绝缘子清扫机器人的动力学建模及轨迹优化

研究了支柱型绝缘子带电清扫机器人伸缩臂运动引起升降臂振动的问题，将升降臂和伸缩臂分别建模为柔性臂和刚性臂，形成末端具有移动刚体的柔性臂系统，在假设模态法的基础上建立了系统的Lagrange动力学模型，建模考虑了大多数柔性臂模型忽略的重力和非线性耦合的影响，分析了伸缩臂全局运动与升降臂局部振动的相互影响。提出一种单变量优化方法，以升降臂的残余变形能为性能指标，优化伸缩臂的运动轨迹，降低升降臂的残余振动。应用该方法对梯形速度曲线进行了优化，结果表明可以有效地控制升降臂的残余振动。该方法计算量小，便于在线实现。     

基于BP网络的热工过程模型辨识方法

主要研究了人工神经网络在辨识火电厂热工过程模型中的应用，利用Visual C^ 语言构造BP神经网络,提出了把BP网络权值转换为传递函数的方法，针对火电厂常见的热工过程，不用人为加入特殊的激励信号，只利用现场生产中自然存在的扰动信号进行辨识试验，试验结果准确可靠。     

考虑凝固收缩作用的凝固过程及其液相流动的有限元计算模型

当要考虑凝固收缩作用所带来的密度变化时，至今所得出的凝固过程及其液相流动数学模型在应用有限元方法进行计算机模拟时有困难。通过建立Ａ变量及与速度的关系，提出了以固液两相区微元体守恒性分析为基础，建立了质量、动量、能量方程式。     

平均轨道要素及其在卫星星座设计中的应用

平均轨道要素在卫星轨道设计及星座仿真中具有非常重要的作用。在综合国内外现有研究成果的基础上，给出了一整套简单实用、没有奇点的密切要素与平均要素间的相互转化方法，用此法进行的星座设计及仿真工作表明该方法非常有用。同时给出了利用平均轨道要素得以的关于赤道平面圆轨道的一个有意义的结论。     

基于ARLEQUIN方法的复合材料螺栓连接失效模拟

将ARLEQUIN方法应用于螺栓连接件的挤压失效模拟中，将连接件层合板分为孔边局部损伤区、无损伤区和过渡区。局部损伤区精细化划分网格，无损伤区采用粗网格划分，过渡区通用ARLEQUIN方法将损伤区和无损伤区进行耦合。采用用户自定义单元在ABAQUS中引入ARLEQUIN方法，实现了基于ARLEQUIN方法的复合材料螺栓连接的三维有限元失效模拟。建立了传统有限元模型和ARLEQUIN模型，并与试验结果进行了对比，表明在保证与传统有限元模型相同计算精度的情况下，采用ARLEQUIN方法进行复合材料螺栓连接失效模拟大大降低了计算资源，具有更高的效率。     

基于参数化模型和遗传算法的复合材料加筋壁板结构选型优化研究

针对复合材料加筋壁板的结构优化选型问题,采用辅助层压板和添加极小弹性模量材料的复合材料加筋壁板有限元建模方法,应用PATRAN/NASTRAN的参数化建模功能和遗传算法相结合的复合材料加筋壁板的优化方法,对5种复合材料结构形式进行了从2000N/mm到6000N/mm压缩载荷下的结构优化分析。结果表明,当载荷小于4500N/mm时,最有效的加筋壁板结构型式为J型;当压缩载荷大于4500N/mm时,最有效的加筋壁板结构型式为I型。     

Multi-mode optimal fuzzy active vibration control of composite beams laminated with photostrictive actuators

Firstly, a multi-field coupling finite element formulation of composited beam laminated with the photostrictive actuators is developed in this paper. Moreover, an optimal fuzzy active control algorithm is also proposed on the basis of the combination of optimal control and fuzzy one.This method opens a new avenue to resolve the contradiction between the linear system control method and nonlinear actuating characteristics of photostrictive actuators. The desired control for suppressing multi-modal vibration of photoelectric laminated beam is firstly obtained through optimal control and then the fuzzy control is used to approach the desired mechanical strain induced by photostrictive actuators. Thus, the multi-mode vibration control of beam is realized.In the design process of optimal fuzzy controller, the design of fuzzy control is independent of optimal control. The simulation results demonstrate that the proposed control method can effectively realize multi-modal vibration control of photoelectric laminated beams, and the control effect of optimal fuzzy control is better than that of optimal state feedback control.     

Precise line-of-sight modelling for angles-only relative navigation

This work presents a precise analytical model to reconstruct the line-of-sight vector to a target satellite over time, as required by angles-only relative navigation systems for application to rendezvous missions. The model includes the effects of the geopotential, featuring: the analytical propagation in the mean relative orbital elements (up to second-order expansion), the analytical two-way osculating/mean orbital elements’ conversion (second-order in $J_2$ and up to a given degree and order of the geopotential), and a second-order mapping from the perturbed osculating elements’ set to the local orbital frame. Performances are assessed against the line-of-sight reconstructed out of the precise GPS-based positioning products of the PRISMA mission. The line-of-sight modelled over a far-range one day long scenario can be fitted against the true one presenting residuals of the order of ten arc-seconds, which is below the typical sensor noise at far-range.     

旋转弹气动力建模与飞行轨迹仿真

运用一种自回归滑动平均(ARMA)的时域气动力建模方法,以计算流体力学与刚体动力学(CFD/RBD)耦合仿真的输出结果为样本,对旋转弹的非定常气动力进行建模。利用建立的气动力模型与刚体动力学方程求解模块耦合,实现了旋转弹轨迹的快速仿真,并讨论了不同的建模方式对仿真精度的影响。算例结果表明:采用气动力模型与刚体动力学方程耦合仿真技术可以在不同初始发射条件下进行旋转弹飞行姿态与运动轨迹预测,且与CFD/RBD仿真结果吻合较好,证明ARMA气动力建模方法可以在保证旋转弹轨迹预测精度的同时大幅缩短仿真时间,节省计算资源。     

Modeling novel methodologies for unmanned aerial systems–Applications to the UAS-S4 Ehecatl and the UAS-S45 Bálaam

The rising demand for Unmanned Aerial Systems(UASs) to perform tasks in hostile environments has emphasized the need for their simulation models for the preliminary evaluations of their missions. The efficiency of the UAS model is directly related to its capacity to estimate its flight dynamics with minimum computational resources. The literature describes several techniques to estimate accurate aircraft flight dynamics. Most of them are based on system identification. This paper presents an alternative methodology to obtain complete model of the S4 and S45 unmanned aerial systems. The UAS-S4 and the UAS-S45 models were divided into four sub-models, each corresponding to a specific discipline: aerodynamics, propulsion, mass and inertia, and actuator. The‘‘aerodynamic" sub-model was built using the Fderivatives in-house code, which is an improvement of the classical DATCOM procedure. The ‘‘propulsion" sub-model was obtained by coupling a two-stroke engine model based on the ideal Otto cycle and a Blade Element Theory(BET) analysis of the propeller. The ‘‘mass and the inertia" sub-model was designed utilizing the Raymer and DATCOM methodologies. A sub-model of an actuator using servomotor characteristics was employed to complete the model. The total model was then checked by validation of each submodel with numerical and experimental data. The results indicate that the obtained model was accurate and could be used to design a flight simulator.