具有时延的漂浮基空间机器人基于泰勒级数预测、逼近的改进非线性反馈控制

 探讨了本体位置与姿态均不受控的漂浮基空间机器人在时间延迟(简称时延)情况下惯性空间轨迹跟踪的控制问题.利用拉格朗日方法并结合系统动量守恒关系,分析、建立了漂浮基空间机器人完全能控形式的系统动力学模型及运动Jacobi关系.以此为基础,针对系统存在时延的情况,利用泰勒级数预测、逼近的方法,建立了适用于时延情况下控制系统设计的数学模型.利用该模型,提出了一种空间机器人在时延情况下的改进非线性反馈控制方案.然后运用Lyapunov第二类方法,结合范数以及图形分析的方法证明了在时延情况下整个闭环控制系统的渐近稳定性.文中提到的控制方案能够有效地克服系统存在时延的影响,控制漂浮基空间机器人末端爪手跟踪惯性空间的期望轨迹.系统数值仿真结果证明了上述控制方案的有效性与精确性.     

两种湍流模型及其可压缩修正在高超压缩拐角中的评估(英文)

采用在高阶精度差分格式对SA湍流模型和SST湍流模型及相应的可压缩修正模型在高超拐角流中进行了评估。可压缩修正方式考虑了密度梯度、压力膨胀和湍流马赫数等方法。为了减小数值误差与模型误差之间的混淆,控制方程的对流项采用了5阶精度的加权紧致非线性格式(WCNS-E-5),粘性项采用了一种半结点/结点交错的4阶中心格式。通过对马赫数为9.22的15度拐角和34度拐角湍流的模拟,考察了原始湍流模型及其修正模型的效果。计算表明:原始SST模型对高超拐角湍流的预测比原始SA模型准确,这种准确主要体现在对分离区预测、再附点附近压力和热流峰值预测上。通过混合采用Catris和Shur等的方法对 SA模型进行可压缩修正可以大大改进模拟效果。在SST模型的可压缩修正方法中,Catris的修正方法最好;考虑压力膨胀修正后得到的分离区远远偏大,比本原始SST模型更差;考虑湍流马赫数的修正方法得到的分离区偏小。本文还给了部分低阶格式的计算结果,高阶格式与低阶格式相比,对分离区大小、再附点附近的压力和热流峰值等的预测准度有所改进。     

采用线膨胀系数可控ZrO2-TiO2陶瓷模具的钛合金高精度超塑成形

对线膨胀系数可控的ZrO2-TiO2陶瓷模具及钛合金高精度超塑成形进行了系统研究。探讨了TiO2体积分数和相对密度对ZrO2-TiO2陶瓷的线膨胀系数的影响规律,并引入相对密度修正模型——Turner模型来准确预测复合陶瓷材料的线膨胀系数。采用压痕法检测了与TC4钛合金等膨胀系数的ZrO2-TiO2陶瓷模具的超塑成形精度。在925℃下,利用ZrO2-TiO2陶瓷模具进行超塑成形,其使用性能良好。结果表明:ZrO2-TiO2陶瓷的线膨胀系数随TiO2体积分数的增加而减小,随相对密度的增加而增加。采用线膨胀系数优化的ZrO2-TiO2陶瓷模具,成形精度误差大幅降低,不超过0.1%,且陶瓷模具具有足够的热机械性能进行超塑成形,使用性能优良。     

Gravity wave propagation studies using the Indian MST radar observations

The Indian MST radar facility at Gadanki (13.5°N, 79.2°E) has been utilised to study the propagation of gravity waves from the troposphere/lower stratosphere to the mesosphere and their interaction with the radar backscattered signal variations. The main objective is to correlate vertically propagating gravity waves derived from the tropospheric velocity fields with the dynamics of mesospheric scattering centres. The tropospheric wind velocities and signal strengths over the entire height range have been subjected to power spectral and wavelet analysis to determine the predominant wave periods/amplitudes and the coupling between the lower atmosphere and mesosphere. Results show that (a) the gravity waves are clearly detectable near tropopause heights, (b) while relatively higher period gravity waves (20–50 min) interact with mesospheric scattering centres, the lower period waves (<20 min) are absorbed in the troposphere itself, (c) the mesospheric scattering layers are affected by gravity waves of complementary periods.     

Dust acoustic dressed solitons in a four component dusty plasma with nonthermal electron

Nonlinear dust acoustic dressed soliton are studied in a four component dusty plasma. Nonthermal distributions for electrons are considered. The Korteweg–de Vries (KdV) equation is derived by using reductive perturbation technique. A higher order inhomogeneous differential equation is obtained for the higher order correction. The expression for dressed soliton is obtained by the renormalization method. The expressions for higher order correction are determined using a series solution technique.     

Modeling of sub-ionospheric VLF signal perturbations associated with total solar eclipse, 2009 in Indian subcontinent

During the total solar eclipse of 2009, a week-long campaign was conducted in the Indian sub-continent to study the low-latitude D-region ionosphere using the very low frequency (VLF) signal from the Indian Navy transmitter (call sign: VTX3) operating at 18.2 kHz. It was observed that in several places, the signal amplitude is enhanced while in other places the amplitude is reduced. We simulated the observational results using the well known Long Wavelength Propagation Capability (LWPC) code. As a first order approximation, the ionospheric parameters were assumed to vary according to the degree of solar obscuration on the way to the receivers. This automatically brought in non-uniformity of the ionospheric parameters along the propagation paths. We find that an assumption of 4 km increase of lower ionospheric height for places going through totality in the propagation path simulate the observations very well at Kathmandu and Raiganj. We find an increase of the height parameter by h^′=+3.0$h^{\prime }=+3.0$ km for the VTX-Malda path and h^′=+1.8$h^{\prime }=+1.8$ km for the VTX-Kolkata path. We also present, as an example, the altitude variation of electron number density throughout the eclipse time at Raiganj.     

Directional Filtering Due to Mesospheric Wind Shear on the Propagation of Acoustic-gravity Waves

Gravity waves with periods close to the Brunt-V?is?l? period of the upper troposphere are often observed at mesopause altitudes as short period, quasi-monochromatic waves. The assumption that these short period waves originate in the troposphere may be problematic because their upward propagation to the mesosphere and lower thermosphere region could be significantly impeded due to an extended region of strong evanescence above the stratopause. To reconcile this apparent paradox, an alternative explanation is proposed in this paper. The inclusion of mean winds and their vertical shears is sufficient to allow certain short period waves to remain internal above the stratopause and to propagate efficiently to higher altitudes. A time-dependent numerical model is used to demonstrate the feasibility of this and to determine the circumstances under which the mesospheric wind shears play a role in the removal and directional filtering of short period gravity waves. Finally this paper concludes that the combination of the height-dependent mean winds and the mean temperature structure probably explains the existence of short period, quasi-monochromatic structures observed in airglow images of mesopause region.      

非相干雷达探测低电离层的结果分析

位于波多黎各的Arecibo非相干雷达可以获得低电离层电子和离子密度, 利用此非相干雷达数据对中纬度低电离层的运动特征进行研究. 得到了电子密度随时间和高度的变化 情况, 结果显著呈现出周日变化特征, 并分析了电子密度随高度的变化规律. 进一步对数据进行频谱分析, 深入研究低电离层电子密度的周日变化效应. 得到电子密度的高度剖面, 发现从F层底部到E层有明显的等离子体沉降. 低电离层的层结构特征及电子密度变化表明, 在该区域还存在不同程度的等离子体扰动, 由此对低电离层的作用因素 进行分析, 认为大气潮汐或声重波可能对低电离层产生扰动, 即低电离层与大气存在一定程度的耦合作用.      

接收模式下加罩天线系统特性的快速电磁仿真

针对接收模式下电大尺寸的天线-天线罩系统电磁特性分析问题,提出了一种全波法和高频法结合的混合算法:积分方程/修正型表面积分+多层快速多极子(IE/MSI+MLFMA)方法.该方法将由高频方法MSI得到的天线罩内场分布作为天线阵列的激励场,再利用基于体-面混合积分方程(VSIE)和MLFMA的快速全波分析方法精确计算天线阵;同时应用球谐函数展开、预处理技术、混合并行等技术进一步改进算法的计算效率.同传统的全波数值法相比,该方法在保证计算精度、满足工程需要的前提下,解决了求解计算时间长、计算效率低的问题,实现了对电大尺寸天线-天线罩系统的快速、高效仿真.      

非等强度多道冲击波作用下空泡溃灭机制分析

航空航天、生物医学等领域均存在冲击波与空泡作用问题,冲击波尤其是多道冲击波作用下空泡溃灭包含着复杂的多相瞬变行为与物理现象。基于自主搭建的可压缩多相流并行数值平台,对液体中单一/多道冲击波与空泡的作用过程进行了数值模拟。通过对冲击波作用下空泡内波系性质,以及多道冲击波与空泡作用后的系列反射波系在液体中的相互作用过程进行详细解析,分析了不同冲击波作用下空泡的形变演化过程,探究了空泡的溃灭机制与特性。研究发现,相较于单一冲击波的作用,多道冲击波作用下空泡内部及周围液体流场中的波系结构更为复杂,然而无论是单一冲击波或是多道冲击波工况,其最终诱发的空泡溃灭形态均十分相似。而且,当空泡发生溃灭前所受到多道冲击波的总强度与单一冲击波强度相等时,空泡的溃灭波强度也十分相近,为多道冲击波与空泡作用效果的定量化评估提供了理论基础和依据。