基于特征模型的某型无人机智能PID控制器

无人机的飞行特性在很大程度上取决于其飞行控制律。本文以无人机的姿态控制回路为研究对象,分析了表征该无人机姿态控制特性的特征状态信息。利用特征建模的方法,设计一种基于控制对象特征模型的无人机姿态回路仿人智能P ID控制器,并进行了仿真试验。结果表明,该控制器具有较好的抗干扰和自适应能力,结构简单,针对性强,易于实现。     

民用客机可变弯度机翼优化设计研究

远程宽体客机在实际飞行状态下,机翼变弯度有效减阻能够提升客机性能和飞行品质。以全机配平构型为研究对象,基于襟翼、扰流板偏转建立变弯度模型;采用RANS方程实现阻力的精确求解并建立响应面模型,对不同升力系数、马赫数的多个飞行状态进行变弯度减阻优化;在此基础上,对实际飞行过程中变弯度操作需求及综合减阻性能进行分析,并采用布雷盖公式评估机翼变弯度后全航段综合巡航效率。结果表明：在巡航马赫数飞行时,采用两次变弯度设置即可在较宽的升力系数范围内获得减阻收益;在10 km定高巡航时,机翼变弯度可使整个航段综合减阻1.9 cts,航时、航程提高0.72%;在8和10 km进行一次阶梯巡航,机翼变弯度可使整个航段综合减阻2.9 cts,航时、航程提高1.19%。     

复方金钱草颗粒抑制草酸钙结石形成的化学模拟

本文研究了不同剂量的复方金钱草溶液对草酸钙亚稳溶液中可溶性钙离子浓度的影响,当加入剂量从0 mL增加到35.0 mL时,草酸钙亚稳溶液中钙离子浓度从0.1966 mmol/L增加至0.5564 mmol/L,且草酸钙亚稳溶液中的钙离子浓度与复方金钱草的加入量呈线性关系。而且,随着复方金钱草浓度的增加,一水草酸钙晶体生长抑制指数增大。     

基于输入解耦特征模型的四足机器人运动控制

摘要： 针对四足机器人腿部关节控制和转弯步态规划问题，建立四足机器人单腿动力学模型，分析其多输入多输出、时变、耦合和非线性等特性，建立并推导一种具有输入解耦形式的多输入输出特征模型；在此基础上设计由多变量黄金分割自适应控制律和微分控制律组成的控制器；其次提出一种对角转弯步态，通过修正左右腿的迈步步长实现机器人的转弯，进一步分析步长修正量与转弯半径的关系；最后通过虚拟样机技术，分别进行机器人零负载和50 kg负载情况下的直行和转弯步态仿真，仿真结果验证所提方法的有效性.     

The effect of collisions in ionogram inversion

The results of this paper demonstrate that the effect of collisions on the group refraction index is small, when the ordinary ray is considered. If, however, in order to improve the performance of a system for automatic interpretation of ionograms, the information contained in ordinary and extraordinary traces is combined, the effect of collisions between the electrons and neutral molecules should be taken into account for the extraordinary ray. The magnitude of these differences is generally very small and must be compared with the resolution in the virtual vertical height of the ionosonde, resolution which is typically of the order of few kilometers.     

Prediction of clear-sky biologically effective erythematic radiation (EER) From global solar radiation (250–2800 nm) at Cairo,Egypt

The hourly and daily measured clear-sky global solar radiation (G) and biologically important effective erythematic radiation (EER) incident on a horizontal surface at Cairo, Egypt (latitude 30° 05′ N & Longitude 31° 15′ E), during the period from January 1995 to December 2005 are used in this paper. The relationship between daily integrated totals of EER and the daily totals of broadband global solar radiation (250–2800 nm) is established. The temporal variability of the percentage ratio of the total daily erythema to total daily broadband solar global irradiation (EER/G) is determined. The monthly and the seasonal averages of the extraterrestrial UVB solar radiation, Mesurad and estímated UVB solar radiation and clearness index K_tUVB of UVB radiation are discussed. The average monthly mean variation of slant ozone (Z) and UVB transmission (K_tUVB) at the present work are found. The two variables show an opposite seasonal behavior, and the average monthly of slant ozone column and UVB transmission values shows the relationship between them in a clearer way than those of daily values. The estimated values of UVB solar radiation a good agreement with the measured values of the UVB solar radiation, the difference between the estimated and measured values of UVB solar radiation varies from 1.2% to 2.8%. The effect of the annual cycles of solar zenith angle (SZA) and total column ozone (TCO) on the ratios (EER/G) are presented and the correction factors are determined for removal of the ozone cycle. The seasonal variability of EER/G is also discussed. The effect of the annual cycles of solar zenith angle (SZA) and total column ozone (TCO) on the ratios (EER/G) is presented and the correction factors are determined for removal of the ozone cycle.     

Time series modeling and analysis of trends of daily averaged ionospheric total electron content

A 10.7 cm solar radio flux F10.7, geomagnetic planetary equivalent amplitude (Ap index), and period variations were considered in this paper to construct a linear model for daily averaged ionospheric total electron content (TEC). The correlation coefficient of the modeled results and International GNSS Service (IGS) observables was approximately 0.97, which implied that the model could accurately reflect the realistic variation characteristics of the daily averaged TEC. The influences of the different factors on TEC and its characteristics at different latitudes were examined with this model. Results show that solar activity, annual and semiannual cycles are the three most important factors that affect daily averaged TEC. Solar activity is the primary determinant of TEC during periods with high solar activity, whereas periodic factors primarily contribute to TEC during periods with minimum solar activity. The extent of the influences of the different factors on TEC exhibits obvious differences at varying latitudes. The magnitude of the semiannual variation becomes less significant with the increase in latitude. Furthermore, a geomagnetic storm causes an increase in TEC at low latitudes and a decrease at high latitudes.     

基于位姿测量不确定度的飞机对接质量评估

针对基于位姿的数字化测量辅助飞机大部件对接技术的发展与应用,对位姿测量不确定度以及基于不确定度的质量评价方法进行了研究.给出了数字化对接环境下大部件位姿的数学表达形式及意义.提出了基于协方差矩阵的位姿测量不确定度解析算法,并通过仿真算例与蒙特卡洛仿真法进行了对比,验证了该算法的有效性.给出了飞机大部件对接过程数字化测量工艺能力指数的概念,用于对测量结果的可信性进行评价;通过构建位姿测量不确定度与对接质量评估指标间的映射关系,提出了一种基于位姿测量不确定度的大部件对接质量评估方法,并以机翼-机身对接过程为案例,对方法的可行性、算法的有效性进行了验证.     

三轴式无人旋翼飞行器及自适应飞行控制系统设计

设计了一种操控简便的三轴式无人旋翼飞行器,由三组共轴双旋翼组成,各旋翼由直流电机直接驱动,只需调节各电机转速就能控制旋翼飞行器运动姿态和轨迹。为使三轴式无人旋翼飞行器飞行控制系统设计得到有效验证,研究了旋翼飞行器的飞行动力学非线性建模,运用叶素动量理论建立了共轴双旋翼变转速旋翼载荷计算方法,分析了旋翼入流分布对共轴双旋翼气动载荷模型的影响,通过试验验证了共轴双旋翼气动载荷计算模型的正确性。由于旋翼飞行器飞行动力学模型的非线性及未建模动力学的影响,难于建立非常精确的数学模型,给飞行控制系统设计带来了挑战。本文根据旋翼飞行器飞行动力学非线性模型推导出了旋转动力学模型逆和平移动力学模型逆控制器,利用神经网络在线自适应修正模型逆误差,采用线性PD或PI控制器调节指令跟踪误差,应用由向心回转和垂直上升组合的机动科目进行了仿真验证,给出了具有外界阵风干扰模拟的仿真结果,表明所设计的飞行控制系统具有自适应性和鲁棒性,能实现精确的轨迹跟踪控制。     

基于双吸叶轮两侧非均衡进气研究轮盘凸台尺寸影响

为明确双吸叶轮两侧叶轮之间的径向轮盘凸台尺寸变化对其总体性能及内部流场的影响,探索不同尺寸轮盘结构叶轮的流动损失机理,基于双吸叶轮两侧非均衡进气条件,采用数值方法对五种径向轮盘尺寸双吸叶轮的三维粘性流场进行了模拟研究。研究结果表明:从双吸叶轮最优性能及最高流动稳定性观点出发,均要求两侧叶轮之间的径向轮盘凸台超出叶片尾缘一定范围;具体超出尺寸范围则需要通过对双吸叶轮的压比、效率性能目标进行折衷确定。径向轮盘凸台尺寸的改变明显影响双吸叶轮两侧叶轮的流量分配,进而影响扩压器内分离流动损失大小及双吸叶轮的整体性能。另外,相比于较大径向轮盘凸台,无径向轮盘凸台结构更容易造成双吸叶轮两侧叶轮流量差距悬殊。 