空间站机器人最小振动操作动力学控制

提出两种空间站机器人最小振动操作动力学方法。一种是利用空间站灵活操作臂的运动学“自运动”快速消除空间机器人大型柔性机械臂的残余振动，同时使灵活操作臂在工作时不产生使柔性大臂变形和振动的激振力。第二种方法是利用灵活操作臂与空间站和柔性大臂之间的动力学耦合零空间运动进行空间站机器人的无振动操作。推导出空间机器人系统的动力学方程，得到了柔性大臂和灵活操作臂间的作用力与机器人运动之间的关系，基于渐进稳定的控制方法实现机器人的控制，以安装在弹性基础上的平面四自由度机器人进行了仿真验证。     

平台-捷联冗余姿控系统设计

从系统冗余的角度研究了提高运载火箭姿态控制系统可靠性的途径 ,介绍了平台 -捷联主、从式冗余姿态控制系统的组成和工作原理及故障诊断、切换和重构的模式。对平台 -捷联冗余方案进行了半实物仿真试验 ,试验中用典型致命性故障模式分别在几个特征秒和不同通道加入系统 ,记录和观察飞行过程中姿态控制系统对故障的适应能力和响应特性 ,同时研究了故障诊断阈值等对系统的影响。仿真试验证明 ,冗余方案正确、可行 ,在主、从系统出现一度故障的情况下 ,系统控制软件能正确诊断出故障 ,并且把故障部分切除 ,使系统处于稳定飞行状态     

Reliability and safety analysis of redundant vehicle management computer system

Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation, event simultaneity, and failure self-recovery. Accordingly, the reliability and safety analysis to redundant VMC system （RVMCS） becomes more difficult. Aimed at the difficulties in RVMCS reliability modeling, this paper adopts generalized stochastic Petri nets to establish the reliability and safety models of RVMCS. Then this paper analyzes RVMCS oper- ating states and potential threats to flight control system. It is verified by simulation that the reli- ability of VMC is not the product of hardware reliability and software reliability, and the interactions between hardware and software faults can reduce the real reliability of VMC obviously. Furthermore, the failure undetected states and false alarming states inevitably exist in RVMCS due to the influences of limited fault monitoring coverage and false alarming probability of fault mon- itoring devices （FMD）. RVMCS operating in some failure undetected states will produce fatal threats to the safety of flight control system. RVMCS operating in some false alarming states will reduce utility of RVMCS obviously. The results abstracted in this paper can guide reliable VMC and efficient FMD designs. The methods adopted in this paper can also be used to analyze other intelligent systems＇ reliability.     

激光焊接ZL114A/5A06 异种铝合金接头组织及性能

采用激光焊接ZL114A/5A06异种铝合金,通过参数优化以获得性能优良的焊接接头,利用光学显微镜(OM)、拉力试验机、高温疲劳试验机、SEM和EDS对接头的显微组织、力学性能和拉伸断口进行了研究。结果表明:焊缝中心区的金相组织为等轴晶;接头焊后不经热处理,抗拉强度可达到265 MPa,为母材强度的80%以上,并有很好的抗疲劳性能;断口分析显示断裂位置在ZL114A母材一侧的熔合线附近;在保证焊透的前提下,激光功率越小,晶粒越细小,接头强度越高。对框架蒙皮结构铝合金贮箱产品试验件进行了焊接,试验件达到了产品各项性能指标要求。     

镁合金和其他金属及合金的焊接

综述了镁合金与异种镁合金、铝合金、钢、铜及其合金、钛及其合金异种材料焊接的国内外研究现状,并指出最新发展动态及未来发展趋势。     

飞行器最佳冗余测量

本文在提出测量精度、故障检测性和故障识別性指标的基础上,研究了冗余测量元件的安装型式和最佳安装方位;提出了一种故障冗余处理方法,以提高故障识别的可靠性,并指出了正交-斜装组合型结构,在飞行器冗余测量中,是一种较好的安装结构。     

高稳定高可靠多平台兼容RTK 精密定位系统设计与实现

针对RTK精密定位系统存在的稳定性差、可靠性低、系统兼容能力低等问题，提出了高稳定高可靠多平台兼容RTK精密定位系统设计方法。该系统基于冗余式方法设计GNSS定位单元，以提高系统兼容性；基于工作距离设计冗余式修正信息交互方式，并设计了基于ARM+DSP架构的AM5728实时解算RTK修正信息，通过复合型高速通信链路共享信息。以精密标定点为参考测试其定位精度并采用CEP评估其定位精准性，评估结果表明，CEP=0.0071m，说明定位精度高且可靠性好，解决了稳定性差、可靠性低、系统兼容能力低的问题，有效弥补了RTK精密定位系统领域受限的不足。     

Improving tensile-shear properties of friction stir lap welded dissimilar Al/Mg joints by eliminating hook defect and controlling interfacial reaction

To improve tensile-shear properties of fiction stir lap welded(FSLW) dissimilar Al/Mg joints, pin-tip profiles were innovatively designed and welding speed was optimized, and effects of them on formation, interface microstructure and mechanical properties of different FSLW joints were investigated. With increasing the welding speed, the tensile-shear load of FSLW joints produced by three pins presents an increasing firstly and then decreasing trend. Compared with Rpin, the hook and hole defect i...     

Microstructural formation and mechanical performance of friction stir double-riveting welded Al-Cu joints

A novel friction stir double-riveting welding (FSDRW) technology was proposed in order to realize the high-quality joining of upper aluminum (Al) and lower copper (Cu) plates, and this technology employed a Cu column as a rivet and a specially designed welding tool with a large concave-angle shoulder. The formations, interfacial characteristics, mechanical properties and fracture features of Al/Cu FSDRW joints under different rotational velocities and dwell times were investigated. The results showed that the well-formed FSDRW joint was successfully obtained. The cylindrical Cu column was transformed into a double riveting heads structure with a Cu anchor at the top and an Al anchor at the bottom, thereby providing an excellent mechanical interlocking. The defect-free Cu/Cu interface was formed at the lap interface due to the sufficient metallurgical bonding between the Cu column and the Cu plate, thereby effectively inhibiting the propagation of crack from the intermetallic compound layer at the lap interface between the Al and Cu plates. The tensile shear load of joint was increased first and then decreased when the rotational velocity and dwell time of welding tool increased, and the maximum value was 5.52 kN. The FSDRW joint presented a mixed mode of ductile and brittle fractures.