一种带负载工业机器人动力学模型辨识方法

针对带负载工况下六自由度关节型工业机器人动力学模型的辨识问题,提出了一种带负载机器动力学模型的参数辨识方法。在获 得机器人本体动力学模型的前提下,用Newton Euler法建立负载动力学模型进行补偿,设计激励轨迹获取负载贡献的力矩,然后用加权最小二乘法辨识出负载模型中未知参数。最后对得到的带负载完整机器人动力学模型进行验证与分析,结果表明通过辨识得到的预测力矩与测量力矩有较好的跟随性,所提出的辨识方法具有一定的工程参考价值。     

某支线客机总体方案中增升装置的设计与优化

针对某支线客机,从工程设计的角度,完成了该客机增升装置的气动优化设计。首先根据飞机的相关参数确定增升装置所要达到的气动目标,设计增升装置在机翼的展向和弦向的类型和布置方式,从而确定增升装置的总体设计方案。在二维增升装置设计中,使用NURBS曲线参数化拟合多段翼型缝道部分的外形,通过数值模拟方法和优化算法对三段翼型的缝道外形和缝道参数进行优化设计,最终确定了三段翼型起飞、着陆构型,提出一种二维三段翼型(前缘缝翼、主翼、后缘襟翼)的参数化优化设计方法。在三维增升装置设计中,根据增升装置在机翼展向和弦向的布置方式,取若干关键截面,按照三段翼型的优化结果生成三维增升装置。对三维增升起飞构型和着陆构型的气动特性分析评估表明,所设计的三维增升装置满足设定的气动目标。     

管道机器人动力学分析

在分析了开链式拓扑结构的多节蠕动机器人结构和运动特点的基础上,利用空间算子代数(Spatial operator algebra,SOA)方法,建立了适用于这类机器人系统的通用动力学模型,为验证所建立的动力学模型的正确性,将原理样机运行试验和与动力学仿真分析结果进行了对比.在此基础上,利用该动力学模型,对样机结构的改进与优化,并对机器人运动学和动力学性能的影响进行了分析和评估,为机器人运动控制策略的拟定提供了重要的依据.     

平面磨削石英陶瓷比磨削能正交试验研究

通过大量的正交试验,研究陶瓷材料在低速下的磨削性能,优化陶瓷磨削参数,对于丰富陶瓷磨削理论,指导实际生产实践具有重要的现实意义.     

运输类飞机发动机短舱火焰防护设计与验证

通过对CCAR-25部运输类飞机发动机短舱火焰防护适航条款的要求进行分析,按照防火、耐火要求将条款内容进行对比,参考美国联邦航空局的咨询通告和修正案,对火焰防护的确定原则、设计要求与验证方法进行了研究,明确发动机短舱内的材料和零部件的防火、耐火要求。     

Real-time and reliability analysis of time-triggered CAN-bus

Real-time performance and reliability are two most important issues in applications of time-triggered controller area network (CAN) bus systems at present. A scheduling matrix of time-triggered CAN-bus system is established using average-loading algorithm. Periodic messages are guaranteed to transmit without delay by distributing independent transmission windows within the system matrix. Considering the traditional CAN-bus transmission mechanism and the time-triggered feature, an algorithm is improved to calculate the worst-case delay of event-triggered messages in time-triggered CAN-bus systems. The failure probability is calculated for event-triggered messages whose worst-case delay exceeds their deadlines. Different levels of redundant structures of CAN-bus circuits are analyzed and the maintenance management is proposed to improve the system reliability. Finally, the reliabilities of different structures are calculated and the influences of maintenance on the system reliability are analyzed.     

航空发动机高能X射线测试系统

综合介绍了高能X射线测试系统在航空发动机试验中的作用和基本组成以及国内外高能X射线测试技术开发应用情况。     

基于面向对象技术的典型工艺知识库系统

建立了多层次的典型工艺结构,充分利用相似特征具有相似工艺的理论;研究了工艺查询、工艺评价和工艺设计等应用子系统的功能结构,开发了面向对象的典型工艺知识库系统。     

Dispersion-free quantum clock synchronization via fiber link

We proposed a fiber-based quantum clock synchronization protocol by employing the dispersion cancellation feature of the frequency anti-correlated entangled source under the quantum interference measurement. It is shown that, the accuracy of the synchronization is mainly dependent on the bandwidth of the frequency entangled biphoton spectrum and on the temperature variation induced fluctuations in both the reference fiber coiling and the fiber link. With this proposal, synchronization between two clocks at a distance of ten kilometers can be implemented with an accuracy below a picosecond.     

An introduction to China FY3 radio occultation mission and its measurement simulation

GNSS (Global Navigation Satellite System) radio occultation mission for remote sensing of the Earth’s atmosphere will be performed by GNOS (GNSS Occultation Sounder) instrument on China FengYun-3 (FY3) 02 series satellites, the first of which FY3-C will be launched in the year 2013. This paper describes the FY3 GNOS mission and presents some results of measurement simulation. The key designed specifications of GNOS are also shown. The main objective of simulation is to provide scientific support for GNOS occultation mission on the FY3-C satellites. We used EGOPS software to simulate occultation measurements according to GNOS designed parameters. We analyzed the accuracy of retrieval profiles based on two typical occultation events occurring in China South–East area among total simulated events. Comparisons between the retrieval atmospheric profiles and background profiles show that GNOS occultation has high accuracy in the troposphere and lower stratosphere. The sensitivities of refractivity to three types of instrumental error, i.e. Doppler biases, clock stability and local multipath, were analyzed. The results indicated that the Doppler biases introduced by along-ray velocity error and GNOS clock error were the primary error sources for FY3-C occultation mission.