冗余度机器人力控制的运动学稳定性分析

把非冗余度机器人位置／力混合控制方案引入到冗余度机器人，用线性化的动力学模型对其运动学稳定性进行分析，提出一种改进的基于运动学稳定的冗余度机器人混合控制策略。仿真研究结果证明了所提出方法的有效性。     

单片机控制无刷直流电动机速度伺服系统

介绍了一种稀土永磁无刷直流方波电动机速度伺服系统，该系统以８０９８单片机为核心，外加ＧＡＬ芯片构成控制器，主回路开关器件采用ＩＧＢＴ，用ＥＸＢ８４０驱动，组成功率变换电路，实现了ＰＷＭ波单极半调制方式的电机伺服控制。     

卫星通信的产业化

回顾了中国发展卫星通信的简要历史，介绍了中国卫星通信的现状和作用。在调查国内用户需求的基础上，预测了１９８８－２００２年国内用户对卫星通信转发器需要的数量。     

亚、超音速机翼非定常广义气动力系数之间的关系

 <正> 研究弹性飞机的动力学特性应计及非定常广义气动力。为了尽可能保留非定常运动历程,应首先计算由阶跃函数形式下洗产生的非定常气动力函数(指示函数或指数函数),再利用卷积形式的迭加原理处理任意函数形式下洗产生的非定常气动力。用振型法建立飞机弹性运动方程,可将飞机上任一质点的弹性位移近似地表示为     

Low-latitude storm time ionospheric predictions using support vector machines

The electromagnetic drift plays an important role in low-latitude storm time ionospheric dynamics. In this study we attempt to utilize the electric field data into ionospheric predictions by using support vector machine (SVM), a promising algorithm for small-sample nonlinear regressions. Taking the disturbance electric field data as input, different SVMs have been trained for three seasonal bins at two stations near the north crest of the Equatorial Ionization Anomaly (EIA). Eighteen storm events are used to check out their predicting abilities. The results show fairly good agreement between the predictions and observations. Compared with STORM, a widely used empirical correlation model, the SVM method brings a relative improvement of 23% for these testing events. Based on this study we argue that the SVM method can improve the storm time ionospheric predictions.     

平面近场测试中误差的分析

首先介绍了暗室中主要的误差项,然后通过实际测试的方式,分析了其中四项误差对超低副瓣天线-50dB副瓣的不确定度.结果对超低副瓣天线副瓣的误差分析有一定的参考意义,有助于天线设计师了解超低副瓣天线测试中误差项对副瓣的影响量级.     

Evaluation and improvement of coastal GNSS reflectometry sea level variations from existing GNSS stations in Taiwan

Global sea level rise due to an increasingly warmer climate has begun to induce hazards, adversely affecting the lives and properties of people residing in low-lying coastal regions and islands. Therefore, it is important to monitor and understand variations in coastal sea level covering offshore regions. Signal-to-noise ratio (SNR) data of Global Navigation Satellite System (GNSS) have been successfully used to robustly derive sea level heights (SLHs). In Taiwan, there are a number of continuously operating GNSS stations, not originally installed for sea level monitoring. They were established in harbors or near coastal regions for monitoring land motion. This study utilizes existing SNR data from three GNSS stations (Kaohsiung, Suao, and TaiCOAST) in Taiwan to compute SLHs with two methods, namely, Lomb–Scargle Periodogram (LSP)-only, and LSP aided with tidal harmonic analysis developed in this study. The results of both methods are compared with co-located or nearby tide gauge records. Due to the poor quality of SNR data, the worst accuracy of SLHs derived from traditional LSP-only method exceeds 1?m at the TaiCOAST station. With our procedure, the standard deviations (STDs) of difference between GNSS-derived SLHs and tide gauge records in Kaohsiung and Suao stations decreased to 10?cm and the results show excellent agreement with tide gauge derived relative sea level records, with STD of differences of 7?cm and correlation coefficient of 0.96. In addition, the absolute GNSS-R sea level trend in Kaohsiung during 2006–2011 agrees well with that derived from satellite altimetry. We conclude that the coastal GNSS stations in Taiwan have the potential of monitoring absolute coastal sea level change accurately when our proposed methodology is used.     

Drag Reducing and Increasing Mechanism on Triangular Riblet Surface

Drag reducing and increasing mechanism on riblet surface has been studied through computational fluid dynamics(CFD).Drag reduction is achieved through the optimization of riblet geometry which would affect flow structure inside riblet grooves.Force and flow structure on riblet surface are analyzed and compared with those of smooth surface based on the k-εturbulence model.Drag reducing and increasing mechanism is proved to be related to microvortexes induced inside riblets which lead to Reynolds shear stress reduction significantly and is considered to be the dominant factor resulting in wall friction reduction.Simulation results also show that the pressure drag generating from the deviation of static pressure on the front and rear ends of riblets occurs and grows exponentially with Mach number,which can cause drag increasing.Furthermore,near-wall vortical structures,Reynolds shear stress and static pressure on riblet surfaces are also analyzed in detail.     

在实时嵌入式环境下利用电子盘实现大容量数据记录的软件设计研究

嵌入式环境和实时操作系统目前广泛应用于航空领域。本文在介绍嵌入式系统的基础上,重点对实时多任务环境下大容量数据记录的实现方式进行了研究和利用,最后展望了电子盘实时多任务系统中记录大容量数据的前景。     

An Improved Nonlinear Dynamic Inversion Method for Altitude and Attitude Control of Nano Quad-Rotors under Persistent Uncertainties

Nonlinear dynamic inversion(NDI)has been applied to the control law design of quad-rotors mainly thanks to its good robustness and simplicity of parameter tuning.However,the weakness of relying on accurate model greatly restrains its application on quad-rotors,especially nano quad-rotors(NQRs).NQRs are easy to be influenced by uncertainties such as model uncertainties(mainly from complicated aerodynamic interferences,strong coupling in roll-pitch-yaw channels and inaccurate aerodynamic prediction of rotors)and external uncertainties(mainly from winds or gusts),particularly persistent ones.Therefore,developing accurate model for altitude and attitude control of NQRs is difficult.To solve this problem,in this paper,an improved nonlinear dynamic inversion(INDI)method is developed,which can reject the above-mentioned uncertainties by estimating them and then counteracting in real time using linear extended state observer(LESO).Comparison with the traditional NDI(TNDI)method was carried out numerically,and the results show that,in coping with persistent uncertainties,the INDI-based method presents significant superiority.