基于浮力调节的AUV升沉运动控制技术

研究基于浮力调节的自主式水下机器人(Autonomous underwater vehicle, AUV)升沉运动控制问题.分析了海水密度与深度的关系,研究了潜深对AUV升沉运动及浮力调节系统的影响,建立了基于浮力调节的AUV升沉运动动力学模型,提出了一种基于浮力调节的AUV滑模模糊控制方法,进行了基于浮力调节的AUV升沉运动控制仿真研究和定深控制水池实验验证,讨论了基于垂推和浮力调节进行升沉控制的能耗对比.     

航空独立电源系统保护控制行为混杂模型

为了准确描述独立电源系统保护离散事件与连续控制相互作用的混杂行为,提出一种对象混杂Petri网(OHPN)建模方法,构建了基于OHPN航空独立电源保护控制行为的混杂模型。该模型将混杂Petri网的混杂特性描述内置于对象之中,解决了传统混杂Petri网不能同时描述静态结构和动态过程的问题,增强了模型描述能力,使模型具有良好的封装性、可重用性和可维护性。最后,对某型航空交流电源系统的保护控制过程进行了仿真和验证。结果表明,所定义的模型能够有效描述和分析电源系统保护控制的混杂行为,为系统稳定性和故障预测的研究奠定基础。     

基于有限元分析的DFR法

以名义应力为参数量的细节疲劳额定值(Detail fatigue rating,DFR)法进行疲劳可靠性分析的关键之一在于获取钉孔附近真实的名义应力,解析法难以分析复杂结构和载荷下的应力分布,不便于工程应用。本文参考了连接件及周边平衡载荷系的等效方法,提出了用于DFR法分析的有限元法名义应力的求解。编制了基于有限元分析的DFR法分析软件FEM-DFR,对MSC.Nastran输入输出文件进行后处理,自动完成DFR法疲劳寿命的相关计算。算例结果表明本文提出的基于有限元分析的DFR法算法合理,编制的FEM-DFR软件通用、有效。     

The dynamical environments analysis of surface particles for different shaped asteroids

Asteroids are coming to be a popular topic in the areas of astrophysical studies and deep space exploration recently. However, surface dynamics of asteroids is still a difficult problem. This paper aims at the motion analysis of surface particles for different asteroids. The dynamical analysis method of particles’ movement is given for three parts: global motion trend, local motion trend and static analysis. A dimensionless parameter ζ is defined to distinguish the predominant term to determine the distribution of effective potential. Three kinds of common asteroids: spheroidal asteroid, spindle-shaped asteroid and dumbbell-shaped asteroid are all discussed for those three parts with different parameter ζ. The motion trend of particles on the surface of each kind of asteroid is given. The static analysis of surface particles for different asteroids is also illustrated. Based on them, some common rules for different shaped asteroids are revealed. This paper could not only provide a reference for asteroid exploration missions but also be meaningful for the research of morphologic evolution of asteroids.     

Influence of blade negative twist on aerodynamic performance of cycloidal propeller

In order to improve the analysis accuracy of the influence of shape parameters on the aerodynamic performance of cycloidal propeller, a set of CFD methods suitable for the simulation of the cycloidal propeller flow field based on the dynamic overset mesh and Unsteady Reynolds time average method equation were established. The characteristics of the spanwise lift distribution and surface pressure distribution in case of different negative twist were provided. The influence of the negative twist on the aerodynamic performance of cycloidal propeller was emphasized. The results showed that, the change of negative twist caused the change of azimuth for cycloidal propeller lift. The larger the absolute value of negative twist, the lower the figure of merit of the cycloidal propeller; the smaller the negative twist, the more gentle the instantaneous aerodynamic fluctuation; the influence mechanism of negative twist on the aerodynamic performance of cycloidal propeller was generated from changing the non-uniform distribution of the cycloidal propeller''s effective angle of     

Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly

A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented based on the detection system. Firstly, the deviation between the normal vector and the spindle axis is measured by the four laser displacement sensors installed at the head of the multi-function end effector. Then, the robot target attitude is inversely solved according to the auto-normalization algorithm. Finally, adjust the robot to the target attitude via pitch and yaw rotations about the tool center point and the spindle axis is corrected in line with the normal vector simultaneously. To test and verify the auto-normalization algorithm, an experimental platform is established in which the laser tracker is introduced for accurate measurement. The results show that the deviations between the corrected spindle axis and the normal vector are all reduced to less than 0.5°, with the mean value 0.32°. It is demonstrated the detection method and the auto-normalization algorithm are feasible and reliable.     

Aeroservoelastic modeling and analysis of a canard-configured air-breathing hypersonic vehicles

Air-breathing hypersonic vehicles (HSVs) are typically characterized by interactions of elasticity, propulsion and rigid-body flight dynamics, which may result in intractable aeroservoelastic problem. When canard is added, this problem would be even intensified by the introduction of low-frequency canard pivot mode. This paper concerns how the aeroservoelastic stability of a canard-configured HSV is affected by the pivot stiffnesses of all-moveable horizontal tail (HT) and canard. A wing/pivot system model is developed by considering the pivot torsional flexibility, fuselage vibration, and control input. The governing equations of the aeroservoelastic system are established by combining the equations of rigid-body motion, elastic fuselage model, wing/pivot system models and actuator dynamics. An unsteady aerodynamic model is developed by steady Shock-Expansion theory with an unsteady correction using local piston theory. A baseline controller is given to provide approximate inflight characteristics of rigid-body modes. The vehicle is trimmed for equilibrium state, around which the linearized equations are derived for stability analysis. A comparative study of damping ratios, closed-loop poles and responses are conducted with varying controller gains and pivot stiffnesses. Available bandwidth for control design is discussed and feasible region for pivot stiffnesses of HT and canard is given.     

玉米空间飞行处理细胞超微结构变异的研究

玉米干种子搭载于返回式卫星上，经离海平面１７６ｋｍ至３５４ｋｍ的空间条件处理，发现处理后的玉米叶片超微结构发生各种变异。主要变异包括：细胞质壁分离，液泡增大，细胞壁加厚、扭曲，胞间连丝增多，出现叶绿体基粒盘和基质类囊体的变异，细胞核和叶绿体变形，内质网的数量增多、体积增大，以及其它细胞内膜系统与其它超微结构的变化。     

涡喷发动机H_∞控制参数化Ricati方程的解

由分块矩阵的奇异值不等式关系，给出了初猜值γ０、λ０的对半求解法，在此基础上直接给出带参数的Ｒｉｃｃａｔｉ方程迭代求解法。用此方法对涡喷发动机不确定性系统设计了控制器，并在发动机气动热力学非线性模型上进行了仿真验证，结果表明控制系统能够取得满意的鲁棒性能、抗干扰性能和伺服跟踪性能。     

气体渗碳过程中的计算机两级全过程动态控制

利用仿真数学模型推导出的渗层碳浓度分布与渗碳时间、渗碳温度、气氛碳势之间的关系式以及三点自调整控制原理，编制了气体渗碳的全过程动态控制软件，并且安装、调试了两级全过程动态控制系统的硬件，从而开发了气体渗碳过程的计算机两级全过程动态控制系统。