行星采样柔性机械臂运动规划研究

为适应行星表面较大范围的采样要求及系统减重的需求,采样机械臂通常是细长形臂杆加多关节组成的连杆型关节机械臂,这使得抑制柔性振动成为机械臂控制系统的研究重点。针对采样机械臂的工作过程,提出带抛物线过渡的平滑轨迹规划方法,即在运动过程中使加速度连续,避免关节转动的力矩突变,并且最大限度降低峰值。首先建立基于D-H法的机械臂运动学方程,然后在考虑臂杆及关节柔性的动力学模型环境下,进行变加速—匀速—变减速的笛卡尔空间加速度连续平滑轨迹规划运动,达到减小柔性臂振动、提高定位精度的目的。仿真结果表明,在运动规划中引入抛物线过渡的加速度连续环节、降低加速度冲击可以明显改善运动平稳性,对提高动态跟踪精度有直接作用。     

先进的宇航试验舱温控系统

介绍了中国新一代宇航试验舱的温控系统。该温控系统设计思想先进、结构新颖。在直径２．３ｍ,长２ｍ的封闭舱体控温面上,实现了０℃～５０℃的任意温度定点控制及９０ｍｉｎ内的正弦波、梯形波、三角波的周期变化;在整个控温面上温度非均匀性（均方根偏差）小于０．３℃,远远超过了非均匀度±１℃、控制精度±２℃的原设计指标。     

GRACE gravity field modeling with an investigation on correlation between nuisance parameters and gravity field coefficients

The GRACE (Gravity Recovery And Climate Experiment) monthly gravity models have been independently produced and published by several research institutions, such as Center for Space Research (CSR), GeoForschungsZentrum (GFZ), Jet Propulsion Laboratory (JPL), Centre National d’Etudes Spatiales (CNES) and Delft Institute of Earth Observation and Space Systems (DEOS). According to their processing standards, above institutions use the traditional variational approach except that the DEOS exploits the acceleration approach. The background force models employed are rather similar. The produced gravity field models generally agree with one another in the spatial pattern. However, there are some discrepancies in the gravity signal amplitude between solutions produced by different institutions. In particular, 10%–30% signal amplitude differences in some river basins can be observed. In this paper, we implemented a variant of the traditional variational approach and computed two sets of monthly gravity field solutions using the data from January 2005 to December 2006. The input data are K-band range-rates (KBRR) and kinematic orbits of GRACE satellites. The main difference in the production of our two types of models is how to deal with nuisance parameters. This type of parameters is necessary to absorb low-frequency errors in the data, which are mainly the aliasing and instrument errors. One way is to remove the nuisance parameters before estimating the geopotential coefficients, called NPARB approach in the paper. The other way is to estimate the nuisance parameters and geopotential coefficients simultaneously, called NPESS approach. These two types of solutions mainly differ in geopotential coefficients from degree 2 to 5. This can be explained by the fact that the nuisance parameters and the gravity field coefficients are highly correlated, particularly at low degrees. We compare these solutions with the official and published ones by means of spectral analysis. It is found that our solutions are, in general, consistent with others in the spatial pattern. The water storage variations of the Amazon, Chari and Ganges river basins have also been computed. The variations computed with the NPARB approach are closer to those produced by JPL and DEOS solutions, while the variations produced with the NPESS approach are in good agreement with those produced by the CSR and GFZ solutions. A simulation study is implemented with considering realistic noise and low-frequency error. The two approaches are used to recover the true model. The NPESS solution appears closer to the true one. Therefore we are inclined to estimate the nuisance parameters simultaneously with the geopential coefficients.     

基于应变测量方法的卫星天线阵列变形检测

文章介绍了基于应变测量的卫星天线变形检测方法。该方法针对卫星天线在实际工作中产生的阵列形变,应用弹性力学的有关理论和解析方法,通过测量天线阵列单元面板表面的应变数据推导并拟合出天线阵列弯曲的挠度函数,绘制出天线阵列单元的变形构型。实验表明,该方法有较高的精度,能够为天线输出信号的相位校正控制提供依据。     

基于修正模型的天线指向误差统计特性分析

作为评估天线性能的重要指标之一,天线指向精度直接影响着天线的跟踪观测性能。为了适应任务需求,提高天线及星地链路分析精度,本文基于指向误差修正模型对模型各分量的影响因素含义进行了系统分析,并定量研究了各个分量对指向误差的影响。基于各模型参数的分布特性,提出了一种指向误差概率分布模型,进一步完善了天线指向误差分析计算方法,最后利用天线的典型参数分析计算了天线指向误差角近似满足修正瑞利分布下的特征,可为后续星地链路统计分析提供参考依据。     

我国高原机场运行的地面及空勤特殊保障

位于我国西部高原的机场,一般净空条件极差、气候复杂多变。高原航线地形复杂,航路安全高度高,航路的运行安全问题尤为突出。针对中国西部高原复杂机场及航线的特点,对飞机性能、特殊飞行操作、适航改装、机务维修进行分析及论述,对规范高原航线运行合格审定提出一些建议。     

并行组合扩频通信系统变换域干扰抑制技术研究

为提高并行组合扩频通信系统抵抗窄带干扰的能力,研究自适应多门限和DT-FCME两种变换域算法抑制并行组合扩频通信系统中窄带干扰的问题。经仿真验证,两种算法能够对系统中高斯白噪声环境下的多种窄带干扰起到较好的抑制效果。最后对比分析了两种算法抑制不同类型窄带干扰时的优缺点。     

等离子鞘套热力学波动对电磁波传播的影响

针对等离子鞘套热力学波动造成电磁波传播特性变化的问题,结合湍流理论、等离子理论和电磁波传播理论,得到了热力学参数波动与介电常数间的关系。计算了不同状态下热力学参数波动引起S和Ka波段电磁波透射和反射系数的变化。结果表明,当电子密度增大,S波段反射系数变化减小、透射系数变化增大;当Ka波段在碰撞频率10MHz时,反射系数变化增大、透射系数变化减小,在碰撞频率1GHz和50GHz时透射系数变化反射系数变化先增后减。不同高度下波动的影响也不同,S波段透射和反射系数变化随高度升高先减后增;Ka波段透射系数变化先减后增、反射系数变化先减后增而后再次减小。因此,应根据实际环境状态获得波动的包络范围,进而针对性开展测控通信系统设计。     

小型化星载Ku频段宽带扇形波束圆极化天线

为适应星载天线小型化、宽带、高性能的发展趋势,提出一种小型化星载Ku频段宽带扇形波束圆极化天线。通过在H面扇形喇叭口处加入曲折线圆极化器实现天线圆极化,将传统平面圆极化器变为半圆柱形,天线的包络尺寸减小近36%。同时,在喇叭口处增加介质透镜,在有限尺寸内将球面波调节为平面波。半圆柱极化器和介质透镜的设计可共同调节入射波束角度,提升天线的宽角波束覆盖性能。利用CST软件建立模型进行仿真,仿真结果表明：天线结构紧凑、波束覆盖范围宽,俯仰面大于11.3dBi的增益覆盖范围达90°。半圆柱极化器的设计为星载天线的小型化、低成本设计提供新的思路。     

中频比较辐射计的设计和实验

叙述了 3mm中频比较辐射计的工作原理、电路结构、特性分析及实验结果 ,研究表明 ,这种辐射计不需 3mm开关 ,其稳定性优于全功率辐射计 ,而成本和尺寸均与全功率辐射计相差不大 ,完全可以满足小型化、实用化的需要。