Geometric error analysis of an over-constrained parallel tracking mechanism using the screw theory

This paper deals with geometric error modeling and sensitivity analysis of an overconstrained parallel tracking mechanism. The main contribution is the consideration of overconstrained features that are usually ignored in previous research. The reciprocal property between a motion and a force is applied to tackle this problem in the framework of the screw theory. First of all, a nominal kinematic model of the parallel tracking mechanism is formulated. On this basis, the actual twist of the moving platform is computed through the superposition of the joint twist and geometric errors. The actuation and constrained wrenches of each limb are applied to exclude the joint displacement. After eliminating repeated errors brought by the multiplication of wrenches, a geometric error model of the parallel tracking mechanism is built. Furthermore,two sensitivity indices are defined to select essential geometric errors for future kinematic calibration. Finally, the geometric error model with minimum geometric errors is verified by simulation with SolidWorks software. Two typical poses of the parallel tracking mechanism are selected, and the differences between simulation and calculation results are very small. The results confirm the correctness and accuracy of the geometric error modeling method for over-constrained parallel mechanisms.     

高温存储对Sn-Pb-Ni凸点界面金属间化合物生长的影响

倒装焊工艺由于具有信号处理速度快、封装密度高、可靠性高等特点，已广泛应用于高密度集成电路封装工艺中。高可靠倒装焊器件的互连焊点通常采用10Sn90Pb等高铅焊料，该焊料具有剪切强度高、可靠性高等优点，但其熔点高、回流工艺窗口窄等特性给封装工艺带来一定难度，此外该焊料在高温存储环境的可靠性有待进一步提高。本文采用Ni元素对10Sn90Pb焊料进行改性，研究高温存储下Sn-Pb-Ni体系凸点的力学性能以及金属间化合物（Intermetallic compound,IMC）的生长演变规律，以此评估Ni元素对10Sn90Pb凸点可靠性的影响。主要结果如下：适量添加Ni元素可以细化10Sn90Pb焊点界面处IMC晶粒，降低高温存储条件下的IMC生长速度，但在一定程度上会降低凸点的剪切强度。0.05%~0.1%含量的Ni元素添加对10Sn90Pb凸点综合性能提升较为显著。     

A new dynamic pushback control method for reducing fuel-burn costs: Using predicted taxi-out time

Long departure-taxi-out time leads to significant airport surface congestion, fuel-burn costs, and excessive emissions of greenhouse gases. To reduce these undesirable effects, a Predicted taxi-out time-based Dynamic Pushback Control(PDPC) method is proposed. The implementation of this method requires two steps: first, the taxi-out times for aircraft are predicted by the leastsquares support-vector regression approach of which the parameters are optimized by an introduced improved Firefly algorithm. Then, a dynamic pushback control model equipped with a linear gate-hold penalty function is built, along with a proposed iterative taxiway queue-threshold optimization algorithm for solving the model. A case study with data obtained from Beijing International airport(PEK) is presented. The taxi-out time prediction model achieves predictive accuracy within 3 min and 5 min by 84.71% and 95.66%, respectively. The results of the proposed pushback method show that total operation cost and fuel-burn cost achieve a 14.0% and 21.1%reduction, respectively, as compared to the traditional K-control policy.(3) From the perspective of implementation, using PDPC policy can significantly reduce the queue length in taxiway and taxi-out time. The total operation cost and fuel-burn cost can be curtailed by 37.2% and 52.1%,respectively, as compared to the non-enforcement of any pushback control mechanism. These results show that the proposed pushback control model can reduce fuel-burn costs and airport surface congestion effectively.     

飞机动态推出控制策略仿真优化模型

机场离港运行的无序化造成滑行过程中的长时间排队等待及大量燃油浪费。为了减少燃油消耗和废气排放,在已有的动态推出控制策略基础上提出了阶梯函数控制策略(Step function,SPC)和非线性函数动态推出策略(Nonlinear function,NPC)的一般形式,以离港成本为目标,建立了基于停机位等待惩罚的动态推出控制模型,在不延误的前提下提出了一种基于网格参数优化的蒙特卡洛仿真优化算法。通过北京首都机场实际运行数据对推出过程进行仿真计算,并与无控制策略以及传统N-control策略的最优可达解进行仿真对比,结果表明:在不延误的前提下,提出的推出策略可以更加有效地降低平均滑行道滑行时间,NPC策略的离港运行成本和燃油成本可降低45.52%和54.23%,SPC虽然成本节省劣于NPC策略,但是其简单的操作方式可以为离港推出调度方式的改进提供决策支持。     

Effects of yaw-roll coupling ratio on lateral-directional aerodynamic characteristics

Experimental investigation of large amplitude yaw-roll coupled oscillations was conducted in a low-speed wind tunnel using an aircraft configuration model. A special test rig was designed and constructed to provide different coupled motions from low to high angles of attack.A parameter ‘‘coupling ratio" was introduced to indicate the extent of yaw-roll coupling. At each pitch angle, seven coupling ratios were designed to study the yaw-roll coupling effects on the lateraldirectional aerodynamic characteristics systematically. At high angles of attack, the damping characteristics of yawing and rolling moments drastically varied with coupling ratios. In the coupled motions with the rotation taking place about the wind axis, the lateral-directional aerodynamic moments exhibited unsteady characteristics and were different from the ‘‘quasi-steady" results of the rotary balance tests. The calculated results of the traditional aerodynamic derivative method were also compared with the experimental data. At low and very high angles of attack, the aerodynamic derivative method was applicative. However, within a wide range of angles of attack, the calculated results of aerodynamic derivative method were inconsistent with the experimental data, due to the drastic changes of damping characteristics of lateral-directional aerodynamic moments with yaw-roll coupling ratios.     

三维攻击角度约束部分制导控制一体化设计

针对侧滑转弯(STT)导弹带有攻击角度约束的机动目标拦截问题，提出一种基于自适应终端滑模动态面控制的三维部分制导控制一体化(PIGC)设计方法。首先，建立了针对机动目标拦截的侧滑转弯导弹三维部分制导控制一体化设计模型，且不需要导弹速度微分体轴系分量信息。然后，使用终端滑模控制理论构建误差向量与虚拟控制量，达成精确拦截与攻击角度约束的控制目的；引入有限时间非线性收敛扩张状态观测器(ESO)来在线估计系统不确定性；设计自适应算子与自适应更新律对观测器的估计误差进行补偿，以提高方法的鲁棒性。最后，三维空间拦截仿真校验了方法在提高拦截精度与增强角度约束收敛性能的有效性。     

建模变量对非定常空气动力数学模型的影响

在某飞机大振幅偏航、滚转单自由度运动风洞试验的基础上,采用不同建模变量,用模糊逻辑方法建立滚转力矩模型,分析研究了不同变量对模型精度的影响;然后运用得到的较为合理的建模变量,采用非定常模型获取偏航-滚转耦合运动的气动力系数,并与试验结果比较,分析不同的变量组合对该模型预测精度的影响。结果表明,不论在哪种运动形式下,建模变量间的相关性都是造成模型预测精度低的主要因素。对于单自由度运动,应取α、β、ωy(ωx)为建模变量;对于耦合运动,以α、β、ωx、ωy为建模变量较好。     

各向同性热解炭材料中的缺陷分析和超声检测技术

利用偏光金相显微镜和超声探伤仪对高性能机械密封用块体各向同性热解炭材料中的缺陷进行表征和无损检测.偏光显微观察发现,各向同性热解炭材料中的主要缺陷主要包括三种:各向异性夹杂、裂纹和各向同性夹杂.超声实验研究表明,利用脉冲反射法超声波检测技术可有效检出各向同性热解炭制件中存在的上述缺陷.目前该技术已成功地用于各向同性热解...     

飞机备件的供应保障

从装备的使用和维修的角度出发,介绍了飞机备件的选用原则和配置要求,给出了备件的确定、备件的种类及数量的计算方法,并介绍了国外常用后勤综合保障软件OPUS10,可供备件保障研究人员参考。     

基于风洞试验的非定常空气动力模型识别

在某飞机模型大振幅风洞试验的基础上,分析讨论了单自由度叠加模型、动导数模型、混合模型和非定常模型的适用性.结果表明,单自由度叠加模型、动导数模型和混合模型在小攻角时均是可用的,在大攻角时都不能正确反映飞机的非定常迟滞特性;但与前两种模型相比,混合模型在中等攻角时仍然适用.对于非定常模型,无论在小攻角还是大攻角时,均能较好地反映耦合运动的非定常气动特性.