Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach

Low-velocity tracking capability is a key performance of flight motion simulator (FMS), which is mainly affected by the nonlinear friction force. Though many compensation schemes with ad hoc friction models have been proposed, this paper deals with low-velocity control without friction model, since it is easy to be implemented in practice. Firstly, a nonlinear model of the FMS middle frame, which is driven by a hydraulic rotary actuator, is built. Noting that in the low velocity region, the unmodeled friction force is mainly characterized by a changing-slowly part, thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it. To guarantee the boundedness of adaptation process, a discontinuous projection is utilized and then a robust scheme is proposed. The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors. In addition, a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large, which might make the previous proposed projection-based adaptive law be unstable. Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.     

A fault-tolerant triple-redundant voice coil motor for direct drive valves: Design, optimization, and experiment

A direct drive actuator (DDA) with direct drive valves (DDVs) as the control device is an ideal solution for a flight actuation system. This paper presents a novel triple-redundant voice coil motor (TRVCM) used for redundant DDVs. The TRVCM features electrical/mechanical hybrid triple-redundancy by securing three stators along with three moving coils in the same frame. A permanent magnet (PM) Halbach array is employed in each redundant VCM to simplify the system structure. A back-to-back design between neighborly redundancies is adopted to decouple the magnetic flux linkage. The particle swarm optimization (PSO) method is implemented to optimize design parameters based on the analytical magnetic circuit model. The optimization objective function is defined as the acceleration capacity of the motor to achieve high dynamic performance. The optimal geometric parameters are verified with 3D magnetic field finite element analysis (FEA). A research prototype has been developed for experimental purpose. The experimental results of magnetic field density and force output show that the proposed TRVCM has great potential of applications in DDA systems.     

长时间小过载条件下发动机流场特征及绝热层烧蚀分析

以揭示固体火箭发动机在飞行条件下绝热层的异常烧蚀特性为目的,针对小过载、长作用时间条件下大长径比流道的发动机开展了三维两相流场的数值模拟研究,详细分析了发动机内流道内不同区域的颗粒聚集特征,并结合发动机失效部位处绝热层的烧蚀形貌进行了失效模式分析,针对性地提出了改进措施.研究结果表明:(1)不同过载条件下发动机内颗粒聚集和分布状态受过载大小和发动机流道结构共同作用且影响规律复杂,所引起的绝热层异常烧蚀模式和机理不同,特别是小过载长作用时间条件下的异常烧蚀需要引起设计者重视.(2)颗粒聚集在绝热层表面的换热或冲蚀都将引起绝热层局部烧蚀加剧,形成的“凹坑或凹槽”烧蚀形貌会造成颗粒的二次聚集效应,进而加剧烧蚀过程.(3)通过增加发动机旋转动作和局部绝热层加厚,可以提高发动机的飞行安全性.     

一种力矩电机换向器成形方案的研究与实现

设计并实现了一种力矩电机用换向器的成形工艺,在大量工艺试验的基础上,对成形方案各关键技术,包括材料热处理参数、工艺尺寸计算、零件成形、组件粘接等给出了解决措施,并对各措施中使用的检测设备及成形模具进行了介绍。     

Modeling and attitude control of CubeSat utilizing moving mass actuators

Any vehicle propelled by solid rocket motors (SRMs) must include an attitude control system capable of dealing with the torque generated by thrust misalignment. In order to expand the application of SRMs on CubeSats, an attitude control system utilizing moving mass actuators is discussed. The present research develops an eight-degree-of-freedom simulation model of a 2U CubeSat with two moving mass actuators. That model also considers the influence of propellant combustion processes. By analyzing the model disturbance source and systematic coupling, the key layout parameters are designed and a simplified control model is proposed. The controller is derived based on a combination of backstepping and sliding mode techniques. An orbit maneuver from 300 km circular orbit to 300 and 500 km elliptical orbit using this attitude control system is verified.     

固体火箭发动机性能天地差异性探讨

在利用飞行遥测参数反算固体火箭发动机性能过程中,存在诸多的因素影响发动机性能计算结果。对末级发动机飞行遥测性能反算的两种方法及影响因素进行了分析,对发动机性能天地差异性进行了探讨,结合某末级发动机遥测数据对各因素的影响程度进行了定量分析,重点关注了具有不同变化规律的结构质量因素。结果表明,末级发动机反算性能对弹体起飞质量很敏感,发动机附加质量、沉积质量的影响约为起飞质量的1/2;对该发动机而言,流量变化和附加质量的影响程度分别为0.15%和0.36%以内;而发动机过载条件下的沉积问题还需更深入的研究。     

RBCC发动机初步设计CAD系统研究

研究了一种用于火箭基组合循环发动机(RBCC)初步设计与方案分析的CAD系统。分析并解决了发动机几何特征参数提取、性能分析模型、设计计算集成、三维图形造型与显示等关键技术。基于AC IS几何造型内核软件,搭建了火箭基组合循环发动机初步设计的CAD平台,并利用该平台进行了算例分析。结果表明,该CAD平台能有效地进行火箭基组合循环发动机的设计与分析,实现了设计、计算一体化,为此类发动机实验器的设计提供了技术支持。     

突变截面燃烧室声腔纵向振荡频率规律分析

将药柱贴壁浇注的固体火箭发动机燃烧室简化为中间管型药两端容腔的形式,建立了突变截面H型声腔的物理模型,求解了此种声腔纵向振频的理论解和有限元解,以对称声腔与非对称声腔为对象,分析了一些关键几何尺寸对纵向声振频率变化的影响规律.计算结果表明,声振频率受装药长度与燃烧室长度的比值、装药内外径比值以及药柱浇注位置的共同影响.从合理的装药装填率考虑,初始振荡频率小于圆柱型声腔的振频,并随燃面退移连续增大.      

液压油中污染物的影响及控制

液压油的质量直接影响着液压系统的工作质量,液压系统目前面临需要克服的难题是如何有效地控制液压油的污染。这里介绍液压油被污染的原因,污染物产生的过程和对系统的影响,以及采取的控制措施等。     

固体火箭发动机探伤图像包络线伪迹校正

对固体火箭发动机探伤图像中出现的包络线伪迹进行了相应的研究,介绍了滤波反投影算法,分析了探伤图像中包络线伪迹产生原因,提出了相应的解决方法。对相应方法首先进行了计算机仿真验证,然后进行了固体发动机探伤图像包络线伪迹校正实验研究,取得了理想的效果。