基于压缩量偏差约束的整体叶盘砂布轮数控抛光路径规划

数控抛光是实现整体叶盘叶片表面光整加工自动化、高效化的关键技术,而抛光路径规划对表面质量有着显著的影响。在抛光曲面时,砂布轮沿接触曲线上的径向压缩量偏差导致材料去除量一致性较差。针对该问题,提出一种基于压缩量偏差约束的路径规划方法。通过对砂布轮受曲面挤压变形几何分析,建立了自由曲面抛光接触线上砂布轮压缩变形量分布模型。在给定刀触点处,以接触曲线上最大压缩量偏差最小化为评价指标构建了刀轴矢量优化模型,并利用改进的粒子群优化（PSO）算法进行求解。基于最优刀轴矢量,完成自由曲面上等参数相邻刀触轨迹曲线的计算。最后,通过数据对比和试验,验证了所提方法的正确性和有效性。结果表明,抛光区域的轮廓度、粗糙度均得到明显的改善。     

小型固定翼无人机集群综述和未来发展综述

围绕小型固定翼无人机集群这一难度高、发展快、应用前景广阔、多学科交叉的新方向,从集群系统内涵、现有典型项目、关键技术3个角度综述了国内外小型固定翼无人机集群的研究现状。在系统梳理集群系统内涵和应用优势的基础上,从集群协同模式探索、分布指挥体系构建、核心关键技术突破和集群验证等4个视角总结现有典型项目,从体系架构、通信组网、决策与规划、飞机平台、集群飞行、集群安全与集群指控等7个核心点综述了技术研究现状。最后,综合小型固定翼无人机集群中亟需解决的关键技术,展望了这一领域未来的发展趋势。     

Coactive design of explainable agent-based task planning and deep reinforcement learning for human-UAVs teamwork

Unmanned Aerial Vehicles (UAVs) are useful in dangerous and dynamic tasks such as search-and-rescue, forest surveillance, and anti-terrorist operations. These tasks can be solved better through the collaboration of multiple UAVs under human supervision. However, it is still difficult for human to monitor, understand, predict and control the behaviors of the UAVs due to the task complexity as well as the black-box machine learning and planning algorithms being used. In this paper, the coactive design method is adopted to analyze the cognitive capabilities required for the tasks and design the interdependencies among the heterogeneous teammates of UAVs or human for coherent collaboration. Then, an agent-based task planner is proposed to automatically decompose a complex task into a sequence of explainable subtasks under constrains of resources, execution time, social rules and costs. Besides, a deep reinforcement learning approach is designed for the UAVs to learn optimal policies of a flocking behavior and a path planner that are easy for the human operator to understand and control. Finally, a mixed-initiative action selection mechanism is used to evaluate the learned policies as well as the human’s decisions. Experimental results demonstrate the effectiveness of the proposed methods.     

Water takeoff performance calculation method for amphibious aircraft based on digital virtual flight

Owing to the strong coupling among the hydrodynamic forces, aerodynamic forces and motion of amphibious aircraft during the water takeoff process, the water takeoff performance is difficult to calculate accurately and quickly. Based on an analysis of the dynamics and kinematics characteristics of amphibious aircraft and the hydrodynamic theory of high-speed planing hulls, a suitable mathematical model is established for calculating the hydrodynamics of aircraft during water takeoff. A pilot model is designed to illustrate how pilots are affected by the lack of visual reference and the necessity to simultaneously control the pitch angle, flight velocity and other parameters during water takeoff. Combined with the aerodynamic model, engine thrust model and aircraft motion model, a digital virtual flight simulation model is developed for amphibious aircraft during water takeoff, and a calculation method for the water takeoff performance of amphibious aircraft is proposed based on digital virtual flight. Typical performance indicators, such as the liftoff time and liftoff distance, can be obtained via digital virtual flight calculations. A comparison of the measured flight test data and the calculation results shows that the calculation error is less than 10%, which verifies the correctness and accuracy of the proposed method. This method can be used for the preliminary evaluation of airworthiness compliance of amphibious aircraft design schemes, and the relevant calculation results can also provide a theoretical reference for the formulation of flight test plans for airworthiness certification.     

舰载直升机理论风限图飞行模拟获取方法

获取舰载直升机实用风限图,仅依靠实装飞行试验或建模仿真都是非常困难的。通过起降飞行模拟试验获取理论风限图,结合少量的海上实装飞行验证试验是一种综合较优的方法。起降飞行模拟试验需要真实飞行员和高等级飞行模拟器参与,飞行模拟器中的母舰气流场数据、母舰运动可由建模仿真或试验测试得到,且必须考虑母舰气流场的非定场特性;只有当飞行员视景或视觉反馈受限时(如能见度降低时),飞行模拟器基座的六自由度运动才是必需的;用DIPES或Bedford方法量化飞行员主观操纵负担,结合记录的客观操纵数据,评判起降难度;典型的飞行模拟试验程序包含了不同风况下的进近和甲板着舰,通常每隔15°和5kn一个风况。通过起降飞行模拟试验得到的理论风限图,可以更加有效和安全地指导海上实装飞行验证试验,最终获得实用风限图。     

最小二乘滤波在某型火控系统信息处理中的应用

为了提高某型火控系统的反应时间和射击精度,需要对采集到的目标运动参数进行滤波。为了使算法易于实现,采用了最小二乘滤波方法。基于对最小二乘滤波的分析处理,增加了修正序列,实现了接近自适应最小二乘滤波的功能,在滤波效果上能够完全满足系统要求。最后,对滤波效果进行了检测。     

吸气式电推进系统可行条件分析

吸气式电推进系统作为有可能实现长寿命超低轨飞行的技术而被关注。根据不同轨道环境条件,采用管状结构进气道、以及机械增压的吸气方式,讨论了吸气式电推进系统所需的可行条件。分析表明,在轨高度180~240km,航天器所需总功耗与迎风面之比需要大于2kW/m2,电推力器比冲需大于4×104m/s,方可满足推阻平衡需求。分析得出,实现吸气式系统在地球轨道的运用,关键技术在于增加气体收集效率并且降低收集功耗,同时电推力器的效率还需进一步提升。     

国内外行星表面巡视器自主导航技术研究

作为航天技术发展的前沿和趋势,深空探测是人类历史上最为复杂的系统工程之一.星球巡视器是在星球表面移动作业的无人探测系统,能够对星球表面进行大面积、近距离和接触式的考察,是地外星球着陆探测作业的主要手段.星球巡视器导航技术是研究星球巡视器的关键技术之一,其导航自主性能直接影响星球探测计划能否顺利进行.本文首先概述了星球巡...     

民用飞机飞行锁解锁控制系统设计与研究

发展一种健全的高安全性飞行锁控制系统解锁控制架构在民用飞机舱门电控中是相当重要的。飞行锁控制系统用于防止飞机在飞行过程中人为意外打开旅客登机门、服务门和应急门的操作。在适航审查活动中,定义了飞行锁控制系统在地面应急撤离阶段无法解锁的I类安全性事件。按照飞行锁控制系统实际使用需求和适航规章要求,设置较为宽松的解锁逻辑。为了实现飞行锁控制系统在应急阶段的高安全性要求,提高系统的鲁棒性和可靠性,在飞行锁控制系统中引入应急撤离系统控制信号和驾驶舱手动控制信号使用机制以提升应急撤离情况下的自动控制以及飞行员对飞行锁控制系统的控制权限。该项飞行锁控制系统设计将飞行锁控制系统功能研制保证等级由A级下调至C级,有效降低了研制成本和人员研制精力,同时提升了飞行锁控制系统的安全性,达到飞行锁控制系统的全面控制和精细化管理。     

新构型倾转旋翼无人机飞行力学建模

倾转旋翼无人机飞行力学模型是设计飞行控制律和分析飞行特性的基础。从一款在研的新构型倾转旋翼无人机工程实际出发,建立该无人机非线性飞行力学模型;分析新构型倾转旋翼机相比常规倾转旋翼机的特点和优势,建立直升机模式、倾转过渡模式和固定翼模式下各部件飞行力学模型;并针对直升机模式,对不同飞行速度进行配平及稳定性分析。结果表明:该构型倾转旋翼无人机直升机模式横航向模态具有很好的稳定性,直升机模式悬停状态横纵向模态基本没有耦合。