Extrinsic calibration of a laser displacement sensor in a non-contact coordinate measuring machine

In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine (CMM),etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as (l,m,n) by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper.     

非线性时间序列在卫星通信网络数据预测中的研究

卫星通信网络数据预测在卫星通信系统中起着重要的作用,是系统建模的主要研究内容之一。由于卫星通信网络数据的非平稳性和不可预知因素的影响,决定了应采用非线性时间序列建模方法来分析、预测。在分析通信网络数据的基础上,建立卫星通信网络数据的ARIMA模型,在确定预测模型的阶和进行参数估计后,给出不同预测步数条件下的通信网络数据流量的预测,并进行了仿真对比实验。仿真结果表明,该模型在预测步数较小的情况下,预测误差在4％左右,具有良好的预测精度,为卫星通信网络数据流量的预测、异常检测和网络负载预测的应用奠定了坚实的基础。     

透镜式薄壁CFRP管空间伸展臂轴压屈曲分析及试验

对透镜式截面四层铺设薄壁碳纤维增强塑料(CFRP)管空间伸展臂进行轴压载荷试验,得到轴压临界屈曲载荷及屈曲特性。利用有限元模型进行线性特征值屈曲分析,并引入屈曲模态形式作为初始几何缺陷进行非线性屈曲分析,得到轴压下屈曲临界载荷及非线性屈曲特性,并与试验结果进行对比分析。结果表明初始几何缺陷对CFRP管轴压临界载荷影响较大,给CFRP管加入适当的几何缺陷可更有效模拟实际非完善体的屈曲载荷。进而对其材料厚度、层数和铺设角度进行参数分析,得到各参数对轴压临界载荷的影响程度及敏感性,本文对透镜式薄壁CFRP管空间伸展臂的设计和深入研究具有重要参考价值。     

基于神经网络的光纤陀螺温度漂移误差建模与补偿

光纤陀螺（FOG）温度漂移误差是影响其输出精度的主要误差源之一,在实际应用中必须对光纤陀螺温度漂移误差进行适当补偿。传统的最小二乘法等线性补偿方法很难满足补偿精度的要求且适用性较差,利用BP及RBF神经网络分别建立非线性光纤陀螺温度漂移误差模型,可以有效提高补偿精度,使用FOG温箱实测数据对最小二乘模型及神经网络补偿模型进行了测试对比,验证了基于神经网络的非线性补偿算法在FOG温度漂移补偿中的有效性。     

非平稳随机振动问题的矩方程求解法

本文将矩方程法推广到宽带激励下线性或非线性系统的非平稳随机振动问题,求得了通用的公式,并将它们应用于几类常见的非平稳随机振动。对于若干例子的计算结果表明,矩方程法能够较有效地处理宽带激励下系统的非平稳随机振动问题。     

导弹非线性控制系统的自适应规律

为简化非线性控制系统．研究了某导弹控制系统的自适应规律。给出了系统的自振方程和负倒幅特性函数．推导了非线性系统的等效线性过程，分析了系统等效增益与自振振幅的关系。获得了系统的自适应及自补偿规律。     

氧换热器在两相流条件下的压力脉动机理分析

氢氧液体火箭发动机氧换热器在研制过程中出现了压力脉动现象，影响了换热器的正常工作。以该型换热器为研究对象，将换热器分为燃气侧、汇总管、圆管等结构，进行了CFD仿真计算，与试验结果对比，修正了传热相关参数，建立了换热器理论计算模型用于参数计算；利用非线性方法分析试验数据，确定了该换热器为混沌系统；利用两相流分析与电路类比两种方法分别针对换热器进行了建模与计算，均捕捉到了相变下换热器内的压力脉动。结果表明：通过CFD仿真及试验修正后的参数用于计算换热器的稳态参数，具有较好的一致性；换热器出现压力脉动时，具有一定非线性特征，且压力脉动越大，非线性程度越高；该换热器出现压力脉动的原因为氧工况接近两相区，相变使得介质密度发生剧变。根据分析结果提出了提高换热器设计压力的改进措施，通过试验得到了有效验证。     

采用BP网络辨识航空发动机数学模型

运用ＢＰ网络和实测数据作为学习样本，对某型航空发动机的数学模型进行了辨识研究。辨识模型输出的结果与实测数据比较误差较小。这种方法收敛速度快、精度高，结果表明用ＢＰ网络辨识方法能够得到比较精确的发动机数学模型。     

Very large space structures: Non-linear control and robustness to structural uncertainties

Very Large Space Structures (VLSS) are challenging systems to be controlled, due to their high flexibility. In particular, rapid attitude maneuvers can determine great oscillations on the flexible elements of a spacecraft (solar wings, antennas, booms). On account of this, in the last decades many researchers have developed different strategies to effectively damp the elastic vibrations by means of active vibration devices (such as piezo-electric patches) or by means of robust control algorithms. The approach suggested in this paper is different, since neither additional devices nor complex control laws are introduced. In fact, the complete model of the system (including rigid, elastic and orbital dynamics, coupled with control actions) is controlled by the non-linear attitude controller named state dependent Riccati equation, which will be based on a simplified version of the spacecraft model. The task to reduce the mutual interaction between rigid attitude and flexible dynamics is entirely transferred to a modification of the desired trajectory that must be tracked. This command shaping technique is based on the knowledge of the parameters (inertial and elastics) of the VLSS. Unfortunately these parameters are not always exactly known and, however, they may change over the time. On account of this a Monte Carlo analysis has been also performed, showing the robustness of the proposed control strategy to the structural uncertainties. The numerical simulations prove that this strategy, based on the joint application of two well-known yet simple techniques, produces accurate and robust results.     

航天器质量特性参数的在轨辨识方法

针对高精度姿态和轨道控制要求准确已知航天器质量特性的问题,提出了基于参数解耦的最小二乘法和基于PSO的非线性优化两种方法,以辨识航天器的质量、惯量和质心位置。第一种方法将惯量与质量和质心位置解耦后分别辨识;第二种方法则将参数辨识问题转换为非线性系统的全局优化问题,同时辨识出所有参数。所提出的方法均不需要假设航天器运动足够慢,克服了以往方法将待辨识参数的耦合关系强行分离的缺点,采用辨识后的参数明显提高了航天器姿态及轨道控制性能。仿真结果验证了方法的有效性。