基于DDPG-PID的机器人动态目标跟踪与避障控制研究

针对机器人在动态复杂环境下的操作问题,研究机械臂跟踪运动目标及避障的运动控制方法。采用传统PID控制方法与DDPG强化学习算法相结合的方式,利用PID控制使得机械臂的工作平面快速接近目标物并与之重合,再使用DDPG算法让机械臂在平面内自主学习追踪目标物投影同时避开障碍物投影,最终在三维空间中实现跟踪与避障。该方法将机械臂作为一个智能体,智能体通过感知目标物和障碍物的距离偏差来自主学习避障跟踪策略。将本方法用于多自由度机械臂路径规划与避障任务中,对比单纯使用DDPG算法将机械臂作为智能体在空间中进行决策控制,仿真结果显示本文所提出的方法收敛效果和控制性能更好,机械臂能在训练后实现目标物的稳定跟踪和障碍物的躲避。     

流动参数对发动机冷却用引射器性能的影响

为了探索引射器在航空发动机空气系统中的应用可行性,采用标准k-ω模型并求解雷诺平均Navier-Stokes方程组的数值方法,分析了流动参数对发动机冷却用引射器引射系数、压力损失系数及引射性能综合参数的影响.结果表明:膨胀比由9增大至10.1,引射系数增大了 66％;膨胀比由15.2增大至20.2,引射系数降低了 19...     

氢氧内燃机增氧定容燃烧特性研究

航天器携带推进剂有限,氢氧内燃机适宜采用纯氢纯氧+富氢燃烧方式,但目前内燃机纯氢纯氧燃烧缺乏地面试验验证。为此开展氢氧内燃机增氧定容燃烧试验,采用内燃机定容燃烧逐步增氧的技术路线,获得增氧乃至纯氧条件下氢氧内燃机的层流燃烧特性,实现氢氧内燃机高性能高可靠工作。试验结果表明：随着氧气浓度的增大,层流燃烧速度随当量比成倍增加,变化的幅度会逐渐减小;高氧气浓度条件下,层流燃烧速度维持在很高的水平,且随当量比的变化很小。     

航天测量船外测数据误差分析的小波方法

使用动态数据建模与误差分离技术以及小波分频方法,对船载外测数据进行处理分析,成功地分离出随机误差和船测数据特有的船体误差,并对船体误差给出了分析和合理的解释。结论表明,小波分频对认识和研究船测数据的误差是一种非常有效的方法。     

基于捷联惯导系统的车载导弹动态快速对准技术

导弹的惯导系统初始对准时间和精度直接影响武器装备的机动性和打击精度,如何缩短弹体惯导系统的对准时长以减少车载陆基导弹发射准备时间是各国装备研发人员的重要研究方向.以基于捷联惯导系统的车载陆基导弹行进间快速对准技术为研究对象,对车载主系统和弹载子系统的动态快速传递对准原理进行了分析,建立了详细的误差模型,并进行了多种载车...     

Effects of yaw-roll coupling ratio on the lateral-directional departure prediction and restraint

The experimental data obtained from yaw-roll coupled wind tunnel tests are used for lateral-directional departure prediction, by linearizing the_b model to extract nominal dynamic derivatives at each coupling ratio.The prediction results are compared with those of the existing engineering methods which are based on the conventional aerodynamic derivatives.The comparison shows that the yaw-roll coupling ratio has a great influence on the departure susceptibility.The departure resistance will loss in partial region of the coupling ratio when the angle of attack is higher than a critical value.According to the stable and unstable regions of coupling ratio, a two-segment stability augmentation system with two different feedback gain matrices is obtained by pole-placement method.The two-segment stability augmentation system is used in the simulations of straight and level flight, steady turn, spin recovery and Herbst maneuver.The simulation results are also compared with the applications of a fixed-gain stability augmentation system designed by the conventional aerodynamic derivatives.When the yaw-roll coupling effects are fully considered, the two-segment stability augmentation system is more effective for departure restraint and can provide a better flying quality with less control energy.     

Leakage performance of floating ring seal in cold/hot state for aero-engine

Rotating experimental investigations were carried out to study the oil sealing capability of two different floating ring seals in cold/hot state for aero-engine. High-speed Floating Ring Seal(HFRS) is a seal with the inner diameter of 83.72 mm and maximum speed of 38000 r/min, and Low-speed Floating Ring Seal(LFRS) is another seal with the inner diameter of 40.01 mm and maximum speed of 18000 r/min. In hot state, sealing air with the temperature of 371 K and oil with the temperature of 343 K was employed to model the working conditions of an aero-engine. Comparisons between floating ring seal and labyrinth seal were done to inspect the leakage performance.More attention was paid to the critical pressure ratio where the oil leakage began. Results show that the critical pressure ratio in cold state is obviously larger than that in hot state for both seals. An underlying sealing mechanism for floating ring seal is clarified by the fluid film, which closely associates with the dimensionless parameter of clearance over rotating diameter(2 c/Dr). Another fantastic phenomenon is that the leakage coefficient in hot state, not the leakage magnitude, is unexpectedly larger than that in cold state. Overall, the leakage performance of the floating ring seal is better than the labyrinth seal.     

基于动力学边界的结冰飞机安全预警方法

结冰严重破坏飞机的动力学特性,使飞机的非线性和动力学耦合特性表现明显,导致传统的安全预警方法无法准确有效地评估飞行存在的潜在风险,易引发飞行事故。为解决此问题,提出了一种基于动力学边界的新型安全预警方法,该方法可综合考虑飞机的动力学耦合特性,可为结冰飞机的实时安全预警系统的构建提供有力的理论支撑。首先,基于微分流形理论确定结冰飞机精确的动力学边界,并详细分析了飞机结冰对动力学边界的影响;其次,利用动力学边界相对距离对飞行风险进行量化,结合动力学边界的特性确定了安全预警的方法;最后,搭建了飞行仿真训练系统,并以着陆为训练科目,通过与传统迎角安全预警方法对比,得到基于动力学边界安全预警方法的优越性。研究结果表明,相比于传统迎角限制方法,动力学边界安全预警方法可提前发现飞行中存在的潜在风险,且基于此方法的飞行训练系统可对驾驶员进行结冰安全操纵训练可提高结冰飞机的飞行安全。     

反向交叉眼对单脉冲雷达干扰效果分析及仿真验证

交叉眼干扰被认为是对单脉冲雷达干扰最有效的方式之一。基于雷达方程建立了隔离平台回波下的两点源反向交叉眼干扰模型,推导了交叉眼干扰欺骗角一般性公式,研究了干扰机发射天线间距、干扰平台旋转角和干扰机相对雷达之间距离等参数变化对角度欺骗效果的影响,并依据单脉冲雷达接收机获取角度的信息处理流程,建立了单脉冲雷达接收机仿真模型,对交叉眼数学模型的正确性和局限性进行了分析。研究结果表明：单脉冲雷达越靠近两点源交叉眼干扰机中心线、干扰机两发射天线间距越大、与干扰机距离越近时,角度欺骗效果越好;单脉冲雷达的欺骗角度随着与干扰机距离的接近呈指数式增大;数学模型和仿真模型计算的单脉冲雷达角度误差最大值随干扰机天线与雷达天线中心连线的夹角的增大呈指数化增长。研究可为交叉眼干扰工程设计作参考。     

装备激励约束定价模式机理对比分析与设计

激励约束定价模式能够极大调动承包商积极性,是控制装备成本的一种重要方法。通过深入分析美军激励约束定价模式和我军激励约束定价模式的设计机理,提出了承包商的期望利润和军方期望价格的计算方法,并通过对比不同定价模式的特点,在借鉴2种激励约束定价模式优点基础上,设计了一种新的激励约束定价策略,提出了指导装备激励约束定价模式改革的对策建议。最后,通过算例对本文方法进行了解释,同时验证了本文方法的有效性。