多臂协调操作自由飞行空间机器人的位置和内力混合控制

基于多臂自由飞行空间机器人多臂协调操使负载沿着期望的轨迹运动并且控制负载所受的内力为目的，在多臂自由飞行空间机器人系统协调操作的动力学方程基础上，推导了各个机械臂协调操作负载按期望轨迹运动时各个机械臂关节的驱动力矩的计算方法；给出了作用在负载的内力的定义，根据关节力矩计算方法和PID反馈控制原理，建立了多臂自由飞行空间机器人协调操作负载时的位置和内力的控制算法；讨论了所提出的控制算法的稳定性问题，得到了负载的位置误差和内力误差的约束条件。通过仿真实验证明该控制算法能够使负载的实际位姿和内力收敛到期望的轨迹和内力。     

Modelling of the optical observations of a geosynchronous fragmentation event

A study of the evolution and optical detectability of a fragmentation debris cloud in geosynchronous orbit has been carried out. The 1998 NASA breakup model has been used to generate orbit data for 95 fragments larger than 10 cm size from a 1000 kg satellite. The orbital evolution of these fragments is studied using a precision numerical propagator, employing a high-fidelity force model. Although the fragments rapidly disperse throughout the geostationary arc, they remain localised in right ascension of ascending node and inclination, and are driven along a narrow inertial corridor by luni-solar perturbations. The ESA PROOF software is used to study the detectability of the fragments using a 1- and 0.5-m telescope design. The 1-m telescope can detect 82% of the fragments (down to 13 cm in size) whilst the 0.5-m telescope can detect 39% of the fragments (down to 30 cm size). Due to the large along-track spread of the fragments, a time limit of 1-month post-breakup can be established for a space surveillance system to catalogue the breakup fragments. After this time the angular separation is such that the fragments disperse into the background population, and are no longer distinguishable as originating from a common breakup event.     

非恒定增压式微尺度拉瓦尔喷管流动特性

针对微尺度喷流在航天器运动状态切换时出现的非恒定增压变化,采用直接模拟蒙特卡洛(DSMC)方法对阶跃式增压和线性式增压两种模式下的微尺度拉瓦尔喷管流场进行了模拟,并对其变化过程中的流动特性进行了对比分析。结果显示：阶跃式增压会导致流动特性出现较大幅值的峰谷式波动,而线性式增压下的流动特性则呈现出线性变化的特点;黏性力对微尺度喷流的非恒定增压变化产生了重要的黏滞作用,在喉部扩张段至出口的流场中尤为明显;在设定的条件下,阶跃式增压过程中喷流产生的总冲量较线性式增压高59.5%,质量流量高74.7%,单位工质提供的冲量低约8.6%,波动性也高于线性式模型,阶跃式增压适用于系统需要较大推力改变运动状态且推进剂充足的情况,而线性式增压在系统精确微调或需要推进剂产生更高效能时具有明显的优势。     

基于金属橡胶和介电泳效应的微粒循环过滤实验研究

为改善金属橡胶板的过滤能力，将多孔金属橡胶板与介电泳力相结合，并利用液态金属在受限空间内的高效泵送功能，研究了金属橡胶板对5 μm聚苯乙烯微球的过滤性能。实验中，将一对金属橡胶板平行嵌入至闭环微流体循环通道内，以实现介电泳力的交流电场梯度。结果表明:由于金属橡胶板内部孔径远大于聚苯乙烯微球直径，在未施加交流电信号的情况下，较难实现过滤功能；而对两个金属橡胶板适当通电，则电解液中的聚苯乙烯微球将被短距离的介电泳力收集于金属橡胶板周围，明显提高过滤效率。     

基于拟动力学的航空发动机主轴球轴承热弹流润滑分析

以航空发动机主轴球轴承高速高温重载典型工况为算例,基于轴承拟动力学分析,得到滚动体与套圈之间的微接触区运动和受力状态,分别用Hamrock-Dowson(H-D)拟合公式和翟文杰热修正公式计算了最小膜厚(MFT),同时结合热弹流润滑分析得到最小膜厚分布,对比了试验测试、H-D拟合、翟文杰热修正和热弹流润滑分析4种算法的最小膜厚,并根据膜厚比判定了轴承的弹流润滑状态.结果表明:H-D拟合和翟文杰热修正最小膜厚与试验测试结果相差较远,热弹流润滑分析结果与试验数据吻合性较好,误差10%以内;探讨了不同工况下的轴承弹流润滑性能.结果表明:存在径向载荷时,润滑膜整体压力增大,膜厚减小;随着转速增大,压力减小,膜厚增大,但是增大的趋势减缓.      

负游隙对高速高温薄壁圆柱滚子轴承动态性能的影响分析

计算了圆柱滚子轴承径向游隙为负值时的等效径向预紧载荷,并考虑等效径向预紧载荷下的套圈弹性变形,通过求解包含套圈弹性变形接触变形等效径向预紧载荷的非线性方程组,得到负游隙圆柱滚子轴承内部的载荷分布情况,以及负径向游隙带来的套圈周向应力.以此分析了负游隙对轴承承载性能及疲劳寿命的影响.结果表明:负径向游隙能够有效降低轴承打滑率,但同时也会降低轴承疲劳寿命,因此在负游隙设计时需同时考虑打滑率和轴承寿命,选择恰当的负游隙.     

Analyses toward factors influencing sealing clearance of a metal rubber seal and derivation of a calculation formula

Sealing clearance is a key factor for a metal rubber seal’s sealability. The expansion coef-ficient and expansion deformation in the radial direction of metal rubber have been obtained through a thermal expansion experiment of metal rubber. The influence of the elastic modulus to the sealing clearance has been analyzed theoretically. By combining the temperature and elasticity factors of metal rubber with the elastic mechanics theory, the calculation formula of the sealing clearance has been derived, and the values of the sealing clearance and the leakage rate in certain working conditions have been calculated. Experimental results are consistent with calculation results in a high degree. The calculation formula of the sealing clearance can explain the influences of the temperature and elastic modulus factors of metal rubber on the sealing clearance. It can pro-vide guidance for the study of sealing mechanism of metal rubber seals.     

斜面兜孔圆柱滚子轴承的高速防打滑特性

为解决航空发动机主轴圆柱滚子轴承的打滑问题,提出一种具有斜面兜孔结构的圆柱滚子轴承,并对其高速防打滑特性展开研究。利用Hertz接触理论及弹流润滑、流体动力润滑的经验公式,建立了滚子-内外套圈滚道、兜孔-滚子、保持架-外圈引导面的接触模型。运用多体运动学及牛顿-欧拉动力学理论,建立了轴承径向平面内的三自由度动力学模型,在此基础上,利用龙格库塔数值积分法进行了轴承的动力学数值仿真,探讨了兜孔前后壁倾角对轴承打滑的影响规律,分析了兜孔前壁倾角为5°、后壁倾角为10°下轴承的高速打滑特性,结果表明：兜孔的前后壁倾角对轴承打滑有显著影响,通过对其进行优化,可有效抑制轴承的高速打滑。     

无人飞行器地面移动目标跟踪系统研究现状与展望

无人飞行器地面移动目标跟踪系统是一项在军事和民用方面都具有广泛应用前景的非常重要的研究课题。首先分析了系统的特点，然后详细介绍了国内外无人飞行器地面移动目标跟踪系统的研究方法和现状，并指出其不足。最后，针对现有系统中控制方法的欠缺，提出了将仿人眼控制系统用于无人飞行器上的摄像机云台控制的新方法。     

Aerodynamic optimization of re-entry capsules

Methods for aerodynamic design and optimization based on linear theory are not well suited for modelling non-linear phenomenons. Their results only represent approximations of real optima. In the present study a new method based on non-linear theory, i.e. the solution of the Euler/Navier–Stokes equations, has been applied to improve these approximations. The structure of the system as well as the incorporated modules are described. Aerodynamic optimizations of a biconic re-entry capsule with respect to the lift-to-drag ratio, the effective volume and the stability are presented and discussed. The method proves to be a robust and relative efficient tool for aerodynamic design of modern aerospace vehicles. An increase in the performance of computer systems will result in an increase in the efficiency as well. It is shown that the method keeps and sometimes expands the established knowledge base of experienced engineers but reduces the design cycle times significantly.