双框架飞机蒙皮检测机器人切换运动控制方法

针对一种双框架飞机蒙皮检测机器人,通过分析该机器人在飞机表面上的受力情况,在飞机表面该机器人受到了非完整约束,基于牛顿-欧拉法建立了机器人非完整约束动力学模型。根据机器人机械结构和运动步态分析,将该非完整机器人系统分为子系统A和子系统B。为了实现机器人在飞机表面运动,采用反演技术和快速Terminal滑模控制相结合的思想对系统设计了控制器,提出了一种反演-滑模控制方法;对于非完整机器人子系统A和子系统B,设计了一种基于事件驱动的切换策略,实现了机器人对期望轨迹的全局渐近跟踪,并利用Lyapunov稳定性证明系统的跟踪误差收敛。仿真和试验表明,采用该切换策略和反演-滑模控制方法,双框架飞机蒙皮检测机器人可以在飞机表面自由运动并进行损伤检测,具有良好的可靠性和稳定性。     

Drag Reducing and Increasing Mechanism on Triangular Riblet Surface

Drag reducing and increasing mechanism on riblet surface has been studied through computational fluid dynamics(CFD).Drag reduction is achieved through the optimization of riblet geometry which would affect flow structure inside riblet grooves.Force and flow structure on riblet surface are analyzed and compared with those of smooth surface based on the k-εturbulence model.Drag reducing and increasing mechanism is proved to be related to microvortexes induced inside riblets which lead to Reynolds shear stress reduction significantly and is considered to be the dominant factor resulting in wall friction reduction.Simulation results also show that the pressure drag generating from the deviation of static pressure on the front and rear ends of riblets occurs and grows exponentially with Mach number,which can cause drag increasing.Furthermore,near-wall vortical structures,Reynolds shear stress and static pressure on riblet surfaces are also analyzed in detail.     

冯子明 航空信息化专家

我国航空企业数字化制造已经有哪些成就,为我国航空企业带来怎样的影响?冯子明:目前国内飞机数字化设计制造水平在不断地提高。数字化的软硬件环境已初具规模,飞机设计已由三维几何模型设计向全信息三维模型设计方向发展     

基于自回归与最小均方理论的振动环境下 光纤陀螺仪滤波方法

针对振动应力下光纤陀螺产生测量误差增大的问题,从振动对光纤环的影响机理出发,分析了振动应力下光纤陀螺干涉信号的表现形式,提出了基于自回归最小均方滤波理论的光纤陀螺滤波方法,将AR模型的平稳性和最小均方根滤波的自适应性相结合,提取平稳数据的特性参数,对高频信号进行滤波,降低非互易相移产生陀螺角速度误差值的干扰.试验表明,该方法简单可行,有效地降低了振动应力下光纤陀螺输出信息的噪声,抑制了由振动引起的陀螺漂移.     

基于人工地标的移动机器人定位与调整技术

在飞机大型构件测量领域,针对测量设备自动化转站时存在移动机器人无法准确到达站位的问题,提出了采用基于人工地标的移动机器人定位与调整技术实现转站时的精确定位。其次,设计了一种人工地标,给出使用激光跟踪仪的地标标定工装以及标定方法,通过该方法可得到地标在全局坐标系下的坐标。同时,介绍了地标的编码与位姿的解算方法,以及移动机器人位姿调整策略。最后,试验表明,人工地标测量的位置和角度误差均较小,移动机器人通过人工地标的定位与调整后的精度可以满足自动化转站的精度要求。     

前向数据接入方式对导航星座网络通信性能的影响分析

对采用时分多址轮询建链体制的导航星座星间链路网络,为了指导星间链路网络地面前向数据接入的应用,分析了不同地面前向数据接入方式的星-星-地联合数据交互机制及其对网络通信性能的影响,并结合应用代价给出了综合评价和使用建议.以前向数据最快路径接入方式和固定节点接入方式为代表,分析了星间链路网络与地面间星-星-地联合数据交互机...     

A swept fin-induced flow field with different height mounting gaps

In order to apply the air fin successfully and ensure the maneuverability of hypersonic vehicle, a key problem to be studied urgently is the heat flux brought by the fin mounting gap. The appearance of mounting gap and fin shaft can induce many complex flow structures which need more attentions to be investigated. Under Ma 6, Nano-tracer-based Planar Laser Scattering (NPLS) and Temperature Sensitive Paints (TSP) were applied to visualize and measure transient flow structures and heat flux distribution of a swept fin-induced flow field with different height mounting gaps. Complementarily, Reynolds-averaged N-S equations were solved with k-ω SST turbulent model. The heat flux distribution results of numerical simulation and TSP observed the change of high heat flux region with different mounting gap, both in position and magnitude. The streamlines based on Computational Fluid Dynamics (CFD) and flow visualization results obtained by NPLS revealed the cause of high heat flux region. The high heat flux region in this flow field is mainly related to the reattachment of vortex and flow stagnation. The increase of gap height can lead to stronger gap overflow and shaft-induced horseshoe vortex, which are source of the high heat flux around the fin. The case with the highest mounting gap (4 mm) en-counters the most severe aerodynamic heating, both on the surface of fin and plate. Thus, under the premise of ensuring the flexibility of the fin, the gap should be set as small as possible.     

Reliability and global sensitivity analysis for an airplane slat mechanism considering wear degradation

This paper focuses on the issue of reliability and global sensitivity analysis for an airplane slat mechanism considering the uncertainties in the wear process of mechanical components. First, the multi-body kinematic model of the slat mechanism is built in the ADAMS software. The geometrical sizes of the roller wheels after wear degradation are considered as input variables and the angle the slat should turn is considered as the output response. To accurately identify the influential roller wheels to the reliability and robustness of the slat mechanism, the failure probability based sensitivity and variance-based sensitivity indices are introduced. Comprehensive analysis of the results have shown that the reliability analysis and global sensitivity theory can help engineers find significant parts by their contributions, thus provide guidance for mechanical design and maintenance.     

单点定位与实时定轨的星载算法的比较研究

卫星单点定位方法和卫星定轨方法均采用GPS接收机测量得到的伪距和伪距率作为原始观测量。前者依据几何学原理,采用最小二乘法对单个历元的原始观测量进行处理,解算出卫星的位置和速度;而后者依据轨道动力学理论,采用卡尔曼滤波方法通过连续的原始观测量对滤波器状态量的修正使定轨结果收敛。通过比较,星载定轨方法能够明显改善定位测速的精度和数据的稳定性,其外推功能可以有效避免观测量短时间中断对定轨结果连续性的影响。我们已经将实时定轨算法应用到星载型号任务的工程中,并取得了较好的结果。     

基于自适应遗传BP算法神经网络数据融合的空中目标识别

空中目标识别是现代防空作战的重要研究内容。本文利用不同类型目标产生的多类型传感器的数据信息对目标进行识别。为了训练神经网络目标识别分类器,将遗传算法和BP算法相结合,提出了一种新的自适应遗传BP算法,利用这种神经网络来确定指标的权值。仿真试验结果表明,基于自适应遗传BP算法神经网络的识别是一种简单、可靠的目标识别方法,具有很好的目标识别效果。