Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

This paper presents a trajectory planning algorithm for a space robot with dual-manipulators. Here one manipulator of the space robot captures a target, and another manipulator is free. In this case, this study uses one manipulator as the mission manipulator to capture the target, and another as the balance manipulator aiming at the compensation of the pose disturbance. For this method, a novel trajectory planning algorithm applied to the balance manipulator is presented. The trajectory planning problem is transformed into series of problems of the optimal state solution, and then the iterative algorithms for the trajectory planning are designed. In the iterative algorithms, the bias force on the spacecraft base caused by the balance manipulator is used as the compensation force. Then, to calculate the expected compensation force and torque, a pose control law for the spacecraft base is introduced. The expected compensation force and torque provide equality constraints for optimization problems, which implies that the trajectory planning algorithm compensates for not only the disturbance generated by the manipulator’s motion, but also environmental disturbances. This is because the expected compensation force and torque depend on the pose change of the spacecraft base rather than the type of the disturbance. Numerical simulation was carried out to analyze the proposed trajectory planning method. It was observed that the method greatly reduces the disturbance of Manipulator A on the spacecraft base. These results validated the effectiveness of the proposed method for the trajectory planning to make the spacecraft base disturbance up to minimum.     

Robust H∞ controller design for attitude stabilization of flexible spacecraft with input constraints

This paper addresses the attitude stabilization and vibration suppression problem for flexible spacecraft subject to model parameter uncertainty, controller perturbations, external disturbances and input constraints. The attitude model of flexible spacecraft is described and converted into a state space form in terms of passive and active vibration suppression schemes. A novel state feedback controller is proposed based on the exactly available expectation of a new variable, which is introduced to model a randomly occurring controller gain perturbation. Based on Lyapunov stability theory, sufficient conditions for the existence of the nonfragile H_∞ controller considering input constraints are given based on linear matrix inequalities (LMIs) in terms of additive perturbation and multiplicative perturbation. Then, the developed controller subject to required constraints can be obtained, where the nonfragile property is fully considered to improve the tolerance to uncertainties in the controller. Numerical simulations are performed to demonstrate the effectiveness and superiority of the proposed control strategy in attitude stabilization and vibration suppression, where it should be noted that the passive vibration suppression scheme is superior for high natural frequencies while the active vibration suppression scheme is superior for low natural frequencies. Moreover, the low natural frequencies have more influence on the performance of attitude stabilization and vibration suppression.     

Bifurcation analysis of polynomial models for longitudinal motion at high angle of attack

To investigate the longitudinal motion stability of aircraft maneuvers conveniently, a new stability analysis approach is presented in this paper. Based on describing longitudinal aerodynamics at high angle-of-attack (a < 50 ) motion by polynomials, a union structure of two-order differential equation is suggested. By means of nonlinear theory and method, analytical and global bifurcation analyses of the polynomial differential systems are provided for the study of the nonlinear phenomena of high angle-of-attack flight. Applying the theories of bifurcations, many kinds of bifurcations, such as equilibrium, Hopf, homoclinic (heteroclinic) orbit and double limit cycle bifurcations are discussed and the existence conditions for these bifurcations as well as formulas for calculating bifurcation curves are derived. The bifurcation curves divide the parameter plane into several regions; moreover, the complete bifurcation diagrams and phase portraits in different regions are obtained. Finally, our conclusions are applied to analyzing the stability and bifurcations of a practical example of a high angle-of-attack flight as well as the effects of elevator deflection on the asymptotic stability regions of equilibrium. The model and analytical methods presented in this paper can be used to study the nonlinear flight dynamic of longitudinal stall at high angle of attack.     

座舱排气供某设备通风冷却技术研究

基于某教练机某设备的通风冷却要求,开展利用座舱排气对某设备进行通风冷却的技术研究.通过对该型飞机座舱排气供某设备通风冷却系统的地面模拟试验研究分析,探讨座舱排气冷却电子设备技术在环控系统中的应用问题.     

深空探测光量子通信信道的主要参数

深空探测器距离地球路程遥远,保持探测器与地面站高效、实时的信息通信,将探测器采集的科学数据及时、完整地传输回地球,是亟待解决的问题。量子通信可以在确保信息安全、增大信息容量以及提高检测精度等方面突破经典通信的物理极限,研究量子通信在深空探测中的应用意义非常。通过对深空量子通信信道的研究与分析仿真,得到光束发射角、接收器口径、收发端距离等与可靠量子通信的关系,为深空量子通信的工程实现提供设计、仿真依据。     

穿越时空 静享古文化氛围——体味上海齐九思收藏会馆

<正>牌坊、楹联、牌匾、石雕、石刻、石缸、雕花门窗、长廊、徽派建筑风格……这不是在广袤原野的古村落,而是在大都市上海的闵行区内,荟萃于上海齐九思收藏会馆。在上海齐九思收藏会馆里,不经意间,处处会发现古文化的痕迹。围墙上嵌有红砂石的清代的石雕,刻画着《二十四孝之百里负米、卧冰求鲤、恣蚊饱血》的故事。迈入牌楼,进入深深庭院,水池中喷泉而出的雕刻精细的龙头则是明代的建筑。精致的宅院风景独特,翠竹摇曳,盆景点缀,曲径通幽,长廊蜿蜒。     

白糖期货市场有效性的实证研究

首先利用PP检验对白糖期货价格和现货价格数据的平稳性加以检验,其次用Johansen检验分析白糖期货价格与现货价格的协整关系,再次建立了相应的误差修正模型以考察长期趋势和短期效应对期货价格和现货价格变动的影响,最后通过格兰杰因果检验确定信息在期货市场和现货市场之间的传递方向。实证结果表明:我国白糖期货市场是有效的;信息在白糖期货价格和现货价格之间是双向传导的;与现货市场相比,期货市场对于非均衡的反应速度更快且反强度更大。     

宽光谱可调谐纠缠光子源设计

为研制宽光谱可调谐纠缠光子源，提出利用532nm激光抽运周期极化铌酸锂（PPLN）晶体，辅以晶体周期切换和温度调谐的方法。基于PPLN晶体准相位匹配方式，完成对晶体周期、长度和温控精度等特性参数的理论研究。在此基础上计算得到晶体的周期，信号光相关光子带宽分布以及信号光温控精度曲线。研究表明，在50℃~200℃温控范围内，利用9块晶体可实现676nm~2500nm宽光谱可调谐相关光子输出。研究结果为高通量宽光谱可调谐纠缠光子源的研制奠定了基础。     

遥测中间装置模拟量变换器故障诊断方法CSCD

介绍了遥测中间装置模拟量变换器在调试初期参数输出异常时故障初步分析、工作原理、排除步骤以及常用方法等。将被测对象的电量参数经适当的变换与匹配,使之满足遥测传输设备的要求,起到信号调节和接口作用,它的精确度、可靠性及安全性等指标直接影响系统的总体性能,其工作正常与否,可直接影响测试数据的判别结果。此故障排除方法,可供模拟量变换器单机调试人员、工艺人员参考。