复杂大时延的多主多从共享遥操作方法

共享遥操作结合了遥操作和多机器人协调技术,是重要的空间机器人复杂任务拓展和遥操作可靠性提升方式。首先,在综述现有共享遥操作技术的基础上,利用遥操作系统的超前预报特性,提出机器人复杂大时延的共享遥操作方法,给出了多操作员多机器人（MM/MS）复杂操作系统描述模型,设计了分时树状分组策略并给出其使用的前提条件。提出了MM/MS组间共享遥操作方法、时延信息维护规则、操作请求判断和状态信息维护方法。然后,给出了相应组内共享遥操作算法。最后,以多操作员单机器人（MM/SS）共享遥操作为例,给出了简化规则,使用以某大型空间机械臂为对象的MM/SS遥操作系统进行了数字仿真实验。实验结果表明：本文方法在20 s级不确定时延、操作端的交互时延与遥操作回路时延比为0~1等复杂条件下,均可实施连续稳定的遥操作。     

Studies of the screening surface proximity on integral aerodynamic characteristics of rectangular high-lift wings of different aspect ratio

In this paper, we examine the aerodynamic characteristics of models of rectangular wings with double-slotted flap at conditions of ground proximity near the screen. We determined a number of parameters that made it possible to represent the aerodynamic characteristics of high-lift systems in generalized and parametric form. Also determined is the dependence of the effective aspect ratio increment on the relative height.     

飞行器静稳定裕度定义方法研究

本文研究了对于飞行器如何更加合理地定义其静稳定裕度的问题.常用的静稳定裕度定义为无量纲化的质心位置与气动焦点之间的距离,这种定义对于常见的高升阻比的飞机导弹等飞行器是适用的,然而对于一些非常规飞行器,例如载人飞船返回舱这类大钝头大配平攻角阻力体,这种定义在反映其静稳定程度上存在一定的问题.本文举例说明了这个定义存在缺陷,指出定义静稳定裕度时不能只考虑升力变化的影响,而是应该根据气动合力的变化来进行综合考虑.提出了新的比较完备的静稳定裕度定义方法,指出常用的静稳定裕度定义方法是本文提出的定义方法在特定情况下的表述,并举例说明了本文定义具有更加广泛的适用性.     

The aerodynamic design of multi-element high-lift systems for transport airplanes

High-lift systems have a major influence on the sizing, economics, and safety of most transport airplane configurations. The combination of complexity in flow physics, geometry, and system support and actuation has historically led to a lengthy and experiment intensive development process. However, during the recent past engineering design has changed significantly as a result of rapid developments in computational hardware and software. In aerodynamic design, computational methods are slowly superseding empirical methods and design engineers are spending more and more time applying computational tools instead of conducting physical experiments to design and analyze aircraft including their high-lift systems. The purpose of this paper is to review recent developments in aerodynamic design and analysis methods for multi-element high-lift systems on transport airplanes. Attention is also paid to the associated mechanical and cost problems since a multi-element high-lift system must be as simple and economical as possible while meeting the required aerodynamic performance levels.     

飞发一体化算力体系及算力参数敏感性

飞行器/发动机一体化是制约吸气式高超声速飞行器的核心和关键技术,本文针对高超声速飞发一体化构型开展了算力体系划分及算力参数敏感性研究。通过将一体化飞行器不同部件划分至气动和推进系统,研究了算力体系划分对气动/推进性能指标的影响,结果表明对于飞发一体化构型,在不同算力体系下表征的飞行器气动/推进性能可能存在较大差异,横向比较飞行器气动/推进性能必须在明确算力体系条件下进行。采用正交试验设计+方差分析的方法分析了飞行器算力对空域、速域、飞行姿态、气动热效应、真实气体效应5个因素的敏感性,结果表明壁面温度是影响飞行器轴向力计算的敏感参数,马赫数和攻角几乎影响所有气动指标。在研究范围内,雷诺数和气体比热比是飞行器气动性能的不敏感参数。     

飞行器参数辨识方法与应用研究

研究了非线性连续－离散系统极大似然估计方法的实现及其在飞行器气动参数辨识中的应用问题，首先给出了递推计算灵敏度算法的构成，初始摄动的选择和初值的计算，继而导出了不需矩阵求逆运算的递推算式。最后结合飞行器的气动参数估计来说明算法的具体实现。     

Reconfigurable NDI controller using inertial sensor failuredetection & isolation

A modified derivation of nonlinear dynamic inversion provides the theoretical underpinnings for a reconfigurable control law for aircraft that have suffered combinations of actuator failures, missing effector surfaces, and aerodynamic changes. The approach makes use of acceleration feedback to extract information pertaining to any aerodynamic change and thus does not require a complete aerodynamic model of the aircraft. The control law does require feedback of effector positions to accommodate actuator dynamics. Both accelerometer and rate gyro failure detection and isolation (FDI) systems are implemented, allowing up to three independent failures for each FDI system as long as they are in different axes. Nonlinear simulation results show that the FDI systems improve the robustness to accelerometer/rate gyro uncertainties. An advanced tailless aircraft model is used to demonstrate the concepts. The simulation includes accelerometer and rate gyro noise and bias, failures due to accelerometers, rate gyros, and actuators, and modeled missing surfaces that cause airplane aerodynamic changes     

操纵面故障对飞行包线的影响研究

进行飞机操纵机构故障时飞行包线估计对提高飞行安全具有重要意义。针对飞机操纵面故障特点,提出一种在线飞行包线估计方法。首先根据操纵面对飞行动力学参数的影响建立故障参数模型,然后应用基于遗忘因子的最小二乘参数估计方法进行气动参数的在线估计,最后基于参数估计结果进行包线的精确估算和分析,计算结果可为驾驶员和包线保护控制提供参考。仿真分析表明,该方法能精确估计飞行包线范围。     

Design of precision balance and aerodynamic characteristic measurement system for micro aerial vehicles

This paper presents the design and validation of a measurement system for the aerodynamic characteristics of micro aerial vehicles. Micro aerial vehicles are very small, have a wingspan of about 100–150 mm, and operate at relatively low Reynolds numbers. A precision aerodynamic balance was designed in order to measure the lift, drag, rolling-moment, and pitching-moment of micro air vehicles, as these parameters are too small to be determined by general-purpose aerodynamic measurement systems. During the design process, the aerodynamic balance was analyzed with the finite-element method in order to produce an optimal design and was calibrated as well. The calibration results and the finite element analysis results were compared and found to be in good agreement and the final design was determined to be acceptable. In addition, a computer-based data acquisition system has been developed to acquire measurement data from the aerodynamic balance. Wind tunnel tests of a 2D airfoil were performed to validate the aerodynamic measurement system. Results of the wind tunnel tests were compared with references and found to be in good agreement. Finally, we measured aerodynamic characteristics of MAV wing model used in Batwing with the developed aerodynamic measurement system.     

Adaptive control for feedback-linearized missiles withuncertainties

A robust adaptive control scheme is proposed that can be applied to a practical autopilot design for feedback-linearized skid-to-turn (STT) missiles with aerodynamic uncertainties. The approach is to add a robust adaptive controller to a feedback-linearizing controller in order to reduce the influence of the aerodynamic uncertainties. The proposed robust adaptive control scheme is based on a sliding mode control technique with an adaptive law for estimating the unknown upper bounds of uncertain parameters. A feature of the proposed scheme is that missile systems with aerodynamic uncertainties can be controlled effectively over a wide operating range of flight conditions. It is shown, using Lyapunov stability theory, that the proposed scheme can give sufficient tracking capability and stability for a feedback-linearized STT missile with aerodynamic uncertainties. The six-degree-of-freedom nonlinear simulation results also show that good performance for several uncertainty models and engagement scenarios can be achieved by the proposed scheme in practical night conditions     

翼吊发动机短舱对增升装置气动特性影响研究

增升装置的气动效率对于全机整体性能有重要影响,而当代大多数跨音速运输类飞机均采用翼吊发动机布局。通过对有、无翼吊短舱的两个三维增升装置的数值模拟,研究了翼吊发动机短舱对于增升装置气动性能的影响。结果表明,翼吊发动机短舱会严重恶化增升装置的气动性能。流动机理分析表明,短舱挂架与机翼前缘结合处的缝翼缺口及大迎角时绕过短舱的分离气流是造成增升装置气动性能恶化的两个主要原因。     

二元波瓣喷管排气引射系统的试验研究

通过７种二元波瓣喷管排气引射系统的对比试验,研究了二元波瓣喷管的波瓣结构形状、排列方式和间距等参数对排气引射系统气动性能的影响。试验结果表明：错列二元波瓣喷管引射性能和强化混合性能比对列的好,但其压力损失系数比对列的大;波瓣内外间距相同的二元波瓣喷管比波瓣内间距为外间距两倍的气动性能好;波瓣切口错列的二元波瓣喷管的引射性能和强化混合性能最好,但其压力损失系数也最大。在各组合方案中,波瓣间距相同对列的二元波瓣喷管与带有多套环结构的混合管组成的排气引射系统综合气动性能最好     

混合遗传算法在气动力参数辨识中的应用

遗传算法是求解复杂系统优化问题的一种有效方法，具有较强的鲁棒性和全局寻优能力，但计算量大，效率较低。将遗传算法与一维局部寻优算法相结合，构造了一混合遗传算法．并将其用于气动力参数辨识．以取代通常采用的梯度类优化算法。采用该混合遗传算法对某型飞机的横向气动力参数进行辨识计算与分析，结果表明该混合遗传算法是气动力参数辨识的一种有效方法，与遗传模拟退火算法相比．其计算效率有较大提高。     

等离子体气动激励改善增升装置气动性能的试验

针对流动分离导致飞机增升装置气动性能下降的问题,进行了脉冲等离子体气动激励抑制增升装置流动分离的试验。研究了等离子体气动激励的频率、占空比及激励位置等参数对流动控制效果的影响。研究结果表明：等离子体气动激励通过加速近壁面附面层,增强附面层内的能量掺混,可有效抑制主翼和襟翼表面的流动分离,改善增升装置气动性能。在主翼前缘施加激励,可有效控制主翼表面大迎角下的失速分离,最大升力系数增大18.1%、临界失速攻角提高4°;在襟翼前缘施加激励,可有效抑制襟翼表面的流动分离,显著减小阻力,在4°迎角下,将试验模型阻力系数减小了28.7%,升力系数提高了7.1%。占空比对控制效果有较大影响,当占空比为10%～30%时,激励的非定常性更强,控制效果最好;占空比为50%的控制效果次之,占空比为100%时的控制效果最差。来流速度越高,逆压梯度越大,流动分离更难被抑制,控制效果也变差。该研究为在增升装置上应用等离子体流动控制技术提供了理论和方法的基础。     

柔性热防护系统及相关热考核试验

柔性热防护系统为高超声速充气气动减速器的防热需求而发展,主要为大质量地球再入及未来火星的进入、下降和着陆系统的防热而研发。本文介绍了美国针对高超声速充气气动减速器已经进行和正在策划的飞行试验情况以及火星进入、下降和着陆系统对柔性热防护系统的使用热环境需求。对柔性热防护系统的基本组成进行了介绍,详细描述柔性热防护系统的相关热考核试验。     

Magnetic suspension and balance systems

Conditions necessary for controlled magnetic suspension are reviewed, and various types and configurations of systems are described. The principal components of these systems are discussed. The use of magnetic suspension and balance systems in wind tunnels is then considered, and some aerodynamic results are examined     

Review of state of the art in smart rotor control research for wind turbines

This article presents a review of the state of the art and present status of active aeroelastic rotor control research for wind turbines. Using advanced control concepts to reduce loads on the rotor can offer great reduction to the total cost of wind turbines. With the increasing size of wind turbine blades, the need for more sophisticated load control techniques has induced the interest for locally distributed aerodynamic control systems with build-in intelligence on the blades. Such concepts are often named in popular terms ‘smart structures’ or ‘smart rotor control’. The review covers the full span of the subject, starting from the need for more advanced control systems emerging from the operating conditions of modern wind turbines and current load reduction control capabilities. An overview of available knowledge and up-to date progress in application of active aerodynamic control is provided, starting from concepts, methods and achieved results in aerospace and helicopter research. Moreover, a thorough analysis on different concepts for smart rotor control applications for wind turbines is performed, evaluating available options for aerodynamic control surfaces, actuators (including smart materials), sensors and control techniques. Next, feasibility studies for wind turbine applications, preliminary performance evaluation and novel computational and experimental research approaches are reviewed. The potential of load reduction using smart rotor control concepts is shown and key issues are discussed. Finally, existing knowledge and future requirements on modeling issues of smart wind turbine rotors are discussed. This study provides an overview of smart rotor control for wind turbines, discusses feasibility of future implementation, quantifies key parameters and shows the challenges associated with such an approach.     

A nonlinear equivalent circuit method for analysis of passive intermodulation of mesh reflectors

Passive intermodulation(PIM) has gradually become a serious electromagnetic interference due to the development of high-power and high-sensitivity RF/microwave communication systems, especially large deployable mesh reflector antennas. This paper proposes a field-circuit coupling method to analyze the PIM level of mesh reflectors. With the existence of many metal–metal(MM) contacts in mesh reflectors, the contact nonlinearity becomes the main reason for PIM generation. To analyze these potential PIM sources, an equivalent circuit model including nonlinear components is constructed to model a single MM contact so that the transient current through the MM contact point induced by incident electromagnetic waves can be calculated. Taking the electric current as a new electromagnetic wave source, the far-field scattering can be obtained by the use of electromagnetic numerical methods or the communication link method. Finally, a comparison between simulation and experimental results is illustrated to verify the validity of the proposed method.     

Adaptive model architecture and extended Kalman-Bucy filters

In radar systems, extended Kalman-Bucy filters (EKBFs) are used to estimate state vectors of objects in track. Filter models accounting for fundamental aerodynamic forces on reentry vehicles are well known. A general model structure accommodating the dynamics of reentry vehicles in both exoatmospheric and endoatmospheric flight is presented. The associated EKBFs for these various models are described and the resulting associated parameter estimation and identification problems are discussed. The effects of position, velocity, drag, and aerodynamic lift are described within a nested set of EKBF models     

基于广义动态尾迹理论的旋翼非定常气动特性分析

本文建立了一套时域下前飞旋翼非定常气动载荷的计算方法.考虑人流的非均匀性,采用"Peters-He"广义动态尾迹人流模型;为计人气流压缩性、动态特性对气动载荷幅值和相位的影响,翼型剖面升力使用Leishman-Beddoes二维非定常模型计算.为分析旋翼非定常气动特性,建立模型方程的状态空间形式,并采用四阶Runge-Kutta法求解,以提高计算效率.以美国H-34直升机前飞状态为算例,并将计算结果与飞行测试数据进行比较,验证了计算方法的有效性,在此基础上,进一步分析了诱导速度、迎角、升力分布随前进比的变化,以及不同桨叶气动外形(桨尖尖削、负扭转)对旋翼气动特性的影响,得出了一些有意义的结论.