空间机器人柔性臂动力学模糊控制的研究

重点研究了在空间机器人柔性臂的动力学非线性控制问题,由于柔性臂动力学系统的强非线性和耦合性,使得柔性臂控制系统复杂,控制的实时性和稳定性差,本文针对以往柔性臂控制所存在的问题,综合考虑系统的动态和静态特性,提出了一种带有非线性补偿器及ＰＩＤ控制器的柔性臂模糊复合控制方案,然后,根据所推导了一两连杆的空间机器人柔性臂的这非线性模型,进行了系统控制的仿真研究,实例仿真的结果表明,该控制方案能有效地抑制     

Recent experience with different methods of drag prediction

During the recent past the process of engineering design has changed entirely because of rapid developments in computational simulations. In aerodynamic design, computational fluid dynamics (CFD) methods are slowly superseding empirical methods and design engineers are spending more and more time applying CFD tools to analyze and predict the aerodynamic characteristics of vehicles. The purpose of this paper is to review recent experiences in CFD-based drag prediction with an emphasis on flow solutions governed by the Euler and Reynolds-averaged Navier–Stokes equations. For these types of flow solutions, various drag analysis methodologies are outlined and applied to determine the drag of components of as well as whole-body airplanes, helicopters, and ground-based vehicles at subsonic and transonic flow conditions. The review demonstrates that although significant progress has been made, CFD-based drag prediction still faces a number of hurdles that must be dealt with before it will become more widely accepted.     

跨、超音速流动的区域分解方法与并行算法

研究二维跨、超音速无粘性流动的 Euler方程区域分解方法、并行算法及其应用。通过内边界耦合条件实现相邻子区域解的光滑过渡,以得到总体流场的数值解。发展了一种多块区域之间守恒型的有效内边界耦合方法,对二维翼型跨音速流动和钝头体超音速流动等进行了分区数值求解,分区计算结果与其他单区计算结果作了比较,并讨论了多种区域分解数目的分区计算效率。并行计算采用纯结点并行编程方式和“先进先出”的同步控制等待机制,利用 PVM并行环境对二维绕翼型跨音速流动做了二区和四区分区并行计算。     

基于多体系统理论的数控机床综合误差建模技术

误差补偿是进一步提高机床精度的重要途径,真实准确的误差模型对最终的误差补偿的效果起着决定性的作用.采用基于多体系统理论的建模方法,对机床拓扑结构、机床的误差元素和坐标系之间的变换矩阵进行充分分析,建立了特定数控机床的综合误差模型,为后期实施对特定机床的实时误差补偿提供了误差计算依据.     

伺服加工平台的综合误差建模与补偿

伺服加工平台的几何误差是影响工件加工形貌精度的重要因素。在多体系统理论的基础上,首先,运用低序体阵列描述伺服平台多体系统的拓扑结构,建立各相邻体间的齐次变换矩阵,构建其综合误差模型;其次,利用雷尼绍测量系统对平台的定位误差、直线度误差、俯仰误差、偏摆误差以及两轴之间的垂直度误差进行辨识,将辨识得到的误差值代入构建的模型得出平台几何综合误差;最后,选择凸锥面、平面、球面3种面型工件补偿试验,对误差模型进行原理性验证。研究表明,经补偿后加工所得3种面型工件表面精度均提高了25%左右,证实了提出的补偿方法可用于伺服加工平台几何误差控制。     

基于系统动力学的反舰导弹饱和攻击模型

以舰载一体化反导武器和反舰导弹入射流为研究对象,分析了舰载反导武器拦截齐射反舰导弹的特点,建立了舰空导弹和火炮拦截反舰导弹入射流的排队服务规则、反导武器的状态转换条件和饱和攻击弹药消耗量计算方法;利用系统动力学方法推进对抗的演进,实现了舰载反导武器对反舰导弹的动态拦截。仿真得到了饱和攻击所需齐射反舰导弹数的概率分布,验证了以弹药消耗量为目标函数的最优齐射反舰导弹数是存在的假设,解决了缺乏饱和攻击定量计算问题,为高效实施饱和攻击奠定了基础。     

边条翼下进气道与飞机一体化流场特性的研究

利用雷诺平均可压缩N-S方程以及可实现k-ε模型,对边条翼下进气的飞机进行了内外流场的气动耦合计算,研究分析了边条翼下进气道进口处的局部流场特性,说明了局部流场特性随攻角变化的关系,数值模拟与实验结果吻合较好.通过改变进气道的流量系数,分析飞机流场的变化,重点阐明了进气道流量系数对边条涡破碎位置的影响以及机理,即:进气道流量系数越低,涡的破碎位置就越提前,会影响飞机的气动性能.这为今后进一步研究奠定了坚实的基础.     

转子支承动刚度对转子动力特性的影响分析

针对转子支承动刚度对转子动力特性的影响,分别运用静刚度、动刚度和整机有限元模型对某型发动机进行了转子动力特性计算,并对各种计算结果进行了比较和分析;分析了转子支承动刚度剧烈变化的原因,同时,指出运用整机模型能够分析支承动刚度和各种机匣的局部振动对整机振动的影响。     

一种新的动网格方法及其应用

 介绍了一种新型的动网格方法。该方法以Delauney图为基础进行整个网格的移动变形：首先是生成满足Delauney特性的Delauney图;然后把对网格移动的特性映射到Delauney图的移动上;最后把网格点在Delauney图以映射的方式进行重新定位而得到新的网格点坐标,从而得到移动后的网格。该方法不需要迭代,因而效率高,并且能适用于任意拓扑结构的网格。以翼身组合体的机翼颤振、翼身融合体的变体过程的非定常流动等为例来说明该方法的高效性及适用面广等特点。     

Optimization and verification of wind tunnel free-flight similarity law for separation of cluster munition

In view of the separation form of the separator from the back of the carrier upward and from the side of the carrier outward, separation-safety research is carried out by taking the separation of a cluster munition as an example. In previous wind tunnel free-flight tests, the similarity law of vertical, downward, moving submunition was used to design submunitions at different positions in different initial-velocity directions, which resulted in large discrepancies between wind tunnel test results and real flight. In a wind tunnel test, each submunition has an independent time-reduction ratio with respect to the dispenser. Even if the separation trajectory of a single submunition is accurate, there will be errors in the position of each submunition at a given time. Therefore, it is necessary to determine the time-reduction ratio between submunitions, and to modify the test results later. In order to ensure the accuracy of wind tunnel test results, the similarity law of a free-flight test in a wind tunnel is derived in this paper. The time-correction scheme to ensure motion similarity between submunitions is solved. Numerical simulation is used to simulate the separation of a wind tunnel test and real aircraft, and the motion parameters of different submunitions are solved. The results show that the new similarity laws derived for different types of submunitions can greatly reduce the errors caused by previous similarity laws. In addition to the case for the separation of a cluster munition, the similarity law can also be applied to the free-flight test design of wind tunnels for vertical separation and horizontal separation of other kinds of aircraft.