飞行器线性分式变换建模及其降阶研究

针对一类可用线性变参数系统描述的飞行器动力学模型,本文采用图形法建立其线性分式变换模型,并应用卡尔曼规范分解对模型进行降阶.最终得到的模型将飞行器动力学明确分解为确定性部分和时变参数部分.数学仿真验证了所建立模型的正确性.     

LTPB多站点联网测试软件设计

作为现役飞机最为先进航电技术的代表，高速数据总线在设计上的复杂性是显而易见的。如何对其性能进行全面考察是一个非常重要的问题。本文所论述的联网测试软件提供了一个有效的方法，实现了对LTPB联网性能的测试与演示。一方面证明了软件本身设计的合理笥，同时也进一步证明了整个LTPB设计与实施的正确性。     

压缩式压电传感器轴向灵敏度的幅值线性度问题

本文了压电传感器的结构原理,说明了压电传感器幅值灵敏度的线性问题,分析了正反向灵敏度的差异和“饱和现象”,以便在生产、鉴定与使用时加以注意。     

二次通用旋转组合设计试验在造粒技术领域的应用研究

本文研究了利用二次通用旋转组合设计来进行多因素影响的振动流化床喷雾造粒试验,建立数学模型,得出了具有一定参数价值的最佳操作参数。     

Obstacle avoidance handling and mixed integer predictive control for space robots

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector’s desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.     

Comprehensive outage compensation of real-time orbit and clock corrections with broadcast ephemeris for ambiguity-fixed precise point positioning

The main challenge in real-time precise point positioning (PPP) is that the data outages or large time lags in receiving precise orbit and clock corrections greatly degrade the continuity and real-time performance of PPP positioning. To solve this problem, instead of directly predicting orbit and clock corrections in previous researches, this paper presents an alternative approach of generating combined corrections including orbit error, satellite clock and receiver-related error with broadcast ephemeris. Using ambiguities and satellite fractional-cycle biases (FCBs) of previous epoch and the short-term predicted tropospheric delay through linear extrapolation model (LEM), combined corrections at current epoch are retrieved and weighted with multiple reference stations, and further broadcast to user for continuous enhanced positioning during outages of orbit and clock corrections. To validate the proposed method, two reference station network with different inter-station distance from National Geodetic Survey (NGS) network are used for experiments with six different time lags (i.e., 5 s, 10 s, 15 s, 30 s, 45 s and 60 s), and one set of data collected by unmanned aerial vehicle (UAV) is also used. The performance of LEM is investigated, and the troposphere prediction accuracy of low elevation (e.g., 10–20degrees) satellites has been improved by 44.1% to 79.0%. The average accuracy of combined corrections before and after LEM is used is improved by 12.5% to 77.3%. Without LEM, an accuracy of 2–3 cm can be maintained only in case of small time lags, while the accuracies with LEM are all better than 2 cm in case of different time lags. The performance of simulated kinematic PPP at user end is assessed in terms of positioning accuracy and epoch fix rate. In case of different time lags, after LEM is used, the average accuracy in horizontal direction is better than 3 cm, and the accuracy in up direction is better than 5 cm. At the same time, the epoch fix rate has also increased to varying degrees. The results of the UAV data show that in real kinematic environment, the proposed method can still maintain a positioning accuracy of several centimeters in case of 20 s time lag.     

一类模糊时滞系统的鲁棒二次稳定和H∞控制

研究了一类连续不确定模糊时滞系统的鲁棒二次稳定问题。首先给出不确定时滞系统的自治系统稳定的充分条件,在此基础上设计状态反馈控制器,给出全局二次可稳定的充分条件。相比已有的理论成果,更进一步考虑了系统的日。性能指标,使系统在满足二次可稳定的同时也满足H∞性能指标,并将所得的条件转化为线性矩阵不等式以便借助Matlab完成求解。最后的算例验证了方法的可行性。     

Design of an FPGA-based electronic flow regulator (EFR) for spacecraft propulsion system

This paper describes a scheme for electronically regulating the flow of propellant to the thruster from a high-pressure storage tank used in spacecraft application. Precise flow delivery of propellant to thrusters ensures propulsion system operation at best efficiency by maximizing the propellant and power utilization for the mission. The proposed field programmable gate array (FPGA) based electronic flow regulator (EFR) is used to ensure precise flow of propellant to the thrusters from a high-pressure storage tank used in spacecraft application. This paper presents hardware and software design of electronic flow regulator and implementation of the regulation logic onto an FPGA.     

先进战斗机生命保障系统

生命保障系统为适应新型战斗机发展需求,围绕"以人为保障对象"系统特征,采用基于系统工程的需求/功能分析方法,从飞机总体、生理、六性、飞管、任务等需求出发,提出系统需求,开展需求分析向工程实践转化研究,确定分解了系统、成品的设计及指标要求。通过系统架构优化、提高快速响应能力研究,建立大系统综合的系统架构。基于数据共享、控制融合的飞管平台以及氧气介质传感器技术,结合六性、FMECA和FTA,开展数字协同环境下生命保障系统综合设计,系统电子信息化程度取得突破,具备高度综合的全数字显示与控制、自主诊断和状态监测能力,获得高效维修保障能力,为实现玻璃化座舱、快速出动、快速布防、跨区域作战、自主保障提供有力支撑。     

Gain self-scheduled H_∞ control for morphing aircraft in the wing transition process based on an LPV model

This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft’s dynamic response will be governed by time-varying aerodynamic forces and moments. Nonlinear dynamic equations of the morphing aircraft are linearized by using Jacobian linearization approach, and a linear parameter varying (LPV) model of the morphing aircraft in wing folding is obtained. A multi-loop controller for the morphing aircraft is formulated to guarantee stability for the wing shape transition process. The proposed controller uses a set of inner-loop gains to provide stability using classical techniques, whereas a gain self-scheduled H 1 outer-loop controller is devised to guarantee a specific level of robust stability and performance for the time-varying dynamics. The closed-loop simulations show that speed and altitude vary slightly during the whole wing folding process, and they converge rapidly after the process ends. This proves that the gain self-scheduled H 1 robust controller can guarantee a satisfactory dynamic performance for the morphing aircraft during the whole wing shape transition process. Finally, the flight control system’s robustness for the wing folding process is verified according to uncertainties of the aerodynamic parameters in the nonlinear model.