运载火箭/航天器耦合分支模态综合法(上)

将运载火箭作为主结构、航天器作为分支子结构,分别采用自由界面模态展开定理和固定界面模态展开定理,导出分支模态综合法,进行运载火箭/航天器组合模型响应分析.进而,采用界面约束模态质量的界面加速度,导出航天器载荷估计方法,这时的运载火箭与航天器连接界面可以是静定的或静不定的.当仅考虑连接界面是静定的情况,界面约束模态质量将...     

阻尼材料在结构裂纹修理和预防上的应用

以某型飞机在使用过程中频繁出现进气道铆钉松动、蒙皮裂纹、铆钉裂纹等故障为研究对象,运用飞机气动弹性力学理论进行了分析研究,找出故障发生的原因,提出在进气道蒙皮上加装阻尼层的新方法。验证表明,该方法能有效地弥补设计缺陷、延迟金属材料老化及预防性修理机体结构裂纹。     

基于滑模控制的末端能量管理方法

简要介绍了末端能量管理的研究情况,然后对末端能量管理段进行轨迹规划。在轨迹规划的基础上,设计基于滑模变结构控制的制导律,对轨迹进行跟踪,对能量进行管理。仿真结果表明,滑模变结构控制在末端能量管理制导中合理、有效,具有很强的鲁棒性。     

Nonlinear flutter wind tunnel test and numerical analysis of folding fins with freeplay nonlinearities

The flutter characteristics of folding control fins with freeplay are investigated by numerical simulation and flutter wind tunnel tests. Based on the characteristics of the structures, fins with different freeplay angles are designed. For a 0° angle of attack, wind tunnel tests of these fins are conducted, and vibration is observed by accelerometers and a high-speed camera. By the expansion of the connected relationships, the governing equations of fit for the nonlinear aeroelastic analysis are established by the free-interface component mode synthesis method. Based on the results of the wind tunnel tests, the flutter characteristics of fins with different freeplay angles are analyzed. The results show that the vibration divergent speed is increased, and the divergent speed is higher than the flutter speed of the nominal linear system. The vibration divergent speed is increased along with an increase in the freeplay angle. The developed free-interface component mode synthesis method could be used to establish governing equations and to analyze the characteristics of nonlinear aeroelastic systems. The results of the numerical simulations and the wind tunnel tests indicate the same trends and critical velocities.     

马克思论资本主义股份制--《资本论》思想研究之二

资本主义股份制是资本主义生产方式范围内的一种消极扬弃,马克思在<资本论>中对此做了深刻的阐述.马克思强调,资本主义股份制的产生带来私人资本向社会资本转化及私人企业向社会企业转化的社会进步;具有扩大生产规模聚集能力的资本主义股份制是资本主义生产方式向联合的生产方式转化的过渡形式.     

对高等院校培养创新型商务人才的思考

在知识经济时代，社会在突飞猛进地发展。为了更好地适应发展中的时代，高等院校必须要更新教育观念，深化教育改革，构建高校创新型人才培养模式，担负起全面推进素质教育，培养高素质的创新型人才的历史使命。     

Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes

An adaptive sliding mode control(ASMC) law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot.Each joint of the system is a free ball joint capable of rotating with three degrees of freedom(DOF).A cluster of control moment gyroscopes(CMGs) is mounted on each link and the base to actuate the system.The modified Rodrigues parameters(MRPs) are employed to describe the angular displacements,and the equations of motion are derived using Kane's equations.The controller for each link or the base is designed separately in decentralized scheme.The unknown disturbances,inertia parameter uncertainties and nonlinear uncertainties are classified as a ‘‘lumped" matched uncertainty with unknown upper bound,and a continuous sliding mode control(SMC) law is proposed,in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty.A general amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input.Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov's method.Simulation results based on a three-link system verify the effectiveness of the proposed controller.     

一种等应力强度因子试件

计算了含中心裂纹的矩形板(高为2H,宽为2W)的应力强度因子。板的对称面内距离为2y_0的两点承受大小相等方向相反的一对集中力P作用。采用的分析方法是含待定常数的复应力函数与广义变分原理相结合的方法。此复应力函数精确地满足裂纹表面的边界条件,其余边界条件由广义变分原理近似地满足。 当H=2W,y_0=0.3W,a=(0.2-0.45)W(a为半裂纹长度),计算结果表明,应力强度因子近似为一个常值,它取1.938P/(πW)~(1/2),相对误差小于0.75％。 若采用上述几何尺寸的试件测试疲劳裂纹扩展常数,将可大大简化试验程序和试验数据处理工作。     

ACARS原理分析

本文着重分析了 ACARS 工作原理,论证了调制体制的优越性,对微机控制下链信息发射的软件流程进行了模拟设计。     

主被动复合驱动自适应指爪机构的抓取模式分析

为了满足空间在轨服务任务的多样化需求,基于主被动复合驱动思想提出一种自适应末端操作器——二指连杆欠驱动指爪机构,并对其抓取模式进行定量分析。首先,在描述指爪机构运动学关系的基础上,根据虚功原理建立机构的静力平衡方程。在此基础上,对其进行静力学分析可知,机构平衡状态下与目标物的接触力不仅取决于机构的几何尺寸,还与接触点位置有关;而机构的抓取模式取决于约束空间内系统的受力情况,因此该指爪能够根据不同形状目标物与机构接触点位置的不同,自适应地选择抓取模式,包括平行抓取、包络抓取等。最后,通过实验样机对不同形状物体进行抓取实验,验证了指爪机构抓取目标的自适应性,为后续的机构设计和控制应用奠定理论和技术基础。