Dual Drive Curve Tool Path Planning Method for 5-axis NC Machining of Sculptured Surfaces

The problem of finished surface being not first-order continuous commonly exists in machining sculptured surfaces with a torus cutter and some other types of cutters. To solve this problem, a dual drive curve tool path planning method is proposed in this article. First, the maximum machining strip width of a whole tool path can be obtained through optimizing each tool position with multi-point machining (MPM) method. Second, two drive curves are then determined according to the obtained maximum machining strip width. Finally, the tool is positioned once more along the dual drive curve under the condition of tool path smoothness. A computer simulation and cutting experiments are carried out to testify the performance of the new method. The machined surface is measured with a coordinate measuring machine (CMM) to examine the machining quality. The results obtained show that this method can effectively eliminate sharp scallops between adjacent tool paths, keep tool paths smooth, and improve the surface machining quality as well as machining efficiency.     

集群无人机队形重构及虚拟仿真验证

队形重构是集群无人机（UAV）控制的重要问题，指无人机按照要求安全、无碰撞地从一个队形变换到另一个队形，其难点在于快速规划最优安全轨迹并控制无人机进行轨迹姿态的高精度跟踪。针对集群无人机队形重构的上述问题，首先，基于CAPT（Concurrent Assignment and Planning of Trajectories）算法，解决了多无人机的目标分配和轨迹生成的实时性问题，实现了集群无人机的最优安全路径规划；其次，提出一种有限时间多变量积分滑模连续控制算法，解决了无人机轨迹姿态的高精度跟踪问题，并通过MATLAB仿真验证了该控制算法的有效性；最后，为了更加真实直观地演示无人机三维仿真效果，建立了基于Gazebo-ROS的无人机仿真平台，实现了12架四旋翼无人机队形重构"建模-仿真-可视化"的一体化仿真演示，验证了上述路径规划算法和轨迹姿态控制算法的有效性。     

舰载机着舰任务下的飞行员建模研究

为研究舰载机在下滑着舰时飞行员的操纵策略,建立了着舰任务下的双通道飞行员模型.以人工着舰时飞行员控制飞机进行轨迹跟踪为背景,以着舰时惯用的“反区”操纵技术为依据,确立了舰载机飞行员控制律,并对控制增益参数进行了自适应设计.最后结合F-18A舰载机,运用SIMILINK软件进行了仿真.结果表明,该模型能很好地反映着舰任务下的飞行员操纵特性,可为飞行员着舰操纵提供参考.     

基于改进GPC的无人直升机动态路径规划

针对小型无人直升机航迹受到风场扰动和导航系统定位误差影响下的航迹最优规划问题,建立了风扰动和导航误差影响下的飞行航迹线性模型。基于混合整数规划思想,采用粒子滤波改进广义模型预测控制算法实时规划航迹,降低了导航定位误差造成的航迹估计偏差,提高了航迹估计精度。仿真结果表明,该算法能够生成三维可行航迹并躲避障碍物,且规划时间和无人机能耗较传统方法显著减少。     

图形交互自动编程及对三维曲面的处理

作为一种新型的计算机辅助编程技术，图形交互自动编程正在走进更多的企业。本文介绍了这种编程方法的特点和基本步骤，重点阐述了利用这种办法处理传统编程方法不易解决的三维曲面编程问题。     

某型飞机维护规程编制初探

针对某型飞机维护规程编制的特点，通过消化、学习专业知识，与外场维护人员的沟通与交流，给出了某型飞机维护规程编制的内容、依据和要求，解决了相关专业的协调与分工，检查条件苛刻及项目多的编制难题，并对维修项目和区域的确定进行了探索和研究。     

求最短道路的改进方法

通过具体例子说明含负权的有向图D=(V,E)中,用Dijkstra算法构造的V的子集Sk的标号未必都是从顶点V1到该点的最短路权,指出在此情况不能用Dijkstra算法求最短道路,进而给出了含负权的有向图中用递推公式求最短道路的方法,并用数值例子说明了所提方法的应用。     

复杂组合曲面零件加工编程的刀位计算方法

介绍了复杂组合曲面零件加工表面刀端点过渡曲面的定义及离散化技术，以及在此基础上建立的行切、环切、层切和等深加工算法及其实现，为这类零件加工编程提供了高效、便捷的手段。     

Five-axis flank milling tool path generation with curvature continuity and smooth cutting force for pockets

In order to ensure machining stability, curvature continuity and smooth cutting force are very important so as to meet the constraints of both cutting force and kinematics of machine tools. For five-axis flank milling, it is difficult to meet both of the constraints because tool path points and tool axis vectors interact with each other. In this paper, multiple relationships between tool path points and tool axis vectors with cutting force and kinematics of machine tools are established, and the strategies of corner-looping milling and clothoidal spirals are combined so as to find feasible solutions under both of the constraints. Tool path parameters are iterated by considering the maximum cutting force and the feasible range of the tool axis vector, and eventually a curvature continuity five-axis flank milling tool path with smooth cutting force is generated. Machining experimental results show that the conditions of cutting force are satisfied, vibration during the process of machining is reduced, and the machining quality of the surface is improved.     

封闭差动齿轮系统振动传递路径贡献度分析

针对封闭差动齿轮系统在减振降噪方面的需求,提出了一种从传动系统运动分析的角度出发确定其振动传递路径并分析各路径贡献度的研究方法。以齿轮啮合时产生的时变啮合刚度和误差等效位移作为内部激励,分析封闭差动齿轮系统的振动传递路径,基于功率流法分析各振动传递路径的贡献度。研究结果表明:振动接受结构输出轴、差动级太阳轮和封闭级行星轮在最大共振频率下对应的最大共振幅值分别为14 010、3 314 (m/s2)/Hz和95 180 (m/s2)/Hz;包含封闭级内齿圈和输出轴的路径4在差动级外啮合激励、差动级内啮合激励、封闭级外啮合激励和封闭级内啮合激励对应的振动传递路径贡献度百分比分别为777%、775%、786%和699%,封闭级内齿圈和输出轴在封闭差动齿轮系统振动传递中起主要作用。