Reliable flight performance assessment of multirotor based on interacting multiple model particle filter and health degree

Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings. Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter (IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System (SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.     

计算机辅助的低空风切变改出优化控制

介绍了动态系统的计算机辅助直接优化方法的原理及其在低空风切变改出飞行中的应用，利用较真实的风切变工程化模型，选择适当的控制函数模型，性能准则及其约束条件，通过计算机直接地，系统地和迭代地探寻最优条件，对飞机改出低空风切变控制进行了优化，获得了最佳改出性能飞行参数曲线，并与没有优化的改出引导策略结果作了比较，结果表明，通过优化，飞机改出低空风切变的性能获得了明显的改善。     

现代远程教育的媒体素材构建方法

本文阐述了媒体素材的采集及处理方法 ,对现代远程教育工程建设可提供有效的帮助     

固体燃料ATR涡轮/压气机匹配方法研究

为了获得固体燃料空气涡轮火箭发动机(SP-ATR)中涡轮和压气机的匹配工作特性,建立了涡轮和压气机的工作特性模型,根据SP-ATR转速、功率和背压平衡的工作特点,分别基于涡轮和压气机的工作环境先后采用两种不同的方法完成了二者的匹配。对比两种匹配方法得出结论:(1)基于涡轮的匹配方法与转速稳定过程一致,可确定特定飞行环境中发动机的转速;(2)基于压气机的匹配方法需要条件更少、适用范围更广,可用于特定转速调控方案下驱涡燃气流量的确定。两种匹配方法的计算结果相对Ax STREAM仿真结果的最大误差为10.75%,两种匹配方法的计算结果相差不超过8%。将建立的匹配方法应用于HARM弹自主爬升飞行过程,得到SP-ATR驱涡燃气流量的定量调控规律。     

Determination of optimal samples for robot calibration based on error similarity

Industrial robots are used for automatic drilling and riveting.The absolute position accuracy of an industrial robot is one of the key performance indexes in aircraft assembly,and can be improved through error compensation to meet aircraft assembly requirements.The achievable accuracy and the difficulty of accuracy compensation implementation are closely related to the choice of sampling points.Therefore,based on the error similarity error compensation method,a method for choosing sampling points on a uniform grid is proposed.A simulation is conducted to analyze the influence of the sample point locations on error compensation.In addition,the grid steps of the sampling points are optimized using a statistical analysis method.The method is used to generate grids and optimize the grid steps of a Kuka KR-210 robot.The experimental results show that the method for planning sampling data can be used to effectively optimize the sampling grid.After error compensation,the position accuracy of the robot meets the position accuracy requirements.     

Aerodynamic optimization design for high pressure turbines based on the adjoint approach

A first study on the continuous adjoint formulation for aerodynamic optimization design of high pressure turbines based on S2surface governed by the Euler equations with source terms is presented.The objective function is defined as an integral function along the boundaries,and the adjoint equations and the boundary conditions are derived by introducing the adjoint variable vectors.The gradient expression of the objective function then includes only the terms related to physical shape variations.The numerical solution of the adjoint equation is conducted by a finitedifference method with the Jameson spatial scheme employing the first and the third order dissipative fluxes.A gradient-based aerodynamic optimization system is established by integrating the blade stagger angles,the stacking lines and the passage perturbation parameterization with the quasi-Newton method of Broyden–Fletcher–Goldfarb–Shanno(BFGS).The application of the continuous adjoint method is validated through a single stage high pressure turbine optimization case.The adiabatic efficiency increases from 0.8875 to 0.8931,whilst the mass flow rate and the pressure ratio remain almost unchanged.The optimization design is shown to reduce the passage vortex loss as well as the mixing loss due to the cooling air injection.     

萤火一号火星探测器星星掩星接收机设计实现

对萤火一号(YH-1)火星探测器星星掩星接收机设计实现进行了研究.给出星星掩星探测原理和设计的掩星接收机.性能和地面仿真测试结果表明:掩星接收机各项性能指标优良,灵敏度高,满足中俄联合火星电离层无线电掩星观测试验高精度的探测需求.     

固体燃料空气涡轮火箭发动机工作模式

根据SP-ATR目前存在的燃气难以兼顾清洁和富燃的问题,文章提出将原本由1股燃气单独承担驱动涡轮和补燃功能的工作模式分解为由2股燃气分别担负驱涡和补燃功能的工作模式。通过对比分析该工作模式的SP-ATR和固冲发动机、涡喷发动机工作特点,提出了适合该形式SP-ATR的性能计算模型,得到其飞行包线,发现该SP-ATR工作包线宽广,可完全包含涡喷和固冲发动机的工作包线。在此基础上,计算得到了SP-ATR在不同空域和速度条件下的飞行性能及变化规律:(1)随飞行高度和速度的增加,其比冲、比推力增加,但性能随外弹道变化幅度较小,整个工作范围性能稳定;(2)在近地面和低空SP-ATR均可实现低空亚音速盘旋和5 km高度以上的超音速飞行,且在比冲高于6 700 N.s/kg,同时保持比推力大于1 100 N.s/kg;(3)高空SP-ATR工作高度速度范围宽,比冲性能与冲压发动机相当,比推力为冲压发动机的2倍,相同飞行速度条件下飞行高度增加比冲增加、比推力增加,具有在更高高度巡航潜力,高空性能优势明显。     

太赫兹固态电子器件和电路

随着微电子技术的飞速发展,半导体器件的截止频率已经进入到太赫兹频段,太赫兹电路的频率特性特性得到极大发展。以固态器件为基础的电路的工作频率进入到太赫兹频段。太赫兹固态电子器件与电路技术在空间领域有着重要的应用前景。文章重点介绍InP基三端太赫兹固态电子器件和电路,以及太赫兹肖特基二极管器件和电路的技术发展过程与最新动态。并指出随着器件与电路的整体化与集成化发展趋势,太赫兹单片集成技术是其未来发展方向。