新一代飞控计算机余度构型

飞控计算机广泛采用容错技术达到高可靠性指标,随着可靠性要求的日益提高,必须引入新的容错结构以及余度构型。本文结合析一代飞控计算机对高可靠性、强实时性的要求,对比目前飞控计算机的容错结构以及余度构型,提出了三种三余度构型方案,并对其故障模式进行了分析。在此基础上针对三种方案之一介绍了一种分组优先级剥夺调度算法,给出了详细说明。最后对比了这三种新的三余度方案的优缺点,为容错飞控计算机的发展提供了构型、算法的参考。     

多无人机协同搜索区域划分与路径规划

针对多无人机广域协同搜索问题，研究无人机工作区间划分和全区域覆盖搜索路径规划2个子问题。采用按无人机来向均衡划分的方法和凹点凸分解的方法，开展了凸多边形和非凸多边形的区域划分研究，将多机协同搜索问题转化为子区域上的单机搜索问题；在此基础上采用"Z"型路径覆盖方法以及Dubins转弯路径，对各个无人机开展覆盖其子区域的搜索路径规划，从而建立了一个区域划分和路径规划的整体调用框架，能够对目标区域快速进行划分并生成飞行路线。最后，对凸多边形和非凸多边形区域搜索开展仿真计算，验证了该方法的有效性。     

Dual Drive Curve Tool Path Planning Method for 5-axis NC Machining of Sculptured Surfaces

The problem of finished surface being not first-order continuous commonly exists in machining sculptured surfaces with a torus cutter and some other types of cutters. To solve this problem, a dual drive curve tool path planning method is proposed in this article. First, the maximum machining strip width of a whole tool path can be obtained through optimizing each tool position with multi-point machining (MPM) method. Second, two drive curves are then determined according to the obtained maximum machining strip width. Finally, the tool is positioned once more along the dual drive curve under the condition of tool path smoothness. A computer simulation and cutting experiments are carried out to testify the performance of the new method. The machined surface is measured with a coordinate measuring machine (CMM) to examine the machining quality. The results obtained show that this method can effectively eliminate sharp scallops between adjacent tool paths, keep tool paths smooth, and improve the surface machining quality as well as machining efficiency.     

AS35083直升机发动机控制系统的检查与排故方法

通过分析AS35083直升机装备的阿赫耶ARRIEL281发动机控制系统的原理，深入研究发动机控制系统引起的故障，从外场维护的角度提出快速确认故障部件的具体方案。     

基于动态变迁图的卫星总装规划建模技术研究

不同于一般机械产品装配的流程,卫星总装的过程是"拆""装"操作相结合的,为了解决这一类特殊的非线性装配顺序规划问题,提出了一种基于动态变迁图的装配规划模型。该模型在静态有向连接图的基础上,通过逐层分析和验证可能的状态以动态变迁图为核心构建装配任务过程树,从而支持卫星所有几何可行的流程序列表达和装配场景再现。最后通过某型卫星舱段总装验证了该建模方法的有效性。     

集群无人机队形重构及虚拟仿真验证

队形重构是集群无人机（UAV）控制的重要问题，指无人机按照要求安全、无碰撞地从一个队形变换到另一个队形，其难点在于快速规划最优安全轨迹并控制无人机进行轨迹姿态的高精度跟踪。针对集群无人机队形重构的上述问题，首先，基于CAPT（Concurrent Assignment and Planning of Trajectories）算法，解决了多无人机的目标分配和轨迹生成的实时性问题，实现了集群无人机的最优安全路径规划；其次，提出一种有限时间多变量积分滑模连续控制算法，解决了无人机轨迹姿态的高精度跟踪问题，并通过MATLAB仿真验证了该控制算法的有效性；最后，为了更加真实直观地演示无人机三维仿真效果，建立了基于Gazebo-ROS的无人机仿真平台，实现了12架四旋翼无人机队形重构"建模-仿真-可视化"的一体化仿真演示，验证了上述路径规划算法和轨迹姿态控制算法的有效性。     

空客A320飞机碳刹车毂阻滞故障分析

针对某件号空客A320飞机碳刹车毂出现的阻滞故障，从刹车毂的结构和转动间隙自动调节机理方面分析了导致阻滞故障的刹车转动间隙过小的原因，提出了减少该件号刹车毂阻滞故障发生的建议措施。     

具有时间约束的无人机遗传算法航迹规划

为无人机进行航迹规划不仅要满足路径的有效性,还需要考虑无人机的到达时间约束.将遗传算法应用于动态环境中无人机的航迹规划,通过编码生成初始航迹,确定合理的适应度函数和进化操作,同时根据要求到达时间约束为每个航迹加入过点速度和到达时间信息,最终搜索规划出可飞且满足时间约束的航迹.在仿真实验中实现了针对移动目标的规划和突然出现威胁的局部重规划.     

Bipartite graph-based control flow checking for COTS-based small satellites

Single event upset(SEU)effect,caused by highly energized particles in aerospace,threatens the reliability and security of small satellites composed of commercial-off-the-shelves(COTS).SEUinduced control flow errors(CFEs)may cause unpredictable behavior or crashes of COTS-based small satellites.This paper proposes a generic software-based control flow checking technique(CFC)and bipartite graph-based control flow checking(BGCFC).To simplify the types of illegal branches,it transforms the conventional control flow graph into the equivalent bipartite graph.It checks the legality of control flow at runtime by comparing a global signature with the expected value and introduces consecutive IDs and bitmaps to reduce the time and memory overhead.Theoretical analysis shows that BGCFC can detect all types of inter-node CFEs with constant time and memory overhead.Practical tests verify the result of theoretical analysis.Compared with previous techniques,BGCFC achieves the highest error detection rate,lower time and memory overhead;the composite result in evaluation factor shows that BGCFC is the most effective one among all these techniques.The results in both theory and practice verify the applicability of BGCFC for COTS-based small satellites.     

舰载机着舰任务下的飞行员建模研究

为研究舰载机在下滑着舰时飞行员的操纵策略,建立了着舰任务下的双通道飞行员模型.以人工着舰时飞行员控制飞机进行轨迹跟踪为背景,以着舰时惯用的“反区”操纵技术为依据,确立了舰载机飞行员控制律,并对控制增益参数进行了自适应设计.最后结合F-18A舰载机,运用SIMILINK软件进行了仿真.结果表明,该模型能很好地反映着舰任务下的飞行员操纵特性,可为飞行员着舰操纵提供参考.