无人机复杂环境中跟踪运动目标的实时航路规划

在复杂地形环境中,无人机在跟踪运动目标时,现有的航路规划方法在实时性和可行性上存在一定缺陷.提出了一种新的滚动窗口启发方向计算方法,使其能够跟踪运动目标,同时在滚动窗口内采用流函数法进行避障.根据无人机约束,滚动窗口为三角形,并设计了基于行为的伸缩功能.在流函数中,利用水势能方法克服了陷阱地形并进行了航路平滑.仿真结果表明:这种混合算法对于复杂地形条件下跟踪运动目标的航路规划,能够减小规划算法的时间和空间复杂度,使规划出的航路适于无人机飞行.     

Response of Hainan GPS ionospheric scintillations to the different strong magnetic storm conditions

Using the GPS ionospheric scintillation data at Hainan station (19.5°N, 109.1°E) in the eastern Asia equatorial regions and relevant ionospheric and geomagnetic data from July 2003 to June 2005, we investigate the response of L-band ionospheric scintillation activity over this region to different strong magnetic storm conditions (Dst < −100 nT) during the descending phase of the solar cycle. These strong storms and corresponding scintillations mainly took place in winter and summer seasons. When the main phase developed rapidly and reached the maximum near 20–21 LT (LT = UT + 8) after sunset, scintillations might occur in the following recovery phase. When the main phase maximum occurred shortly after midnight near 01–02 LT, following the strong scintillations in the pre-midnight main phase, scintillations might also occur in the post-midnight recovery phase. When the main phase maximum took place after 03 LT to the early morning hours no any scintillation could be observed in the latter of the night. Moreover, when the main phase maximum occurred during the daytime hours, scintillations could also hardly be observed in the following nighttime recovery phase, which might last until the end of recovery phase. Occasionally, scintillations also took place in the initial phase of the storm. During those scintillations associated with the nighttime magnetic storms, the height of F layer base (h’F) was evidently increased. However, the increase of F layer base height does not always cause the occurrence of scintillations, which indicates the complex interaction of various disturbance processes in ionosphere and thermosphere systems during the storms.     

基于大脑情感学习模型的转台伺服系统设计

提出了基于大脑情感学习(Brain Emotional Learning,BEL)模型的高精度转台伺服系统智能控制方案。BEL模型是一种模拟哺乳动物大脑情感学习过程的仿生计算模型。设计了融合系统跟踪误差、控制输入等信息的BEL智能控制结构,通过选取不同的感官输入信号可获得不同的控制结构,采用联想学习方法在线学习BEL模型内部的节点权值来调节控制器参数,从而实现转台伺服系统的自适应跟踪控制。仿真和实验结果均表明,BEL智能控制器学习能力强,能抑制摩擦等非线性干扰因素,在实时控制系统中表现出较好的稳定性和较高的跟踪性能。     

基于SVM的浮动车行驶模式判断模型

浮动车在低速情况下存在两种行驶模式,如不能对上述模式进行准确区分,将严重影响浮动车实时路况计算的精度和效率.研究和设计了一个基于支持向量机(SVM,Support Vector Machine)的浮动车行驶模式判断模型,并针对性地提出了一种简单的基于隶属度矩阵的特征评价和选择方法.实验表明通过上述方法选择的特征子集所训练的分类器在测试样本集上具有92.6%的分类准确性;经过行驶模式分析后,浮动车系统的准确性有显著提升.      

基于滑模变结构和扩张状态观测器的电动舵机复合控制方法

为提高电动舵机伺服系统的鲁棒性,同时解决实际工作中电动舵机不确定负载引起的跟踪精度低的问题,提出了一种采用指数趋近率的滑模变结构控制率结合扩张状态观测器对负载扰动进行实时估计的电动舵机的伺服控制方法,给出了控制器设计方法和试验验证。仿真和试验结果表明,与常规的滑模控制器相比,采用扩张状态观测器的变结构控制能有效提高电动舵机的跟踪性能。     

A New D-GCL for Unidirectional Motion with Large Displacement

Numerical simulations of unsteady flow problems with moving boundaries commonly require the use of geometric conservation law(GCL).However,in cases of unidirectional large mesh deformation,the cumulative error caused by the discrete procedure in GCL can significantly increase,and a direct consequence is that the calculated cell volume may become negative.To control the cumulative error,a new discrete GCL(D-GCL)is proposed.Unlike the original D-GCL,the proposed method uses the control volume analytically evaluated according to the grid motion at the time level n,instead of using the calculated value from the D-GCL itself.Error analysis indicates that the truncation error of the numerical scheme is guaranteed to be the same order as that obtained from the original D-GCL,while the accumulated error is greatly reduced.For validation,two challenging large deformation cases including a rotating circular cylinder case and a descending GAW-(1)two-element airfoil case are selected to be investigated.Good agreements are found between the calculated results and some other literature data,demonstrating the feasibility of the proposed D-GCL for unidirectional motions with large displacements.     

类蛛网状盘式谐振微陀螺的抗冲击性能与结构误差仿真分析

具有导航级潜能的盘式谐振微陀螺是国际研究最热门的一类微机械陀螺,在此基础上设计了一款频率裂解小的类蛛网状盘式谐振微陀螺。通过有限元仿真软件进行了模态分析和冲击分析,仿真结果表明类蛛网状盘式谐振微陀螺工作模态与寄生模态最小频差为3.9kHz,可承受的冲击载荷加速度高达25000g。此外,开展了晶向误差和工艺误差等结构误差对频率裂解影响的仿真研究,结果表明,其比圆环状盘式谐振陀螺在频率裂解上具有更低的结构误差敏感度。综上说明该结构能有效抑制寄生模态干扰、抗冲击性能强且结构误差鲁棒性好,具有较好的发展前景。     

碳纤维增强树脂基复合材料中激光脉冲能量对超声L波的影响

利用不同激光脉冲与碳纤维树脂基复合材料相互作用产生的瞬态热效应激发超声纵波(L波),分析激光脉冲能量对L波的影响.试验结果表明,激励声波的幅度直接与脉冲的能量相关,在高能量区的纵波幅度明显比在低能量区的大,缺陷的存在明显影响L波的存在和幅度.     

基于网络化测试技术的通信装备维修保障

未来信息化战争条件下,通信装备朝着网络化、标准化、通用化、系列化、模块化的方向发展,首先在分析现有通信装备维修保障中存在的问题和不足的基础上,提出了应用网络化测试技术的意义,并给出了系统的总体结构和两种软件设计方法;然后对现有通信装备的网络化改造提出了通过连接PC机间接接入,通过接口转换模块接入,现场智能设备嵌入TCP/IP协议三种方式,并对他们进行了分析.