Connectivity preservation and collision avoidance control for spacecraft formation flying in the presence of multiple obstacles

This paper addresses connectivity preservation and collision avoidance problem of spacecraft formation flying with multiple obstacles and parametric uncertainties under a proximity graph. In the proximity graph, each spacecraft can only get the states of the neighbor spacecraft within its sensing region. Connectivity preservation of a graph means that the connectivity of the graph should be preserved at all times during spacecraft formation flying. We consider two cases: (i) the obstacles are static, and (ii) the obstacles are dynamic. In the first case, a distributed continuous control algorithm based on artificial potential function and equivalent certainty principle is proposed to account for the unknown parameters and the static obstacles. In the second case, a sliding surface combined with a distributed adaptive control algorithm is proposed to tackle the influence of the dynamic obstacles and the unknown parameters at the same time. With the distributed control algorithms, the desired formation configuration can be achieved while the connectivity of the graph is preserved and the collisions between the spacecraft and the obstacles are avoided. Numerical simulations are presented to illustrate the theoretical results.     

超薄零件车削加工变形研究

超薄零件车削加工后存在较大的变形,严重制约了该类关键器件的广泛应用。为实现超薄零件加工变形的预测与分析,基于力学分析,建立了加工仿真系统并进行超薄零件精加工过程模拟研究。实际加工验证了所建立模型的准确性,同时基于该系统对超薄零件加工后变形进行分析,其结果对改进加工工艺和减小工件变形具有指导意义。     

冗余度柔性机器人动态响应主动控制

研究了具有压电作动器与应变传感器的冗余度柔性机器人的振动主动控制问题。建立了该离散时变动力学系统的状态空间表达式。根据离散量小值原理设计了LQR最优控制律，并提出了一种状态估计的近似方法。平面3R冗余度柔性机器人的仿真算例表明，采用这种主动控制方法可使冗余度柔性机器人的动力学特性得到显改善。     

双马来酰亚胺树脂化学流变特性研究

在粘度实验的基础上 ,根据双阿累尼乌斯方程对用于 RTM工艺的双马来酰亚胺树脂体系的化学流变特性进行了研究 ,建立了树脂体系的流变模型。通过 DSC热分析实验研究树脂体系的固化反应规律 ,验证了双阿累尼乌斯模型。研究表明 ,模型与实验结果具有良好的一致性。模型可揭示树脂体系在不同工艺条件下的粘度变化规律 ,定量预报 RTM工艺树脂的低粘度平台工艺窗口 ,为合理制定 RTM工艺参数、保证产品质量和实现工艺参数的全局优化提供必要的科学依据     

姿态运动对落舱微重力的影响研究

本文采用试验的均匀设计方法，结合对气动力矩的理论估算，利用计算机仿真，研究了姿态运动对落舱微重力水平的影响．结果表明，在落舱下落的前60s内，要想保持优于10(－3)g数量级的微重力水平，以满足一般科学实验的要求，则必须安装姿态控制系统．     

无线智能报警消防箱的设计与应用

近年来伴随流通经济的发展和人们对文化生活需求的渴望,二、三线城市小型KTV娱乐行业发展迅速.但是受该类场所的规模、装修特点、消费主体、运营模式等的制约,其消防隐患尤其是火灾疏散逃生隐患突出.文中有针对性地提出了一套能够兼容火灾自动报警系统与其共同运行实施声光报警的外部装备设计-智能报警消防箱,重点阐述了该产品的设计原理、功能特点、效果优势并列举测试案例,进一步验证该产品应用的可行性.     

计算机课程教学必须突出技能培养

随着高职两年制专业的试行,为了突出高职的技能型人才培养目标,就近几年计算机基础课的教学谈如何突出高职学生的技能培养。     

航空发动机转速传感器振动试验载荷确定及应用

航空发动机成品振动试验多数参考振动环境试验相关标准执行,没有真正意义上结合成品的振动特性与发动机实测振动环境确定振动试验载荷,导致成品内场试验潜在问题没有暴露出来,外场交付使用问题频发,严重影响发动机可靠性水平.以某型发动机转速传感器为研究对象,详细地阐述了转速传感器振动环境载荷确定的工作流程和方法,提出了基于疲劳次数的正弦振动试验方法并完成了产品的试验验证,发现了壳体裂纹、输出断路等故障,将改进后的产品进行回归验证,故障未再发生.基于实测数据制定的正弦振动试验方法,对转速传感器的结构完整性进行了验证,可为确定传感器类成品试验载荷和验证产品的可靠性水平提供新的方法.     

Symmetry,reduction and relative equilibria of a rigid body in the J2 problem

The J₂ problem is an important problem in celestial mechanics, orbital dynamics and orbital design of spacecraft, as non-spherical mass distribution of the celestial body is taken into account. In this paper, the J₂ problem is generalized to the motion of a rigid body in a J₂ gravitational field. The relative equilibria are studied by using geometric mechanics. A Poisson reduction process is carried out by means of the symmetry. Non-canonical Hamiltonian structure and equations of motion of the reduced system are obtained. The basic geometrical properties of the relative equilibria are given through some analyses on the equilibrium conditions. Then we restrict to the zeroth and second-order approximations of the gravitational potential. Under these approximations, the existence and detailed properties of the relative equilibria are investigated. The orbit–rotation coupling of the rigid body is discussed. It is found that under the second-order approximation, there exists a classical type of relative equilibria except when the rigid body is near the surface of the central body and the central body is very elongated. Another non-classical type of relative equilibria can exist when the central body is elongated enough and has a low average density. The non-classical type of relative equilibria in our paper is distinct from the non-Lagrangian relative equilibria in the spherically-simplified Full Two Body Problem, which cannot exist under the second-order approximation. Our results also extend the previous results on the classical type of relative equilibria in the spherically-simplified Full Two Body Problem by taking into account the oblateness of the primary body. The results on relative equilibria are useful for studies on the motion of many natural satellites, whose motion are close to the relative equilibria.     

0～1000mV直流毫伏标准源设计

介绍了一种0～1000 mV直流毫伏标准源的设计原理和技术方案,该方案采用20位D/A转换器作为基准,通过设计分压比分别为1000∶1,100∶1和10∶1的精密比例分压电路,实现了0～1000 mV直流标准电压信号的输出。