Coordinated control of tethered space robot using mobile tether attachment point in approaching phase

Tethered space robots (TSRs) have wide applications in future on-orbit service owing to its flexibility and great workspace. However, the control problem is quite complex and difficult in the phase of approaching target, and the fuel consumption must also be taken into account. Hence, we present a novel scheme of achieving coordinated orbit and attitude control simultaneously for the TSR. Space tether, which can provide greater force compared with the thruster force, is used in the design of the orbit and attitude coordinated controller. A coordinated control mechanism is designed to provide attitude control torques of the pitch and yaw motions by adjusting the position of the mobile tether attachment point, while the roll motion is stabilized by the thruster. In order to guarantee this mechanism to work properly, constant tether tension strategies are utilized to plan an optimal approaching trajectory which is tracked by the coordinated controller of tether force and thruster force. Numerical simulation validates the feasibility of our proposed coordinated control scheme for TSR in the approaching phase. Furthermore, fuel consumption of the orbit and attitude control are both significantly reduced compared with traditional thruster control.     

Cubature Kalman filtering for relative spacecraft attitude and position estimation

A novel relative spacecraft attitude and position estimation approach based on cubature Kalman filter is derived. The integrated sensor suit comprises the gyro sensors on each spacecraft and a vision-based navigation system on the deputy spacecraft. In the traditional algorithm, an assumption that the chief?s body frame coincides with its Local Vertical Local Horizontal (LVLH) frame is made to construct the line-of-sight observations for convenience. To solve this problem, two relative quaternions that map the chief?s LVLH frame to the deputy and chief body frames are involved. The general relative equations of motion for eccentric orbits are used to describe the positional dynamics. The implementation equations for the cubature Kalman filter are derived. Simulation results indicate that the proposed filter provides more accurate estimates of relative attitude and position over than the extended Kalman filter.     

载人航天器舱内辐射环境及剂量分析

构建载人航天器模型,利用Geant4软件计算了银河宇宙射线中的质子穿过载人航天器后在水模体中的总吸收剂量以及次级粒子吸收剂量,并且统计了不同种类的次级粒子在水模体中的总数量分布。计算结果表明,次级粒子引起的辐射剂量所占比例为50%,且二次电子总数量达到了10~7量级。     

涡扇发动机加力接通过程喷管延时调节影响研究

探索涡扇发动机加力过程中喷管喉部面积与加力供油量的匹配机理,寻找改善发动机加力特性的技术途径对发动机加力系统设计工作具有重要的意义。结合某型涡扇发动机加力供油时序、燃油填充时序和尾喷管面积调节规律,建立考虑加力燃烧室和外涵道动态容积效应的发动机加力接通与切断过程数学模型,进行涡扇发动机加力过程的特性计算,研究喷管喉部面积调节延迟对加力过渡过程的影响。结果表明：在加力接通过程中,喷管延迟调节对风扇稳定裕度和转速的影响不大于 4%,对主机稳定裕度和转速的影响不大于 1%;当喷管面积调节延迟或出现卡滞故障时,为了保证主机稳定工作,可适当减少加力供油量以改善喷管流通能力,提高安全稳定裕度;特殊情况下,则应继续增加主燃烧室供油量,以保证加力推力。     

不确定双圆盘转子系统振动响应分析

采用基于随机矩阵最大熵法的非参数方法对不确定性转子系统进行动力学建模,研究了模型不确定性与参数不确定性对不确定双圆盘转子系统固有频率波动的影响,分析了转子系统振动响应在不同转速范围内对模型不确定性与参数不确定性的敏感度,从而将一般参数建模方法所无法考虑的建模误差考虑在内。结果表明:模型与参数不确定性对系统固有频率波动的影响大小不同,转轴弹性模量变异系数为0.04时分别使1阶固有频率产生了1.19%与3.58%的波动,2阶固有频率产生了1.82%与3.64%的波动;支承刚度变异系数为0.04时分别使1阶固有频率产生了0.01%与6.17%的波动,2阶固有频率产生了0.68%与6.18%的波动。不同转速范围内,转子系统振动响应对两种不确定性的敏感度也不同:在低于120 rad/s与高于430 rad/s的范围内,系统响应对两种不确定性均不敏感;在120～200 rad/s以及270～430 rad/s范围内,模型不确定性比参数不确定性对响应波动的影响大。该研究成果能够为复杂转子系统随机响应的预测提供一定的理论参考。      

工业CT与航天应用

使用ｘ－射线或ｒ－射线的工业用计算机断层扫描系统已经用于航天关键材料和组件的故障检测。本文简述了这种系统的原理。在这种系统中，被的体放在射线源和探测器之间，并且使该物体旋转，同时采集各个方向的投影。计算机利用上述的这些投影数据就能生成被检物休的断层图象。为了证明其性能，本文还展出了有关材料和零件的断层图象照片。     

一个模糊软件可靠性确认模型

模糊软件可靠性模型不仅适用于刻划测试阶段的软件可靠性行为,而且适用刻划确认(验收)阶段的软件可靠性行为。并给出在确认(验收)阶段判定软件是否达到可靠性目标的准则。     

结构系统失效概率的近似分析

提出用一阶简单边界的上、下界来估计结构系统失效概率的近似公式。它考虑了结构系统失效模式之间的相关性但仅包含失效模式的一阶概率。算例表明,通常最大误差在5％以内,精度高而计算简便。     

ACT验证机FBW系统的率模可靠性分析

率模(Profust)可靠度是一种新的可靠性指标,能全面刻划系统的可靠性行为。将ACT验证机FBW系统的故障分为三个等级:影响安全的故障、影响任务的故障和需要维修的故障,从而对该系统进行率模可靠性分析。还基于率模不可靠度定义故障危害度,使得故障危害度不仅可以合理比较不同故障模式的影响大小,而且直接反映故障模式对系统可靠性行为的影响程度。结论是将率模可靠度作为系统的一个设计指标是可取的。     

用非线性K—ε两方程湍流模型计算后向台阶分离流动

本文利用ＢＧａｔｓｋｉ和ＣＧＳｐｅｚｉａｌｅ根据张量不变性理论推出的二维流动站情况下的非线性Ｋ－ε两方程模型来对这两种不同扩比下的后向台阶分离湍流进行了数值模拟,从计算结果可以看出,用非线性Ｋ－ε两方程模型计算得到的回流区长度,壁面压力分布和摩阻分布等物理量的精度比用标准Ｋ－ε两方程模型计算得到的结果用了明显改进,而且,该模型还具有标准Ｋ－ε两方程模型的结构简单,使用方便的优点,易于工程应用。