐标转换,实现了在3轴机床上对椭球面上法向和轴向定位销孔的加工。结果表明,采用改进后的加工方法,孔的位置精度达到Φ0.1 mm,加工成本降低75%,可在工程应用中加以推广。     

Variation of ionospheric total electron content in Indian low latitude region of the equatorial anomaly during May 2007–April 2008

The ionospheric total electron content (TEC), derived by analyzing dual frequency signals from the Global Positioning System (GPS) recorded near the Indian equatorial anomaly region, Varanasi (geomagnetic latitude 14°, 55′N, geomagnetic longitude 154°E) is studied. Specifically, we studied monthly, seasonal and annual variations as well as solar and geomagnetic effects on the equatorial ionospheric anomaly (EIA) during the solar minimum period from May 2007 to April 2008. It is found that the daily maximum TEC near equatorial anomaly crest yield their maximum values during the equinox months and their minimum values during the summer. Using monthly averaged peak magnitude of TEC, a clear semiannual variation is seen with two maxima occurring in both spring and autumn. Statistical studies indicate that the variation of EIA crest in TEC is poorly correlated with Dst-index (r = −0.03) but correlated well with Kp-index (r = 0.82). The EIA crest in TEC is found to be more developed around 12:30 LT.     

双星定位的数据融合方法

双星定位系统需借助于第三个定 参考量。该文将双星定位系统和多套现有的靶场跟踪设备联用,利用数据融合方法,获得定位参数和速度参数,同时给出双星定位系统和靶场跟踪设备的系统误差估计。理论分析和仿真计算表明,该文方法有较高的精度。     

基于双星系统定轨的数学方法

通过对双星系统定轨原理的分析,结合卫星的动力学模型,采用联合多时刻观测系统的数据融合方法,得到了一种解算卫星轨道状态的解析方法,同时还给出了误差传递方式。该方法不需要标称轨道,计算方便。理论分析和仿真计算表明,方法确实可行,且定轨精度有所提高。     

室内定位关键技术综述

近年来,位置服务需求不断增长,催生了定位技术的不断发展。针对室内定位,首先介绍了目前广泛应用的几种室内定位系统及其定位原理,并分析了它们的优缺点。然后,针对室内定位中常见的几类关键问题,做出了介绍分析。最后,通过分析现有定位技术,给出了室内定位技术的发展趋势,表明融合定位及导航通信一体化定位是提高定位精度及鲁棒性的有效方法,毫米波及MIMO技术的应用可有效提高测距精度并提高抗多径能力。     

Characterization of GPS-TEC over African equatorial ionization anomaly (EIA) region during 2009–2016

This study characterizes total electron content (TEC) measured by Global Positioning System (GPS) over African equatorial ionization anomaly (EIA) region for 2009–2016 period during both quiet geomagnetic conditions (Kp?≤?1) and normal conditions (1?>?Kp?≤?4). GPS-TEC data from four equatorial/low-latitude stations, namely, Addis Ababa (ADIS: 9.04°N, 38.77°E, mag. lat: 0.2°N) [Ethiopia]; Yamoussoukro (YKRO: 6.87°N, 5.24°W, mag. lat: 2.6°S) [Ivory Coast]; Malindi (MAL2; 3.00°S, 40.19°E, mag. lat: 12.4°S) [Kenya] and Libreville (NKLG; 0.35°N, 9.67°W, mag. lat: 13.5°S) [Gabon] were used for this study. Interesting features like noontime TEC bite-out, winter anomaly during the ascending and maximum phases of solar cycle 24, diurnal and seasonal variations with solar activity have been observed and investigated in this study. The day-to-day variations exhibited ionospheric TEC asymmetry on an annual scale. TEC observed at equatorial stations (EIA-trough) and EIA-crest reach maximum values between ～1300–1600 LT and ～1300–1600 LT, respectively. About 76% of the high TEC values were recorded in equinoctial months while the June solstice predominantly exhibited low TEC values. Yearly, the estimated TEC values increases or decreases with solar activity, with 2014 having the highest TEC value. Solar activity dependence of TEC within the EIA zone reveals that both F10.7?cm index and EUV flux (24–36?nm) gives a stronger correlation with TEC than Sunspot Number (SSN). A slightly higher degree of dependence is on EUV flux with the mean highest correlation coefficient (R) value of 0.70, 0.83, 0.82 and 0.88 for quiet geomagnetic conditions (Kp?≤?1) at stations ADIS, MAL2, NKLG, and YKRO, respectively. The correlation results for the entire period consequently reveals that SSN and solar flux F10.7?cm index might not be an ideal index as a proxy for EUV flux as well as to measure the variability of TEC strength within the EIA zone. The estimated TEC along the EIA crest (MAL2 and NKLG) exhibited double-hump maximum, as well as post-sunset peaks (night time enhancement of TEC) between ～2100 and 2300 LT. EIA formation was prominent during evening/post-noon hours.