Analysis of reaction torque-based control of a redundant free-floating space robot

Owing to the dynamics coupling between a free-floating base and a manipulator,the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator's motion.The reaction torque acted on the satellite base's centroid is an important index to measure the satellite base's disturbance.In this paper,a comprehensive analysis of the reaction torque is made,and a novel way to derive the analytical form of the reaction torque is proposed.In addition,the reaction torque null-space is derived,in which the manipulator's joint motion is dynamically decoupled from the motion of the satellite base,and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space.Furthermore,the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task.Besides,supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control,the reaction torque can be used to realize satellite base attitude control,that is,base attitude adjustment or maintenance.Moreover,because reaction torque-based control is a second-order control scheme,joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control.A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas.Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.     

Structural Design and Control Strategy Analysis of Micro/Nano Transmission Platform

A fully flexure micro/nano transmission platform(MNTP)which has five degrees of freedom is designed on the basis of bridge type amplification mechanism.According to the kinematic theory and the elastic beam theory,the theoretical output displacement equation of the platform is derived,and then piezoelectric actuator(PZT)is calibrated.Meanwhile,a full closed-loop control strategy of the platform is established using the feedforward proportional-integral-derivative(PID)compound control algorithm based on the Preisach model.Moreover,the total transfer function of the micro positioning system is derived,and the calculation method of output signal is acquired.Finally,the theoretical output displacement is verified by finite element analysis(FEA)and positioning experiments.     

民用飞机试飞规划与管理软件和飞行试验协同平台的接口研究与实现

针对试飞资源复杂多样的特点,阐述了在民用飞机试飞规划与管理软件和飞行试验协同平台间建立接口交联的必要。飞行试验协同平台接口应用计算机技术,借助民用飞机试飞规划与管理软件前端试验信息处理和管理功能,依托试飞任务单和试飞试验点,实现民用飞机试飞规划与管理软件对飞行试验协同平台试飞数据的读取和调用。经应用分析,通过开发接口能便捷地获取完整、准确的试飞数据,降低试飞成本,减少试飞工作量,提高试飞效率,有助于型号试飞工作的更顺利进行。     

基于预测控制的导弹俯仰通道制导控制一体化设计

考虑制导和控制之间固有的时间尺度差异,提出基于预测控制设计制导控制一体化策略,通过对动态调节过程的合理预测,更加真实的反应控制量对系统状态的影响。利用连续时间非线性预测控制,以输出跟踪误差和控制能量的组合为性能指标,在线滚动优化得到控制指令,分析了控制律的参数选取,最后通过数值仿真验证了制导控制一体化策略的有效性。     

风力机翼型的多学科设计优化

为了解决优化计算和流场分析耦合求解的难题,并实现优化流程的自动化运行,采用多学科优化设计框架软件,针对风力机专用翼型运行工况,对低雷诺数航空翼型NACA 4412的气动性能进行优化设计。软件集成了翼型生成、网格划分、流场分析、优化计算4个模块。其中,流场计算采用N-S方程求解;优化方法为多岛遗传算法。优化结果表明,优化后翼型有较高的升力系数和相对大的升阻比,其升阻比提高了15.9%。该方法可以实现多学科领域的精确分析和整个优化循环过程的自动化运行,也能为其他气动外形的优化设计提供参考。     

一种惯组外场标定振动干扰的分离方法

惯组在外场进行标定时常会受到地基振动的干扰,这种干扰会对惯组的测试精度造成极大的影响.为解决这一问题,根据工程实际需要,提出了一种基于经验模态分解和数字信号滤波技术相结合的惯组输出振动干扰分离方法.首先利用经验模态分解将受振动干扰的惯组输出分解成若干本征模态分量,然后采用低通滤波器对高频分量进行滤波,对低频分量相应区段做幅值修正,最后将处理过的各分量叠加,即重构出消除振动干扰的信号.相对于传统的剔除野值后的平滑滤波方法,新方法保证了数据信息的完整性,有效降低了振动干扰的不利影响,提高数据信息的可靠性和真实性.仿真实验和工程实践表明,该方法对外场的瞬时振动干扰有较强地分离能力.     

凸曲面的离散求交算法及其在飞机设计上的应用

构建精确的目标外形是飞机设计的必要条件。本文给出了凸曲面离散求交的算法，在飞机设计中采用此方法，能够得到机身机翼交线的准确位置。     

基于修正角模型的平显工作状态仿真研究

研究了在某型平显仿真训练器中实现平显工作状态仿真的方法。首先介绍了平显工作画面,分析了瞄准环及其构成修正角的原理;然后通过对工作式和各相关参数的计算,建立了平显的瞄准环及其修正角的模型,并给出了计算瞄准环环心位置和直径的基本关系式;最后讨论了用VisualC++编程实现平显工作画面中公共符号和瞄准环仿真的方法。通过建立修正角模型,可使实现的平显仿真工作画面在外观上和操作特性上与实际平显工作状态一致。