Adaptive path planning for unmanned aerial vehicles based on bi-level programming and variable planning time interval

This paper presents an adaptive path planner for unmanned aerial vehicles (UAVs) to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming (BLP) and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles (SAMs) are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.     

鼠笼式弹性支承结构参数优化设计与试验

进行了鼠笼式弹性支承的优化设计与试验研究.基于遗传算法和MATLAB开发了优化设计软件,进行了某航空发动机鼠笼式弹性支承的结构参数优化设计,并进行了柔度试验和疲劳应力试验.结果表明,疲劳应力下降到原来的40%,优化结果与试验结果的误差小于6%,验证了优化设计的有效性.     

多飞行器协调航迹规划方法

针对多飞行器的协调航迹规划展开研究，提出了一种基于协同进化的多飞行器协调航迹规划算法。在该算法中，不同飞行器的潜在航迹形成它们自己的子种群，并在于种群内部进化。不同飞行器间的协调关系由航迹的评价函数来实现。同时，通过使用特定的染色体表示方法和进化算子，该算法可以有效利用各种环境信息，处理各种航迹约束，并实时地生成三维航迹。     

Vibrations of circular sandwich plates connected with an elastic foundation

The results of analyzing axisymmetric forced vibrations of an elastic circular sandwich plate connected with an elastic foundation under different surface loads are presented. The hypotheses of a broken normal are accepted to describe the kinematics of a package that is nonsymmetrical over the thickness. The analytical solutions of a problem for plates with a light filler are obtained and numerical analysis is carried out.     

斜向弹性支撑飞船座椅缓冲性能

当出现具有较大水平速度的斜冲击着陆工况时,飞船座椅头盆向冲击过载可能危及航天员生命安全。在现有的胸背向着陆冲击过载缓冲机构的基础上,引入座椅斜向弹性支撑模型,建立了斜向弹性支撑座椅缓冲系统的动力学模型。对具有较大水平速度的斜冲击着陆工况的仿真结果表明,相比于现有的铰接支撑缓冲系统,适当参数组合下的斜向弹性支撑座椅缓冲系统能有效降低航天员头盆向冲击过载且不增加胸背向冲击过载;综合支撑角度、刚度和阻尼各个参数影响规律,可以得到优化的座椅设计方案。     

Drag derived altitude aided navigation method

The navigation problem of the lifting reentry vehicles has attracted much research interest in the past decade.This paper researches the navigation in the blackout zone during the reentry phase of the aircraft,when the communication signals are attenuated and even interrupted by the blackout zone.However,when calculating altitude,a pure classic inertial navigation algorithm appears imprecise and divergent.In order to obtain a more precise aircraft altitude,this paper applies an integrated navigation method based on inertial navigation algorithms,which uses drag derived altitude to aid the inertial navigation during the blackout zone.This method can overcome the shortcomings of the inertial navigation system and improve the navigation accuracy.To further improve the navigation accuracy,the applicable condition and the main error factors,such as the atmospheric coefficient error and drag coefficient error are analyzed in detail.Then the damping circuit design of the navigation control system and the damping coefficients determination is introduced.The feasibility of the method is verified by the typical reentry trajectory simulation,and the influence of the iterative times on the accuracy is analyzed.Simulation results show that iterative three times achieves the best effect.     

多飞行器动态目标追踪协同控制研究

多飞行器追踪动态目标是一个协同控制问题,需要根据目标飞行状态,协同各个追踪飞行器的飞行状态,最终能够在某动态的最佳点实现同时到达。考虑到目标具有较强的机动性,轨迹通常为非线性的,设计了一种基于非线性轨迹预测的、以剩余时间为控制变量的一致性控制方案。仿真结果表明,提出的控制方案能够实现空间位置相距较远的多飞行器动态追踪,具有较好的灵活性和收敛性,目标轨迹的预测结果与实际轨迹误差较小,恰当的轨迹估计有助于缩短追踪时间,提高追踪效率。     

直升机旋翼桨叶的弹性碰撞动力学建模

建立了直升机旋翼桨叶弹性正碰撞的动力学模型,采用有限转动梁理论处理桨叶的弹性变形,利用Hertz接触理论处理局部弹性变形,引入位移协调方程识别弹性碰撞载荷,运用Hamilton原理建立了桨叶正碰撞的动力学方程.通过与Timoshenko算例的对比表明了该方法的正确性,且对集中质量与直升机桨叶的弹性正碰撞问题进行了研究.      

全弹性稳态微小流量测量系统

介绍了一种采用质量测量法的液体微小流量测量系统的工作原理与工作过程.系统采用全弹性连接方法设计,避免了常规质量测量法流量测量装置中非弹性连接管路造成的测量误差.采用压力补偿方法,修正由于压强对增压气体密度的影响.并以酒精为测试液体,进行了5种工况下流量测量试验.试验结果表明,该套微小流量测量系统工作稳定、可靠,可以精确测量出液体稳态微小流量.      

隐身技术推动新一代飞行器发展

从飞行器的总体、气动、结构、系统、制造和试验等几个方面,讨论雷达隐身技术要求对飞行器设计、制造、成本等带来的挑战。