基于XTCE标准的遥测参数装订与核对研究

面对我国现代航天高密度发射的需求，精准高效的遥测参数装订与核对尤为重要。本文基于XTCE标准定义的遥测参数格式，构建了XTCE标准对遥测参数数据底座，实现遥测参数的统一标准、统一管理和统一平台。阐述了XTCE标准的结构、火箭遥测数据库的生成和数据底座的构造。实现了对大型火箭遥测参数的自动装订，大幅提高了工作效率。     

柔性基座冗余机械臂的最优反作用控制

针对柔性基座冗余机械臂的末端轨迹跟踪问题，提出一种反作用最优控制方法，该算法将轨迹跟踪视为高优先级任务，而反作用优化控制在高优先级任务零空间内进行。由于冗余机械臂的自运动能在不影响末端运动的前提下改变关节运动，利用冗余机械臂的自运动消除振动系统中的低阶模态力，使机械臂在完成轨迹跟踪的同时激起的弹性振动大幅减小，从而提高了系统的稳定性。以平面3自由度柔性基座机械臂和空间7自由度柔性基座机械臂为例进行数值仿真，证实了方法的有效性。     

A novel combination belief rule base model for mechanical equipment fault diagnosis

Due to the excellent performance in complex systems modeling under small samples and uncertainty, Belief Rule Base(BRB) expert system has been widely applied in fault diagnosis. However, the fault diagnosis process for complex mechanical equipment normally needs multiple attributes, which can lead to the rule number explosion problem in BRB, and limit the efficiency and accuracy. To solve this problem, a novel Combination Belief Rule Base(C-BRB) model based on Directed Acyclic Graph(DAG) structu...