Remaining useful life estimation for deteriorating systems with time-varying operational conditions and condition-specific failure zones

Dynamic time-varying operational conditions pose great challenge to the estimation of system remaining useful life (RUL) for the deteriorating systems. This paper presents a method based on probabilistic and stochastic approaches to estimate system RUL for periodically moni-tored degradation processes with dynamic time-varying operational conditions and condition-specific failure zones. The method assumes that the degradation rate is influenced by specific oper-ational condition and moreover, the transition between different operational conditions plays the most important role in affecting the degradation process. These operational conditions are assumed to evolve as a discrete-time Markov chain (DTMC). The failure thresholds are also determined by specific operational conditions and described as different failure zones. The 2008 PHM Conference Challenge Data is utilized to illustrate our method, which contains mass sensory signals related to the degradation process of a commercial turbofan engine. The RUL estimation method using the sensor measurements of a single sensor was first developed, and then multiple vital sensors were selected through a particular optimization procedure in order to increase the prediction accuracy. The effectiveness and advantages of the proposed method are presented in a comparison with exist-ing methods for the same dataset.     

Nonlinear dynamic modeling of a helicopter planetary gear train for carrier plate crack fault diagnosis

Planetary gear train plays a significant role in a helicopter operation and its health is of great importance for the flight safety of the helicopter. This paper investigates the effects of a planet carrier plate crack on the dynamic characteristics of a planetary gear train, and thus finds an effec-tive method to diagnose crack fault. A dynamic model is developed to analyze the torsional vibra-tion of a planetary gear train with a cracked planet carrier plate. The model takes into consideration nonlinear factors such as the time-varying meshing stiffness, gear backlash and viscous damping. Investigation of the deformation of the cracked carrier plate under static stress is performed in order to simulate the dynamic effects of the planet carrier crack on the angular displacement of car-rier posts. Validation shows good accuracy of the developed dynamic model in predicting dynamic characteristics of a planetary gear train. Fault features extracted from predictions of the model reveal the correspondence between vibration characteristic and the conditions (length and position) of a planet carrier crack clearly.     

基于Kalman滤波的变体飞行器T-S模糊控制

针对变体飞行器的跟踪控制问题,提出了一种基于Kalman滤波的T-S模糊控制方法。考虑飞行器系统状态不可测,引入惯导数据作为辅助信息,利用Kalman滤波算法融合飞控信息与惯导信息实现状态估计。由于变体飞行器在不同变形结构下气动特性变化较大,为便于控制器设计,采用小扰动线性化方法得到飞行器在不同平衡点处的局部线性模型,并通过状态反馈方法设计局部控制器,局部线性模型和局部控制器通过模糊集和模糊规则聚合成一个连续光滑的全局T-S模糊模型和T-S模糊控制器。通过综合Kalman滤波器与T-S模糊控制器得到一个基于Kalman滤波的T-S模糊控制器。仿真结果表明,该控制器在变形过程中能够实现状态估计,保证飞机的跟踪性能。     

多飞行器再入段时间协同弹道规划方法

提出了一种多飞行器再入段时间协同弹道规划方法。首先,在纵向平面内规划满足航程与终端约束的纵向标称轨迹。随后,在采用轨迹跟踪律跟踪纵向标称轨迹的同时,运用考虑初始横侧向状态的多边界航向偏差角走廊策略控制飞行器的横侧向机动,以满足到达时间约束与终端约束,进而实现单枚飞行器到达时间约束下的轨迹规划。在此基础上,完成了飞行器的到达时间分布与飞行能力分析,给出了最小与最大到达时间的分析计算方法,并根据多飞行器协同再入的任务需求完成了协同飞行时间决策。最后,多飞行器协同再入与扰动条件下的仿真结果表明,该方法能够规划出满足到达时间与终端约束的协同再入轨迹,具备良好的计算精度与鲁棒性。     

退化量有缺失的无失效小样本轴承可靠性评估

针对有试验性能退化量参数记录、且(或)有部分数据缺失情况的小样本无失效轴承试验问题,通过由Taylor和Thompson提出的数据模拟法实现补全样本退化量,结合Bootstrap自助法扩大样本量,再根据基于性能退化轨迹的补充信息方法来进行其可靠性评估。选取7组受试轴承的振动退化量,对比在完整数据和带有缺失数据情况下的分析结果,发现可合理利用原舍弃不合规试验的部分有效信息,使之增加可靠性评估的样本数,从而得到较不用这些数据更为准确的结果,且所得结果较用完整数据结果绝对值相差在01以内。对比由极大似然估计法和加权E-Bayes法分析试验寿命数据的结果,发现该方法所得评估结果更优,与试验实际相比误差在10%以内,对于提高评估精度及降低试验成本有积极的实际意义。     

基于SE模块改进Xception的动物种类识别

Xception是Inception网络的一种极端化表现,在与Inception v3参数相近的情况下,它能够达到更高的准确度。由于神经网络提取的特征不一定都是有用特征,因此以Xception为基础,将SE(Squeeze and Excitation）模块加入该网络,调整特征通道的权重,使得网络的精确度得到提高。通过实验,融合SE模块的Xception网络训练精确度分别在Oxford-IIIT Pet数据集和CUB_200_2011数据集上提升了1%~1.7%和0.8%~1%,证明了SE模块能够进一步提升Xception的精确度。将改进后的Xception应用到动物种类识别中,根据精确度曲线对实验策略调整改进,最终在测试集上获得95.63%的识别率。     

北斗导航接收机高增益相干积分算法

近年来,针对弱信号的高灵敏度接收机已逐渐成为国内外的研究热点。加长相干积分时间可以提高信噪比,从而跟踪到更弱的信号。但是,北斗导航接收机跟踪环路并不可以无限加长相干积分时间,相干积分时间的长短和功效还受到卫星导航电文比特跳变的限制。为了消除导航电文比特跳变对相干积分的影响,提出了一种改进的基于最大似然估计的北斗信号位同步方法,完成位同步后再利用先猜后检的方法便可以实现长相干积分。利用软件接收机进行编程设计,仿真结果表明：该长相干积分算法能够稳定可靠地实现对弱信号的跟踪,20ms相干积分环路信噪比约提升12dB,40ms相干积分环路信噪比约提升15dB,80ms相干积分环路信噪比约提升17dB,提高了北斗导航接收机的灵敏度。     

水下运载体导航技术

本文第一部分综合了国外近几十年根据不同需求形成的多种水下导航技术,论述了面上导航信息利用水声技术向水下转化的多种形式以及利用不同地球物理参数与地理位置相关性导航的各自特点与问题,论述了在测绘海底地形、重力与其它地球物理特性及其变化时在传感器层面和任务层面融而为一所形成的独具水下特色的同步定位与建图(Simultaneous Localization and Mapping,SLAM)导航技术,论述了NavLab作为一个通用工具软件在水下导航系统研发、精度分析以及作业前导航功能规划和导航信息事后处理方面的独特作用。本文第二部分以极具代表性的挪威HUGIN AUV系列产品军民两用为实例,根据任务和导航功能需求,从其“导航工具箱”(ToolBox)选择适用手段,给出典型任务对应的导航方式和传感器。文章结束部分给出了基于先进人工智能技术的未来展望。     

Optimal target grasping of a flexible space manipulator for a class of objectives

Space graspers are complex systems, composed by robotic arms placed on an orbiting platform. In order to fulfil the manoeuvres’ requirements, it is necessary to properly model all the forces acting on the space robot. A fully nonlinear model is used to describe the dynamics, based on a multibody approach. The model includes the orbital motion, the gravity gradient, the aerodynamic effects, as well as the flexibility of the links. The present paper aims to design, thanks to nonlinear optimization algorithms, a class of manoeuvres that, given the same target to be grasped, are characterized by different mission objectives. The grasping mission can be performed with the objective to minimize the power consumption. Collision avoidance constraints can be also added when the target is equipped with solar panels or other appendices. In some cases, large elastic displacements should be expected, possibly leading to an inaccurate positioning of the end-effector. Therefore, different design strategies can require that the manoeuvre is accomplished with minimum vibrations’ amplitude at the end-effector. Performance of the different strategies is analyzed in terms of control effort, trajectory errors, and flexible response of the manipulator.     

Drag derived altitude aided navigation method

The navigation problem of the lifting reentry vehicles has attracted much research interest in the past decade.This paper researches the navigation in the blackout zone during the reentry phase of the aircraft,when the communication signals are attenuated and even interrupted by the blackout zone.However,when calculating altitude,a pure classic inertial navigation algorithm appears imprecise and divergent.In order to obtain a more precise aircraft altitude,this paper applies an integrated navigation method based on inertial navigation algorithms,which uses drag derived altitude to aid the inertial navigation during the blackout zone.This method can overcome the shortcomings of the inertial navigation system and improve the navigation accuracy.To further improve the navigation accuracy,the applicable condition and the main error factors,such as the atmospheric coefficient error and drag coefficient error are analyzed in detail.Then the damping circuit design of the navigation control system and the damping coefficients determination is introduced.The feasibility of the method is verified by the typical reentry trajectory simulation,and the influence of the iterative times on the accuracy is analyzed.Simulation results show that iterative three times achieves the best effect.