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Yuanyuan Jiao Haiyin Zhou Jiongqi Wang Jisheng Li 《Aerospace Science and Technology》2012,16(1):61-69
Multiplicative Extended Kalman Filter (MEKF) is one of the most widely used satellite attitude estimation methods. However, the linearization error?s influence is an inherent limitation of this method. In this paper, we aim to analyze this linearization error in the typical satellite attitude determination system with star sensors and gyros. The formulation of linearization error is first derived and the curvature metric is then employed to measure the linearization error. Additionally, we show the reason why linearization error has influence on the performance of MEKF. Based on these analyses, we point out that star sensors? sampling frequency, initial estimated error and accuracy of gyro?s measurement model are the factors that could enlarge the system model?s linearization error. They all affect the linearization error and attitude determination accuracy by decreasing the predicted accuracy. More concretely, the influence of star sensor?s sampling frequency is large, while initial estimated error and gyro?s measurement error within a certain range have little influence on MEKF. Finally, combined with plenty of experiments, validity of the above analyses is verified. 相似文献
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针对提出的直接驱动液压伺服泵新原理,设计了一种短行程永磁直流直线振荡电机,阐述了基于最小磁阻理论的电机工作原理,采用一种哈尔巴赫磁极阵列空心动子设计结构,用于提高电机动态响应能力,并利于谐振弹簧的安装.利用Matlab/Simulink建立了电机的集中参数数学模型并给出传递函数,通过正弦电压扫频激励,获取了电机空载下的电流频率特性以及恒定负载下的效率频率特性.基于电机模型设计了电流环与位置环双闭环控制结构,用于提高电流的频响与位置跟踪能力.最后对设计的电机进行了空载谐振与闭环动态实验研究,实验与分析仿真结果基本吻合,验证了电机模型与闭环控制结构的有效性. 相似文献
146.
200m自由飞弹道靶升级改造 总被引:2,自引:0,他引:2
200m自由飞弹道靶是国内唯一一座具备开展气动力、气动物理、材料抗粒子云侵蚀及超高速碰撞等地面试验研究的综合性弹道靶设备。为满足高超声速飞行器发展的进一步需求,2009年起气动中心对200m 自由飞弹道靶进行了升级改造,升级设备包括发射器系统、靶室/真空系统、测控系统、模型姿态测量系统等。改造后的发射器系统将新增203mm和120mm口径二级轻气炮,具备0.5~30kg模型发射速度0.3~5km/s 的发射能力;靶室由原来的Ф1.5m洞体升级至Ф3m洞体,同时配备新的真空设备,实现0~80km高度模拟;测控系统将扩大测试视场以满足大模型测控需要;模型姿态测量系统除阴/纹影照相系统外,还将新增双目前光成像定位系统、脉冲X射线成像测量系统等测试设备。改造后的200m自由飞弹道靶将成为大中小口径发射器配套齐全,兼具气动力特性、材料抗粒子云侵蚀、高速/超高速碰撞等试验能力的综合性弹道靶设备。 相似文献
147.
Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach 总被引:1,自引:1,他引:0
Low-velocity tracking capability is a key performance of flight motion simulator (FMS), which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy. 相似文献
148.
A direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet (PM) Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization (PSO) method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis (FEA). A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems. 相似文献
149.
针对2A14、2219、2195、2A97、1460铝合金,通过焊接热模拟试验、焊接裂纹敏感性试验和拉伸试验,建立了材料脆性温度区间大小和焊接性的关系及焊丝主成分和焊接性的关系。结果表明,试验合金焊接性从好到差的排列顺序为2219、2A14、1460、2195、2A97。其中2A14、2219铝合金现用焊丝可以满足推进剂贮箱用铝合金焊接性要求。脆性温度区间较小时,焊接性良好,随脆性温度区间增加,焊接性变差;采用满足主成分含量之和为6%的焊丝焊接时,若抗裂性满足要求,则接头延伸率满足要求。 相似文献
150.
农村发展问题事关经济社会的统筹协调发展,新世纪以来中央对此问题高度重视,连续下发十个"一号文件",成为指导农村改革与发展的指导性方针政策。文件基本制定了"工业反哺农村、城市支持农村"和"多予、少取、放活"的基本方针。提出加快建立"以工促农,以城带乡"的长效机制。若想实现本世纪中叶的目标,必须加大对农村的改革力度,努力创新体制机制,加快统筹城乡发展的步伐,为实现小康社会提供保障和源泉。 相似文献