蛇形臂机器人研究与发展综述

介绍了蛇形臂机器人研究与应用的总体情况和具有代表性的样机设计,就关节型和变几何桁架型多冗余自由度蛇形臂的结构设计、运动学、运动规划、动力学与控制等关键技术的研究进展进行了综述,从任务需求和本身特色两方面对未来蛇形臂机器人技术的发展提出了建议。     

航天推进剂废气废液燃烧处理实验

针对航天生产试验现场有毒推进剂废气废液的无害化处理,设计了一种火箭煤油/空气燃烧处理装置,通过富燃/富氧高温燃气处理硝基类氧化剂/肼类燃料的废气废液。基于该燃烧处理装置,分别进行了燃烧器性能调试以及N_2O_4与甲基肼的废气与废液处理实验。实验结果表明,燃烧装置在两种基本工作模态下,燃气温度小于1 200℃,燃烧高效、稳定;N_2O_4在处理流量0～20 g/s时,排放物中NO_x浓度最高为25 ppm,燃气温度小于1 200℃;在甲基肼处理流量6 g/s时,排放物中VOC浓度小于0.05 ppm,NO_x浓度小于2.0 ppm,其中燃气最高温度随甲基肼流量增加不断增大,最高达1 300℃。该燃烧处理装置可实现对有毒航天推进剂高效、彻底的处理,废气排放符合相关标准要求。     

Optimal Control Strategy for Buck Converter Under Successive Load Current Change

A new control algorithm is presented for digitally controlled dc-dc converters to achieve a fast response under a successive load-change. Under the steady-state condition, the tight voltage regulation is processed by the conventional digital PID compensator. If the load disturbance is significant, the controller switches to an optimal control scheme. With the integration of the capacitor current, the proposed algorithm predicts the optimal switch over time based on the charge balance control, and the minimal voltage derivation and recovery time are thus achieved when the load current has a successive load-change. The method for calculating the optimal switch over time is described, and the implementation of the proposed algorithm with a digital controller is treated in detail. Furthermore, the simulation and experiment results are provided to validate the effectiveness of the approaches.     

Development and Prospectives of Ultra-High-Speed Grinding Technology

Ultra-high-speed grinding(UHSG)is a significant and powerful machining method in view of the enhanced productivity and precision demands.Previous researches regarding formation mechanisms and crucial technologies are comprehensively and thoroughly summarized to highlight state-of-art technology of UHSG.On the basis of the interdependence between process and machine innovations,theoretically,grinding mechanisms in strain hardening,strain rate strengthening,thermal softening,size effect and process characteristics need more in-depth studies to clarify the dominance of UHSG.Technically,CFRP wheel integrating with the brazed bonding has a prominent advantage in bonding strength and grit′s configuration over vitrified bonding,which would be superior in UHSG.Furthermore,external high pressure cooling combining with inner jet cooling methods,accompanied by scraper plates to alleviate the effect of air boundary,are crucial and practical measures for realizing effective cooling in UHSG.Grinding processes,especially those being related to grinding parameters and precise in-process measuring approaches,are also prerequisite for fitting and investigation of UHSG.     

Control System in Missiles for Whole-Trajectory-Controlled Trajectory Correction Projectile Based on DSP

A control system for correction mechanisms through the whole trajectory is proposed based on the principle of one-dimensional trajectory correction projectile. Digital signal processing （DSP） is utilized as the core controller and gobal positioning system （GPS） is used to measure trajectory parameters to meet the requirements of calculating ballistics and system functions. Firstly, the hardware, mainly including communication module, ballistic calculation module, boosting ＆ detonating module and data storage module, is designed. Secondly, the supporting software is developed based on the communication protocols of GPS and the workflow of control system. Finally, the feasibility and the reliability of the control system are verified through dynamic tests in a car and live firing experiments. The system lays a foundation for the research on trajectory correction projectile for the whole trajectory.     

Threshold Selection Method Based on Reciprocal Gray Entropy and Artificial Bee Colony Optimization

Since the logarithmic form of Shannon entropy has the drawback of undefined value at zero points,and most existing threshold selection methods only depend on the probability information,ignoring the within-class uniformity of gray level,a method of reciprocal gray entropy threshold selection is proposed based on two-dimensional（2-D）histogram region oblique division and artificial bee colony（ABC）optimization.Firstly,the definition of reciprocal gray entropy is introduced.Then on the basis of one-dimensional（1-D）method,2-D threshold selection criterion function based on reciprocal gray entropy with histogram oblique division is derived.To accelerate the progress of searching the optimal threshold,the recently proposed ABC optimization algorithm is adopted.The proposed method not only avoids the undefined value points in Shannon entropy,but also achieves high accuracy and anti-noise performance due to reasonable 2-D histogram region division and the consideration of within-class uniformity of gray level.A large number of experimental results show that,compared with the maximum Shannon entropy method with 2-D histogram oblique division and the reciprocal entropy method with 2-D histogram oblique division based on niche chaotic mutation particle swarm optimization（NCPSO）,the proposed method can achieve better segmentation results and can satisfy the requirement of real-time processing.     

基于双谐振棋盘式超表面的宽带RCS缩减技术

为实现宽频带的雷达散射截面（RCS）缩减效果，提出一种基于棋盘式超表面的RCS缩减技术，可达到宽带RCS缩减且极化不敏感的效果。介绍了提高RCS缩减带宽的原则，设计了X波段的棋盘式超表面，通过电磁散射对消技术，电磁波经超表面反射后分散向不同的方向，实现了异常反射从而降低RCS。与普通棋盘式超表面不同，为了克服一般超表面都有的相位收敛问题，提出了双谐振棋盘式超表面，即用两种谐振频率不同的结构组成双谐振单元结构，使单元具有均匀相位差的频段得以拓宽，从而扩展了超表面的缩减带宽，实现了10 dB缩减带宽达到8 GHz~14.5 GHz且极化不敏感的效果，通过仿真证明双谐振棋盘式超表面可以实现宽频率范围的RCS缩减效果，且极化不敏感。     

用于实现LTCC双平衡星型混频器的宽带巴伦设计

文章介绍了用于实现LTCC（Low Temperature Cofired Ceramic,低温共烧陶瓷）双平衡星型混频器的宽带巴伦设计。该巴伦是基于LTCC技术设计的多层结构巴伦,由2个相同的Marchand巴伦组成,采用宽边耦合线结构,提高了耦合系数,从而增加了巴伦的带宽。设计的巴伦在5．575～6．775GHz的频率范围内,其幅度不平衡度小于0．1dB,带内相位差为180±6°,可应用于C频段LTCC双平衡星型混频器。     

基于BDD的航天测控系统任务可靠性分析

针对航天测控系统任务可靠性分析问题,提出了基于二值决策图（BDD）的航天测控系统任务可靠性分析模型和算法。将航天测控系统视为一个多阶段任务系统,采用任务剖面描述任务时序逻辑关系。根据各阶段的可靠性逻辑结构建立了单阶段的BDD,依次对各阶段的BDD进行运算得到系统的BDD,据此计算系统的可靠度。最后给出了一个算例,验证了算法的有效性。     

面向可靠性设计的发动机材料超高周疲劳强度估计方法

提出了一种面向可靠性设计的四参数随机疲劳极限模型,可针对小样本数据实现超高周疲劳（VHCF）应力-寿命（S-N）曲线处理。通过对航空用钛合金常规样本数超高周疲劳数据的拟合分析和对比验证了模型的准确性。同时,以某型航空发动机压气机叶片用TC17钛合金为研究对象,分别对室温（RT）和400 ℃小样本超高周疲劳数据进行了处理,得到了典型置信度和可靠度条件下的超高周疲劳强度估计值。结果表明：本文提出的四参数随机疲劳极限模型,能够通过少量的长寿命区试验数据获得材料超高周范围内发动机设计所需的疲劳强度估计值;相较于常用的升降法,基于本模型进行试验安排可大幅降低68%的试验量,为发动机材料的超高周疲劳强度评价提供方法支持。