一种发动机操纵系统电传控制设计

依据发动机控制系统要求,采用了PWM脉宽调制控制技术,并应用直流力矩电机,设计了一种发动机操纵系统电传控制方法,该设计已通过了试验验证,试验结果表明,该方法可以实现发动机操纵系统电传控制。     

Glare层板基本成形性能研究与实验验证

为了探索Glare层板的成形性能特点,采用单向拉伸实验和三点弯曲实验,分析研究了Glare 2A,Glare 2B和Glare 3层板的基本成形性能,并借助扫描电子显微镜分析了Glare层板的失效特征。结果表明:纤维铺层方向对材料的成形性能存在显著影响,Glare 2A层板抵抗塑性变形的能力强,且难以发生厚向变形:采用σ=σy+Kεn硬化模型拟合真实应力-应变曲线,其相关系数最大,拟合结果最好:Glare 2A的弯曲回弹量最大,其弯曲破坏时,内表层受压应力,以皱缩和压缩断裂为主,外表层受拉应力,以纤维拉伸断裂和分层为主;对于Glare 2B层板,其弯曲回弹量最小,主要以基体破坏为主:通过滚弯成形验证了实验所得结果的准确性。     

Analysis of reaction torque-based control of a redundant free-floating space robot

Owing to the dynamics coupling between a free-floating base and a manipulator,the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator's motion.The reaction torque acted on the satellite base's centroid is an important index to measure the satellite base's disturbance.In this paper,a comprehensive analysis of the reaction torque is made,and a novel way to derive the analytical form of the reaction torque is proposed.In addition,the reaction torque null-space is derived,in which the manipulator's joint motion is dynamically decoupled from the motion of the satellite base,and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space.Furthermore,the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task.Besides,supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control,the reaction torque can be used to realize satellite base attitude control,that is,base attitude adjustment or maintenance.Moreover,because reaction torque-based control is a second-order control scheme,joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control.A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas.Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.     

Structural Design and Control Strategy Analysis of Micro/Nano Transmission Platform

A fully flexure micro/nano transmission platform(MNTP)which has five degrees of freedom is designed on the basis of bridge type amplification mechanism.According to the kinematic theory and the elastic beam theory,the theoretical output displacement equation of the platform is derived,and then piezoelectric actuator(PZT)is calibrated.Meanwhile,a full closed-loop control strategy of the platform is established using the feedforward proportional-integral-derivative(PID)compound control algorithm based on the Preisach model.Moreover,the total transfer function of the micro positioning system is derived,and the calculation method of output signal is acquired.Finally,the theoretical output displacement is verified by finite element analysis(FEA)and positioning experiments.     

激光功率对激光熔覆Ni包WC涂层组织与性能的影响

采用IPG YLS-6000型 大功率光纤激光器在42CrMo合金表面制备Ni包WC涂层，研究激光功率对涂层组织及性能的影响。研究表明:随着激光功率的增大，涂层组织呈粗化趋势;且在激光功率的增大过程中，涂层中WC颗粒逐渐分解为Fe-C化合物，硬度逐渐减小;当激光功率为1 800 W时，显微硬度达到最大值1 050 HV;Ni包WC涂层显著提高了基材的耐磨性，在同等磨损条件下，涂层的磨损量仅为基体试件的1/5，但激光功率对涂层磨损量的影响不大。     

不同温度对TC4-DT钛合金摩擦磨损性能的影响

以TC4-DT钛合金为研究对象，研究不同温度(20，300，500 ℃)对TC4-DT的摩擦磨损性能的影响。 采用HT-500型摩擦磨损试验机对TC4-DT合金进行摩擦磨损实验，分析温度对摩擦因数及磨损率的影响；通过扫描电镜（Scanning electron microscope,SEM）和能谱（Energy dispersive spectrometer,EDS）等方法探究磨痕的形貌和成分变化及磨损机理 。结果表明，随着温度的升高，磨损过程中TC4-DT合金表面不断生成氧化膜，摩擦因数从0.493下降到0.298，磨痕不断变窄变浅，磨损率大大降低；磨损机理在20 ℃时以粘着磨损、磨粒磨损为主，伴随着疲劳磨损；在300,500 ℃时以剥层磨损和氧化磨损为主，伴随少量的 粘着磨损和磨粒磨损。     

面向货物运输的移动平台设计与无人直升机追踪控制

由于无人直升机具有垂直起降、机动性好的特点，使其可用于移动平台之间的货物运输，因此，提出了无人 直升机跟踪移动平台的货物运输方法。设计了一套用于无人直升机追踪实验的动平台，动平台上可放置物品，无人直升机在追踪动平台过程中同时完成物品的拾起和码放。动平台系统由移动小车平台、运动控制器、引导装置以及地面监视软件等组成，采用MEMS-SINS/GPS组合导航系统作为引导装置的核心部件，完成对移动小车平台的位置和速度估计。提出了由单点GPS测量点提供多个目标点位置的方法，可使无人直升机方便快捷地知道需要拾起和码放物品的目标点。设计开发了一套操作简便、显示友好的地面监控软件，辅助移动平台正常运行，能有效监控引导装置与无人直升机的通信。     

航天推进用高密度液体碳氢燃料:合成与应用

高密度燃料已成为重要的航天推进液体燃料。简要介绍了国外高密度燃料的合成进展,包括JP-10,T-10,RJ-5,RJ-7等;重点介绍了天津大学的燃料研究进展,包括HD-01、密度大于1g/ml的燃料、四环庚烷、金刚烃燃料、生物质高密度燃料等,并报道了四环庚烷的自燃特性。为解决超声速飞行条件下燃料的点火及主动冷却问题,制备了油溶性纳米Pd和Pt颗粒添加剂,分别降低了JP-10的点火温度,提高了JP-10的裂解热沉。     

民用飞机试飞规划与管理软件和飞行试验协同平台的接口研究与实现

针对试飞资源复杂多样的特点,阐述了在民用飞机试飞规划与管理软件和飞行试验协同平台间建立接口交联的必要。飞行试验协同平台接口应用计算机技术,借助民用飞机试飞规划与管理软件前端试验信息处理和管理功能,依托试飞任务单和试飞试验点,实现民用飞机试飞规划与管理软件对飞行试验协同平台试飞数据的读取和调用。经应用分析,通过开发接口能便捷地获取完整、准确的试飞数据,降低试飞成本,减少试飞工作量,提高试飞效率,有助于型号试飞工作的更顺利进行。