液压Stewart平台基于工作空间综合偏差的同步控制

 为了抑制轨迹跟踪过程中各自由度运动之间的相互干扰,将平台跟踪的轨迹进行泰勒级数展开,提出基于工作空间含有各向自由度运动自身跟踪偏差和各自由度运动之间耦合干扰偏差的综合轨迹跟踪偏差量的表达式。根据工作空间综合偏差量反馈,利用反步法设计鲁棒控制器,使各向自由度运动自身跟踪偏差与之间的耦合偏差同时稳定地趋于零,以限制跟踪过程中各自由度运动之间耦合干扰。同时,考虑到实际平台惯性参数不确定性,推导得出惯性参数自适应律,以提高系统的跟踪精度。利用AMESim与MATLAB进行联合仿真验证,结果表明:与传统的比例 积分 微分（PID）控制器相比,该方法在保证各自由度运动自身跟踪偏差稳定收敛的同时有效地降低了各自由度运动之间的耦合干扰偏差,更有效地提高了平台的跟踪性能。     

冲压发动机导弹爬升轨迹与推力调节规律优化

针对以冲压发动机为动力的导弹爬升问题,建立了飞行轨迹和推力规律一体化优化设计模型。采用基于三次样条的直接离散方法,将弹道优化问题转化为参数优化问题,选取兼顾全局搜索能力和局部搜索精度的粒子群-变尺度法(PSO-BFGS)串联混合算法求解最省燃料爬升弹道,得到了"先减速再加速"爬升方案。相比传统的采用最大推力规律、仅优化爬升轨迹的爬升方案,一体化设计能充分发挥冲压发动机的推力调节能力,使导弹以较小的平均飞行速度完成爬升过程,可以显著节省燃耗,提高导弹的性能。     

基于动态气象预报数据的4D航迹预测

高精度4D航迹预测是新一代航迹空管自动化的技术基础以及空管科技领域亟需的核心问题,考虑气象环境因素的影响则能明显提高航空器航迹预测的精度.利用世界区域预报系统的数字格点数据,首先对高度层进行垂直插值以获取某一剖面的气象信息,采用二次拉格朗日插值确定航段上某一点的温度场和风场的预报值,进而讨论温度场和风场预报值对飞行的影响,修正航空器真空速及地速,利用递推仿真方式求解航空器4D航迹.     

多约束条件下机械臂关节轨迹模糊控制算法

将单一约束条件下冗余机械臂关节角速度向量算法与模糊推理方法有效结合,实现多个约束条件下冗余机械臂关节角速度向量轨迹的控制。根据末端执行器的方向、灵活性、机械臂与障碍物的距离等约束条件的重要性,将多个约束条件排定先后次序。综合所有传感器的信息,由模糊推理确定某一时刻需要优化的约束条件,以及对每个约束条件的执行程度,使得在完成主要任务的前提下,所有约束条件都得到最大限度满足。仿真结果证明了所提出算法的有效性。     

Encounter trajectories for deep space mission ASTER to the triple near Earth asteroid 2001-SN263. The laser altimeter (ALR) point of view

In cooperation with Russia, the Brazilian deep space mission ASTER plans to send a small spacecraft to investigate the triple asteroid 2001-SN263. The nearest launch opportunities for this project include June 2022 and June 2025. One main exploration campaign is being planned with focus on the largest asteroid (Alpha). Among the instruments under development, a laser altimeter (named ALR) was preliminarily designed and presented in 2010–2011. Many studies to define mission and instruments requirements were performed aiming at the characterization of important issues for the successful realization of the mission. Among them, the identification of a suitable trajectory that could be followed by the ASTER spacecraft in the encounter phase, when the main campaign will take place. This paper describes the effort undertaken with focus on the laser altimeter operation. Possible encounter trajectories were modelled and simulated to identify suitable approach parameters and conditions allowing the accomplishment of the intended investigation. The simulation also involves the instrument operation, considering approach geometry, attitude, relative motion, time/date, and the dynamics of the main asteroid. From the laser altimeter point of view, keeping in mind the desired coverage results (50% minimum surface coverage of asteroid Alpha, complying with horizontal and vertical resolution requirements), results point out crucial features for the encounter trajectory, like the need for a small inclination (10^-6 degrees; with respect to the asteroid's orbit), the most favourable spacecraft positioning (between the Sun and the asteroid) and pointing condition (back to the Sun), the minimum amount of achievable surface coverage (58%, focused on central areas), and the most proper time to conduct the main campaign (January 2025). Concerning the instrument, results offer refined values for divergence angle (500 to 650 μrad, half-cone), pulse repetition frequencies (from 1/20 to 1 Hz), and consequent data generation rates. A simulation tool that can use any 3D generated trajectories as input data was created for the analyses presented here. Although created for the ALR in this mission, this simple analysis tool can be adapted to other instruments in this or other missions.     

Using land use change trajectories to quantify the effects of urbanization on urban heat island

This paper proposed a quantitative method of land use change trajectory, which means the succession among different land use types across time, to examine the effects of urbanization on an urban heat island (UHI). To accomplish this, multi-temporal images from Landsat 5 Thematic Mapper (TM) and Landsat 7 Enhanced Thematic Mapper Plus (ETM+) of Xiamen City in China from 1987 to 2007 were selected. First, the land use change trajectories were extracted based on the classified images from different years. Then the land surface temperatures (LST) were retrieved and the magnitudes of the UHI were evaluated using the UHI intensity (UHII) indicator. Finally, the indices of the contribution to UHI intensity (CUHII) were constructed and calculated to quantify the effects of each land use change trajectory on the UHI during urbanization. The results demonstrated that the land use change trajectories and CUHII are effective and useful in quantifying the effects of urbanization on UHI. In Xiamen City, a total of 2218 land use change trajectories were identified and 530 of them were the existing urban or urbanization trajectories. The UHII presents a trend of continuous increase from 0.83 °C in 1987 to 2.14 °C in 2007. With respect to the effects of urban growth on UHI, the contribution of existing urban area to UHI decreased during urbanization. Prior to 2007, the existing urban area of trajectory NO. 44444 had the most significant effect on UHI with the greatest CUHII, while the value has decreased from 55.00% in 1987 to 13.03% in 2007 because of the addition of new urbanized area. In 2007, the greatest CUHII was replaced by a trajectory from farmland to built-up area (NO. 22224) with the CUHII of 21.98%, followed by the existing urban area of trajectory NO. 44444 with the CUHII of 13.03%. These results provide not only a new methodology to assess the environmental effects of urbanization, but also decision-supports for the planning and management of cities.     

GEO星弹双基SAR多普勒分辨率特性分析

通过对地球同步轨道（GEO）卫星运动特点的分析，阐明其对多普勒分辨率的影响。传统的双基合成孔径雷达（SAR）多普勒分辨率表达式由于不考虑雷达平台加速度矢量带来的影响，并不适用于GEO星弹双基SAR系统。根据收发平台的双曲线轨迹对目标的回波多普勒特性影响，首先利用梯度方法推导了GEO星弹双基SAR系统的多普勒分辨率表达式；随后详细地分析了GEO卫星与导弹的空间几何关系及多普勒参数，特别是加速度矢量对多普勒分辨率的影响。仿真结果验证了所推导多普勒分辨率表达式的有效性，其有助于双基SAR理论系统完整性的提高，为后续系统设计及应用实践提供理论支撑。     

基于Proximal-Newton-Kantorovich凸规划的空天飞行器实时轨迹优化

针对空天飞行器大气层内上升段实时轨迹优化问题，提出一种基于Proximal-Newton-Kantorovich凸规划的轨迹优化方法。首先，应用Newton-Kantorovich迭代方法将轨迹优化问题转化为一系列的子问题，每个子问题都是一个线性最优控制问题；其次，针对Newton-Kantorovich迭代方法忽略运动方程中的高阶信息，导致难以收敛这一问题，提出Proximal-Newton-Kantorovich迭代方法，在子问题的性能指标中加入邻近规则化项，改善了Newton-Kantorovich迭代方法的收敛性；最后，将子问题离散为二阶锥规划问题，并应用内点法进行求解。提出的Proximal-Newton-Kantorovich凸规划方法是一种求解非线性轨迹规划问题的可行途径。理论分析表明，Proximal-Newton-Kantorovich迭代方法的收敛结果一定是轨迹优化问题的局部最优解。数值实验表明，此方法的计算时间在毫秒级。     

气动引力辅助的火星自由返回轨道设计方法

为更准确地描述大气飞行过程，提出一种三段式大气飞行模型，将大气飞行段分为下降段、平飞段和上升段，使用大气飞行角和航迹角描述飞行过程，并建立了相应的计算模型。对“地球-火星-地球”、“地球-火星-金星-地球”和“地球-金星-火星-地球”自由返回轨道序列的优化结果表明，三段式模型可以准确描述气动引力辅助过程，同时气动引力辅助技术可以有效提升自由返回轨道性能，如减少转移时间，降低燃料消耗等。     

基于梯度下降法的翼伞系统最优分段航迹规划

传统最优控制航迹规划一般以逆风精确着陆、控制能量小为优化目标，但传统最优控制的操纵过程一般是一条连续变化的曲线，工程上不易实施；与之相比，传统分段航迹规划操纵简单，工程上容易实施，能实现逆风精确着陆的目标，但控制能耗大。为了兼顾逆风精确着陆、能耗低和控制操作简单等目标，提出了一种基于梯度下降法的翼伞最优分段航迹规划方法。该方法将控制变量参数化，将逆风精确着陆、控制能耗小、能实现避障等多目标优化问题转化为加权单目标优化问题，并通过梯度下降法求解得到分段常值最优归航航迹。所提算法与基于伪谱法的最优控制规划航迹和基于遗传算法的分段规划航迹进行了对比，算法仿真结果表明本文提出的最优分段航迹规划法既可以实现着陆精度高、控制能量小、逆风着陆和避障的优化目标，同时规划的航迹又由分段常值实现控制，工程上容易实施，兼顾了最优控制航迹规划和分段航迹规划的优点。