组合航天器转动惯量在轨两步辨识标定

在轨辨识转动惯量参数是主动航天器与非合作空间目标构成组合体后实现高精度姿态控制的重要前提,文章提出了一种两步在轨辨识组合航天器转动惯量参数的方法。第一步以航天器本体坐标系滚动轴转动惯量为基准将转动惯量矩阵归一化,得到特殊的转动惯量比矩阵,建立与其相关的姿态动力学模型,提出了基于扩展卡尔曼滤波的在轨辨识算法,基于星上陀螺角速率测量信息在100s左右辨识出所有转动惯量比参数,克服了由于模型简单导致转动惯量信息辨识不完整的缺点;第二步基于第一步辨识得到的转动惯量比参数,采用最小二乘算法辨识得到滚动轴转动惯量值,计算量小,消耗能量少。最后给出仿真算例,辨识精度基本在1|之内,验证了方法的有效性。     

月尘环境效应及地面模拟技术

介绍了月球尘的特点及其对探月活动的影响。在分析月球尘环境及其对月面探测器污染、磨损、阻塞、静电效应的基础上,对月球尘环境模拟技术、月球尘扬尘及其运动学和动力学规律、月球尘效应防护及试验评价方法等研究方向和重点提出了一些初步看法。针对研究内容的需求,梳理出一台完整的月球尘地面模拟试验设备应具备真空、温度、太阳风、太阳紫外、月球尘、月面电场、月面磁场等环境因素。在此基础上,设计了一种月球尘地面模拟试验装置方案,并对月球尘环境效应试验方法进行了初步讨论。为月球探测后期任务条件保障建设及相关研究工作提供参考。     

绳驱动拟人臂机器人的动力学建模及张力分析

与传统的机械臂相比,绳驱动拟人臂机器人采用串并混联的结构形式,模拟了人手臂肌肉的并联驱动方式,但是,绳索的引入也增加了动力学分析的难度.将绳驱动拟人臂机器人视为基座、大臂、小臂和末端四连杆串联机构,采用迭代牛顿-欧拉法建立动力学方程的递推形式,考虑绳驱动的冗余特性和绳索的单方向受力性,提出基于动态最小预紧力的张力分配算法,求解出各绳索的驱动力.与未进行张力分配的方法及基于静态最小预紧力的方法相比,所提出的算法可使各绳索驱动力根据动态最小预紧力进行实时调节,满足了不同工作条件下机构的刚度要求.     

气动发动机输出扭矩无因次分析

针对气动发动机的工作过程,利用能量方程、气体状态方程、连续性方程及运动过程方程建立气动发动机的非线性微分方程组.选取合适的基准量,对所建立的微分方程组进行无因次化,得到无因次化的数学模型.利用MATLAB/Simulink仿真工具,对无因次数学模型进行研究,得到各无因次量对气动发动机输出扭矩的影响.从仿真结果可以看出,气动发动机的无因次转速、进气门面积比例因子、排气门面积比例因子以及进气持续角度对气动发动机的无因次输出扭矩影响较大.当发动机转速升高扭矩急剧下降时,可以通过调整进气门面积比例因子、排气门面积比例因子以及进气持续角度使输出扭矩恒定.     

非接触检测大螺纹件的可行性

针对科研生产中大螺纹件检测费时费力、检测准确度不高的实际情况,提出以激光位移传感器作为非接触扫描测头,配以三坐标架框架及转台等附件,组建非接触检测大螺纹件的检测校准装置的方案。通过扫描螺纹牙型的实际轮廓,计算螺纹的综合参数,并与标准螺纹数据比对,判定螺纹的合格与否。同时,验证了该方法的可行性。     

Spatial variation of the supersonic thermal plasma flow downstream of the termination shock

In this paper we start from the most recently observed fact that the solar wind plasma after passage over the termination shock is still supersonic with a Mach number of about 2. To explain this unexpected phenomenon and to predict the evolution of properties of the downstream plasma flow we here consider a two-fluid proton plasma with pick-up protons as a separate suprathermal, second proton fluid. We then formulate a self-consistent system of hydrodynamical conservation equations coupling the two fluids by dynamical and thermodynamical coupling terms and taking into account the effects of newly incorporated protons due to charge exchange with the H-atoms in the heliosheath. This then allows us to predict that in the most probable case the solar wind protons will become subsonic over a distance of about 30 AU downstream of the shock. As we can also show, it may, however, happen that the plasma mixture later again reconverts to a supersonic signature and has to undergo a second shock before meeting the heliopause.     

基于支持度的MEMS陀螺信息融合方法

为了解决微机械电子系统(MEMS, micro electronic mechanical system) 惯性器件测量准确度低、噪声大、长时间单独使用导航误差积累大等缺点,提出了一种MEMS陀螺阵列结构设计,在完成微型惯性测量单元(MIMU, micro inertial measurement unit)的标定后,采用基于支持度的信息融合方法对陀螺阵列输出进行信息融合。试验结果表明：该结构设计和信息融合方法能够有效的提高MIMU的测量准确度,具有一定的工程应用价值。     

Relative amplitude of the total electron content variations depending on geomagnetic activity

We developed a method of estimation of a relative amplitude dI/I of the total electron content (TEC) variations in the ionosphere as deduced from the data of the global GPS receivers network. To obtain statistically significant results we picked out three latitudinal belts provided in the Internet by the maximum number of GPS sites. They are high-latitudinal belt (50–80°N, 200–300°E; 59 sites), mid latitude belt (20–50°N, 200–300°E; 817 sites), and equatorial belt (±20°N, 0–360°E; 76 sites). The results of the analysis of the diurnal and latitudinal dependencies of dI/I and dI/I distribution probability for 52 days with different levels of geomagnetic activity are presented. It was found that on average the relative amplitude of the TEC variations varies within the range 0–10% proportionally to the value of the K_p geomagnetic index. In quiet conditions the relative amplitude dI/I of the TEC variations at night significantly exceeds the daytime relative amplitude. At high levels of magnetic field disturbances, the geomagnetic control of the amplitude of TEC variations at high and middle latitudes is much more significant than the regular diurnal variations. At the equatorial belt, on average, the amplitude of TEC variations in quiet and disturbed periods almost does not differ. The obtained results may be useful for development of the theory of ionospheric irregularities.     

Influence of the 27-day solar flux variations on the ionosphere parameters measured at Irkutsk in 2003–2005

We present an investigation of the influence of the 27-day solar flux variations, caused by solar rotation, on the ionosphere parameters such as the F2 layer critical frequency (foF2) and the total electron content (TEC). Our observational data were obtained with the Irkutsk Digisonde (DPS-4) located at 52.3 North and 104.3 East during the period from 2003 to 2005. In addition, we use TEC data from the Global Ionosphere Maps (GIM) based on Global Positioning System (GPS) satellites. The solar radiation flux at a wavelength of 10.7 cm (F10.7 index) is used as an index characterizing the solar activity level. A good correlation between observed ionosphere parameters and solar activity variations is found especially in autumn-to-winter season. We estimate the impact of the 27-day solar flux variations on the day-to-day variability and determine the time delay of the ionosphere response.