基于Petri网的机器人导航系统性能分析

智能机器人的导航系统中存在着多个环节及并发流程,需要对导航系统中是否存在死锁进行检测.基于该导航系统的Petri网模型,采用Petri网死锁检测算法,判定机器人导航系统Petri网中不存在叶节点,即无死锁标识,也不存在死变迁,且不存在广义标识.并判定从任一可达标识均可到达初始标识.     

基于SCSO-BP神经网络的卫星姿态控制系统故障预测

近年来,随着人工智能的迅速发展,基于人工神经网络的卫星姿态控制系统故障预测方法得到了越来越多的重视。在反向传播(Back Propagation ,BP)神经网络中,权重和偏置是重要的可调节参数,与神经网络的预测性能密切相关。BP神经网络的初始权重和偏置为随机生成,设置不当容易导致网络在训练过程中陷入局部极值,进而影响预测性能。为了提高BP神经网络的预测性能,提出了一种将沙猫群优化(Sand Cat Swarm Optimization ,SCSO)算法与BP神经网络相结合的预测方法。在训练过程中,首先通过SCSO 算法对BP神经网络权重和偏置进行预训练,在此基础上,利用精调后的BP神经网络对卫星姿态控制系统周期渐变故障数据的未来趋势进行预测。实验结果表明,与原始BP神经网络预测方法相比,SCSO-BP预测方法能够有效减小预测误差,具有更好的预测精度。     

空间机械臂智能规划与控制技术

随着空间探索的不断深入,人类从认识空间环境逐渐转向开发和利用空间资源,空间机械臂因其运动范围广、操作能力强等特点被广泛应用于空间探索活动。复杂的太空环境以及繁重的空间操控任务对空间机械臂的自主性与智能性提出了越来越高的要求。本文在概述空间机械臂的发展现状及其关键技术的基础上,对空间机械臂智能规划与控制技术展开综述,重点阐述国内外学者在空间机械臂任务规划、运动规划以及运动控制等方面中取得的研究成果,进而展望了后续空间机械臂规划与控制的发展方向。     

Closed form algorithm of double-satellite TDOA+AOA localization based on WGS-84 model

In this paper, we consider the double-satellite localization under the earth ellipsoid model of the Wideband Geodetic System(WGS-84) using the Time Difference of Arrival(TDOA)and the Angle-of-Arrival(AOA).Several closed-form solution algorithms via the pseudolinearization of the measurement equations are presented to efficiently estimate the location.These algorithms include the Weighted Least Squares(WLS), the Constrained Total Least Squares(CTLS), and the Taylor-Series Iteration(TSI).Performance comparison of the proposed methods with the Cramér-Rao Lower Bound(CRLB) in the simulation is shown to demonstrate that the proposed algorithms are feasible and have stable performance.     

SiP陶瓷芯片水汽含量控制工艺方法研究

结合宇航级陶瓷封装芯片的特点和水汽控制要求,对SiP陶瓷封装工艺进行了研究,分析了陶瓷封装过程中产生水汽的各个因素,优化了封装生产工艺流程,增加了预烘转运过程下厂监制,保证了转运时间的工艺过程管控,通过试验验证了管控措施的有效性。     

Robust LPV modeling and control of aircraft flying through wind disturbance

This article deals with the disturbance attenuation control of aircraft flying through wind shear via Linear Parameter Varying(LPV) modeling and control method. A Flight Dynamics Model(FDM) with wind shear effects considered was established in wind coordinate system. An LPV FDM was built up based on function substitution whose decomposing function was optimized by Genetic Algorithm(GA). The wind disturbance was explicitly included in the system matrix of LPV FDM. Taking wind disturbance as external uncertainties, robust LPV control method with the LPV FDM was put forward. Based on ride quality and flight safety requirements in wind disturbance, longitudinal and lateral output feedback robust LPV controllers were designed respectively,in which the scheduling flight states in LPV model were actually dependent parameters in LPV control. The results indicate that LPV FDM can reflect the instantaneous dynamics of nonlinear system especially at the boundary of aerodynamic envelope. Furthermore, the LPV FDM also can approach nonlinear FDM's response in wind disturbance special flight. Compared with a parameter-invariant LQR controller designed with a small-disturbance FDM, the LPV controllers show preferable robustness and stability for disturbance attenuation.     

直升机的机组配合问题

良好的机组配合可以有效提高飞行的安全性。首先通过国外军用直升机发生的一些典型事故，分析了不良机组配合的具体表现，然后指出机组配合对于军用直升机的重要性。最后，借鉴国内外的有效经验，对机组如何进行良好配合并提高安全性提出了一些建议。     

Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

Electrohydrostatic actuator (EHA) is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC) for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test.     

Brazing of C/C composite and Ti-6Al-4V with graphene strengthened AgCuTi filler: Effects of graphene on wettability,microstructure and mechanical properties

Graphene nanosheets(GNSs) strengthened AgCuTi composite filler(AgCuTi_G) was used to braze C/C composite and Ti-6Al-4V. The effects of GNSs on the wettability of AgCuTi_G filler on the C/C composite surface and the interfacial microstructure and mechanical properties of brazed joints were investigated. The results indicate that the addition of GNSs reduced the wettability of AgCuTi_G. The interfacial microstructure of brazed joints evolved with the addition of GNSs, where Ti_3Cu_4 and TiCu_4 were converted to TiCu and the thickness of the reaction layer adjacent to the base material decreased. The maximum shear strength of joints brazed at 0.3 wt% GNSs was 23.3 MPa(880℃/10 min). Further adding GNSs deteriorated the shear strength of the joints. Fracture of the joints occurred in the C/C composite substrate and the TiC layer adjacent to C/C composite.     

An intelligent algorithm for coherent sound source localization based on a strong tracking filter

Background noise is inevitable when sensor arrays are used for aeroacoustic measurements in wind tunnels. The direct removal of background noise, however, would affect the measurement accuracy. In particular, the existing array signal processing algorithms are either invalid or inefficient for removing the noise that is coherent with the signal of interest. In this paper, an intelligent algorithm is developed to localize the coherent sound sources and background noise in real time by iteratively checking the collected data from the array. The proposed method can automatically adjust the suboptimal fading factor to extract useful information as much as possible in residual sequence. This algorithm is tested in simulations and then demonstrated in an experiment.Compared to the two existing methods, the results indicate that the new method has a good phase-shift tracking ability and rapid estimation-error convergence speed, and can achieve an acceptable performance even for low-cost acoustic sensors. Overall, the proposed method should assist array beamforming and hence benefit aeroacoustic measurement.