用动力学方法分析力传感器动态标定装置

对力待感器动态标定装置进行动力学分析。探讨负阶跃力或冲击力激励下的应变式、压电式力传感器，在时域和频域中的响应规律。在分析和探讨的过程中，将考虑传感器的安装方式，亦即考虑传感器处于单、双自由度的不同约束状态，以及与传感器在安装时必须接触的构件质量和构件的微弹性变形。偿试解释力传感器在动态响应中的自由振荡频率和安装频率为何不同的动力学原因。     

动态力校准中力传感器端部等效质量测量方法研究

力传感器端部等效质量是动态力校准中的重要部分,其测量误差会对动态力校准产生较大影响。本文通过了解力传感器结构,确定力传感器端部等效质量的构成,并简单介绍了四种测量端部等效质量的方法。最后,利用两次配重消去法进行实验,将不同配合不同工况下得到的结果进行对比分析,说明该方法可以较好的解决测量端部等效质量问题。     

一种负阶跃力源上升时问的评价

介绍了一种负阶跃力源上升时间的测量过程，通过在脆性材料断裂试件两侧粘贴细导线，获得其上下两个端面断裂时间差的测量结果，从而估计获得该动态力源产生的负阶跃力的上升时间，对于钢质材料，上升时间可小于30μs，低时可达到12．5μs。而对于陶瓷材料，上升时间可小于100．s，最低时可达到1μs。该结果可用于动态力源的设计和力传感器动态特性校准的参考。     

一种负阶跃力源上升时间的评价

介绍了一种负阶跃力源上升时间的测量过程,通过在脆性材料断裂试件两侧粘贴细导线,获得其上下两个端面断裂时间差的测量结果,从而估计获得该动态力源产生的负阶跃力的上升时间,对于钢质材料,上升时间可小于30μs,低时可达到12.5μs.而对于陶瓷材料,上升时间可小于10μs,最低时可达到1μs.该结果可用于动态力源的设计和力传感器动态特性校准的参考.     

多维动态力传感器输出特性的实时修正法

本文针对多维动态力传感器研制中存在的输出特性随力作用点改变而变化的问题，提出了偏载特征模式识别方法，对铣削测力平台的输出特性进行了实时修正，大幅度提高了力传感器的精度。     

建筑物干扰条件下双烟囱的风洞试验研究

主要介绍某发电厂双烟囱在有建筑物干扰条件下的风洞试验研究,并主要测试了烟囱在各个风向角条件下基底的静态力和动态力。刚性模型的试验结果表明：当两烟囱处于串列状态时,上风侧烟囱存在显著的遮挡效应,使得下风侧烟囱的静态基底力显著降低。气动弹性模型试验得到的动态基底力结果表明：当两烟囱处于串列状态时,上风侧烟囱对下风侧烟囱的气动干扰较为显著,导致其动态力较大。当烟囱前方存在厂房干扰,且风向角为195°时,烟囱基底的合成弯矩有最大值。     

航空发动机转子轴向力动态特征测试技术

以航空发动机止推轴承轴向力为研究对象,基于应力环法的测量原理,发展出一种新的适用于转子轴向力动态特征测试技术。基于固支梁模型设计了扇形支点的应力环传感器,通过理论分析和有限元仿真验证结构设计的合理性,并对应力环传感器测量的灵敏度和静态特性指标进行量化表征。某型航空发动机整机轴向力试车结果表明:转子轴向力中存在不可忽略的动态交变载荷,其峰值与轴向力稳态值的比值为6%~29%。频域分析发现,引起轴向力动态交变载荷的频率成分包括转速基频、转速2倍频及34、68 Hz。相位分析表明,34 Hz与68 Hz引起的动态交变载荷使应力环传感器周向测点的时域波形发生相位同步变化,符合轴向的振动特征;转速基频与2倍频引起的动态交变载荷则沿应力环传感器周向进动变化,符合转子不平衡特征。      

压电力传感器的振动台校准

压电力传感器的动态灵敏度校准是不能通常的静态力校准装置完成的。受压５０００Ｎ和受拉１０００Ｎ以下的压电力传感器。可用振动校准装置完成对它的灵敏度频率响应及线性的校准。本文重点是说明实验方法，并给出实验数据。     

机器人力/位并环混合运动学分析研究

提出用大系统理论进行复杂的机器人力控制研究,介绍了与之相应的智能力／位并环控制新策略,针对力控制中未知环境约束运动的特点,详述了力控制大系统智能新策略中核心：根据腕力传感器输出的三维力,考虑摩擦力的影响,推导了动态求解机器人终端与环境接触点的法向--力控方向和切向--位控方向的公式,从而建立了基于力反馈的运动学模型,有效解决了长期遗留的未知环境约束运动中的难题。     

动态力校准技术评述

动态力校准技术应用日益广泛,其测量结果的精度要求越来越高,因此对动态力校准技术的研究具有十分重要的意义。本文简单介绍了实际工程中动态力校准技术的应用与需求,指出了动态力校准技术研究的重要性,总结了目前动态力校准的主要体系,并对各种动态力校准方法的原理、主要特点以及校准装置进行了分类介绍。     

具有动态领导者的多智能体系统分组一致性控制

对一类具有动态领导者的非线性多智能体系统的一致性进行研究，解决了领导-跟随一致性控制问题。首先，考虑到多目标任务中广泛存在的合作-竞争机制和领导者的控制输入非零的情况，基于邻居智能体的相对状态信息，设计了一类分布式的分组一致性控制器。通过在所设计的控制器中增加补偿项，解决了由领导者非零控制输入引出的问题。引入了一类Lipschitz-like条件，解决了非线性项在实现分组一致时所带来的困难。其次，利用图论和构造Lyapunov函数，通过求解代数Riccati方程得出了系统实现分组一致性的充分条件，并基于所设计的控制器实现了多智能体系统动态领导-跟随的分组一致性控制。最后，通过数值仿真和结果分析验证了所提出控制方案的有效性和可行性。     

某型涡扇发动机半实物仿真控制系统

运用最小二乘法建立了某型涡寓发动机的动态数学模型，并利用相似原理把它推广到全飞行包线范围。动态数学模型在仿真计算机上运行，通过输人输出接口与控制器、执行机构实物进行连接，组成基于VXI总线技术的涡扇发动机控制系统半实物仿真系统。对涡扇发动机实际工作过程的半实物仿真结果表明，系统能实时地反映在控制系统作用下发动机的运行情况．为发动机全权限数字电子控制（FADEC）系统研究提供了良好的试验手段。     

An Experimental Determination of Distortion and Delay in the FM-FM Telemetry System of the Saturn Space Vehicle

The distortion of the FM-FM Saturn telemetry system for dc input (static error) has been the subject of many studies. The purpose of this correspondence is to measure the additional distortion (dynamic error) that results when the input signal is time-varying. A digital method is developed for measuring both the system delay and the system mean square error for various input signals.     

应用于航空变频电源系统的新型串沥混合有源滤波器

 目前变频交流(AC)电源系统开始逐渐应用到新型多电飞机(MEA)中,传统有源滤波器无法满足宽输入频率变化要求,为此需要设计一种适合于宽变频航空电源系统的有源滤波器。本文研究了一种应用于航空变频电源系统的新型串联混合有源滤波器(SHAPF),该有源滤波器直接根据基波电流进行补偿,针对各种频率输入均能起到较好的抑制谐波作用。讨论了这种新型SHAPF的变频谐波抑制原理,给出了该滤波器的控制系统详细设计过程,包括基于双数字信号处理器（DSP）的控制平台设计和逐点动态检测基波电流的算法设计,最后进行了样机实验,对比了加入滤波器前后系统输入电流实验波形和谐波分析,加入滤波器后系统输入电流总谐波失真度（THD）由174.00%变化至4.80%,滤波效果良好;在360 Hz,400 Hz和720 Hz不同输入频率进行了滤波实验,验证系统在宽变频输入条件下均具有良好控制性能,满足航空变频输入时输入功率因数校正要求。     

Excitation control of a synchronous generator using a lookup table

A scheme involving the use of a lookup table is developed for the excitation control of a synchronous generator. The proposed control scheme, generator speed deviation, and acceleration deviation are taken as the input signals. These input signals are sampled and converted to linguistic terms before they are fed into the controller. The controller generates the desired output (control) signal by using a set of production rules (if-then rules) that are based on previous experience to relate the input signals to the output. The output signal is converted from linguistic terms to a numerical value before it is sent to the excitation system of the synchronous machine. To demonstrate the effectiveness of the proposed control scheme, digital simulations of a synchronous generator subject to a three-phase fault under different operating conditions were performed. It was found that the controller can improve the dynamic performance of a synchronous generator over a wide range of operating conditions. Since the controller does not require model identification, it is computationally efficient and is suitable for online excitation control, using a microcomputer     

液体冲压发动机控制系统半实物仿真

运用小偏离线性化理论和Willoh方法，建立了液体冲压发动机和弹体动态数学模型。动态数学模型在微型计算上一体化运行，形成液体冲压发动机／弹体一体化实时数字仿真器。实时数字仿真器通过输入输出接口与液体冲压发动机的实际控制系统进行联接，组成液体冲压发动机、弹性和发动机控制系统半实物仿真系统。对冲压发动机飞行马赫数和控制 系统供油量的半实物仿真结果表明，系统能满足研制工作的需要。     

Data-driven model-free adaptive attitude control of partially constrained combined spacecraft with external disturbances and input saturation

This study presents an improved data-driven Model-Free Adaptive Control(MFAC)strategy for attitude stabilization of a partially constrained combined spacecraft with external disturbances and input saturation. First, a novel dynamic linearization data model for the partially constrained combined spacecraft with external disturbances is established. The generalized disturbances composed of external disturbances and dynamic linearization errors are then reconstructed by a Discrete Extended State Observer(DESO). With the dynamic linearization data model and reconstructed information, a DESO-MFAC strategy for the combined spacecraft is proposed based only on input and output data. Next, the input saturation is overcome by introducing an antiwindup compensator. Finally, numerical simulations are carried out to demonstrate the effectiveness and feasibility of the proposed controller when the dynamic properties of the partially constrained combined spacecraft are completely unknown.     

Transition characteristics for a small tail-sitter unmanned aerial vehicle

Research on the transition phase of tail-sitter Unmanned Aerial Vehicles (UAVs) is crucial for trajectory planning and performance analysis. This study focuses on the analysis of the transition characteristics and path of a small dual-rotor tail-sitter UAV, including static and dynamic computations. The system input time delay and actuator dynamics are specifically considered during the dynamic analysis, and these actual physical properties ensure that the computation results are reliable and reasonable. The UAV steady-state limit is obtained through static analysis, which is also adopted to verify the correctness of the dynamic results. In regard to the dynamic analysis, several typical transition approaches are computed based on different initial states and optimization objective functions, and the different computations are applicable under specific task conditions. The off-line dynamic results of the transition path and actuator output sequence could also be adopted as reference values for the transition process during real flight. A comparison of the static and dynamic results illustrates the necessity of combining these two methods for UAV transition characteristic analysis. Furthermore, the UAV conceptual parameters related to the transition path are also studied, and the obtained quantitative characteristics provide feedback for the UAV conceptual design.     

Calibration method of quartz accelerometer on dynamic centrifuge

This paper proposes a novel method for calibrating error coefficients of the quartz accelerometer faster on the dynamic centrifuge, which can generate a continuous dynamic acceleration excitation. Firstly, working principle and structure of the dynamic centrifuge are analyzed, the error sources and the uncertainty of the dynamic centrifuge are expounded, and relevant coordinate systems are established. Then, according to the characteristics of the input specific forces and the propagating method...     

加速度计冲击特性的绝对校准方法

从描述测量系统的微分方程出发,用系统的输入输出数据辨识系统的离散传递函数,弥补在加速度计灵敏度校准中不能给出加速度计动态特性的缺陷,再应用系统的离散传递函数将加速度计输出信号恢复为一定的动态特性范围内“真实”的现场冲击加速度－时间历程。