浅谈Bell－206直升机常规试飞

提出了常规试飞应把握的三个环节（做好试飞准备、掌握试飞方法、严格试飞标准）和常规试飞的主要项目（测试和调整旋翼与尾桨震动度、检查和调整旋翼自转转速、检查和调整操纵系统间隙与摩擦力、检查和校验发动机功率）及方法，为直升机试飞员和有关工程技术人员提供参考。     

正态单元的双边可靠性Bayes近似下限的计算方法

提出了正态单元双边可靠性性的Ｂａｙｅｓ近似下限的计算方法，该方法的精度高于经典法且偏保守。最后给出了若干实例的计算结果。     

改进的变比热正冲波解析解

本文推导出不牵动总温的变比热正冲波解析解全套公式,并作了算例,说明改进解析解比原解析解合理、准确、而且简明迅速,所以是先进的。     

月面巡视探测器运动控制方法研究

基于动力学的运动控制是星球探测车研制中的关键技术之一。本文以某多轮驱动、多轮转向的月面巡视探测器运动控制为背景,在建立其三自由度动力学模型的基础上,研究了常规增量式PID和模糊自适应PID控制算法,并进行了仿真比较。典型车轮失效情况下的仿真表明,模糊自适应PID方法能够有效控制月面巡视探测器四轮失效的情况,而常规PID方法能够有效控制探测器三轮失效的情况。模糊自适应PID方法对参数扰动敏感性低,鲁棒性更强,较好地处理了常规控制方法可能产生的小超调与快速性的矛盾。     

New design of a compact aero-robotic drilling end effector: An experimental analysis

This paper presents the development of a normal adjustment cell (NAC) in aero-robotic drilling to improve the quality of vertical drilling, by using an intelligent double-eccentric disk nor-mal adjustment mechanism (2-EDNA), a spherical plain bearing and a floating compress module with sensors. After the surface normal vector is calculated based on the laser sensors’ feedback, the 2-EDNA concept is conceived specifically to address the deviation of the spindle from the sur-face normal at the drilling point. Following the angle calculation, depending on the actual initial position, two precise eccentric disks (PEDs) with an identical eccentric radius are used to rotate with the appropriate angles using two high-resolution DC servomotors. The two PEDs will carry the spindle to coincide with the surface normal, keeping the vertex of the drill bit still to avoid repeated adjustment and position compensation. A series of experiments was conducted on an aeronautical drilling robot platform with a precise NAC. The effect of normal adjustment on bore diameter, dril-ling force, burr size, drilling heat, and tool wear was analyzed. The results validate that using the NAC in robotic drilling results in greatly improved vertical drilling quality and is attainable in terms of intelligence and accuracy.     

（对数）正态未来观测的预测分布及其应用

本文用Bayes方法给出了正态、对数正态分布示来观测的预测分布。据此，给出了两分布未来观测值的预测子与预测区间及两分布可靠性的Bayes估计，而经典预测区间与无信息先验分布下的Bayes预测区间相间。     

二维双侧容限系数公式

给出一种二维双侧容限系数公式, 并提出相应的估计双侧容忍区间的方法。该方法可以充分利用以往积累的经验数据, 减少当前试验中的试件个数, 提高预测精度。      

Evaluation of using two-phase frictional pressure drop correlations for normal gravity to microgravity and reduced gravity

The calculation of two-phase frictional pressure drop (TPFPD) is required by two-phase systems operating under microgravity and reduced gravity. There are a large number of correlations for the TPFPD in tubes under normal gravity. However, it is hard to find out a TPFPD correlation obtained from microgravity and/or reduced gravity conditions, and thus people have to use TPFPD correlations for normal gravity to calculate TPFPD under microgravity and reduced gravity. It is necessary to evaluate the feasibility of such practice. This paper offers a comprehensive review of the TPFPD correlations for normal gravity and an up-to-data survey of the TPFPD experimental study under microgravity and reduced gravity. There are 23 TPFPD correlations for normal gravity reviewed and 135 experimental data under microgravity obtained from the literature. These experimental data are used to evaluate the reviewed TPFPD correlations. It is found that the smallest mean absolute relative deviation (MARD) of the correlations is greater than 34%. Using TPFPD correlations for normal gravity to reduced gravity and microgravity may be acceptable for the first approximation, but correlations intended for microgravity and reduced gravity are needed and more experiments are desired to obtain more data with high accuracy.     

无人机动态RCS测量及数据统计分析

以某无人机的动态RCS特性作为研究对象,设计了无人机的测试飞行航路,应用非线性最小二乘估计方法,对采集到的无人机动态RCS试验数据进行X^2分布和对数正态分布模型的参数估计,降低了测量噪声对统计模型参数估计的影响,较为理想地解决了数学统计模型参数估计中试验数据测量噪声的影响,并对某无人机的动态RCS统计分布特点做了分析。     

Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly

A novel approach is proposed to detect the normal vector to product surface in real time for the robotic precision drilling system in aircraft component assembly, and the auto-normalization algorithm is presented based on the detection system. Firstly, the deviation between the normal vector and the spindle axis is measured by the four laser displacement sensors installed at the head of the multi-function end effector. Then, the robot target attitude is inversely solved according to the auto-normalization algorithm. Finally, adjust the robot to the target attitude via pitch and yaw rotations about the tool center point and the spindle axis is corrected in line with the normal vector simultaneously. To test and verify the auto-normalization algorithm, an experimental platform is established in which the laser tracker is introduced for accurate measurement. The results show that the deviations between the corrected spindle axis and the normal vector are all reduced to less than 0.5°, with the mean value 0.32°. It is demonstrated the detection method and the auto-normalization algorithm are feasible and reliable.