低速风洞绳牵引并联机器人支撑系统的模型姿态与振荡控制研究

介绍了基于机器人技术的绳牵引并联机构的特点;设计并建造了适用于低速风洞试验的八绳六自由度绳牵引并联支撑机构样机(WDPSS-8),给出其具体的结构参数,分析了该机构的特点及可行性;建立了该系统的运动学位姿逆解模型和静力学模型,完成了运动学逆解的推导,得到已知缩比模型位姿求绳长变化的公式;搭建了相应的绳牵引并联机构的控制实验平台,在此基础上进行了静力学工作空间的分析,通过 Matlab 编程仿真得到了缩比模型在主位姿处3个姿态角的工作空间;并在此实验平台上进行了缩比模型的三转动自由度姿态变化运动控制,实现了缩比模型运动到指定角度的控制;在此基础上按指定振幅和频率进行了三转动单自由度振荡的运动控制;对运动控制试验结果进行了初步的误差分析.     

改进遗传算法在桁架结构优化设计中的应用

文章针对简单遗传算法的早熟现象及不能处理带有复杂约束的优化问题,提出了一种基于乘子法与伪并行遗传算法的改进遗传算法,并将其应用于桁架结构优化设计中.计算结果表明改进遗传算法全局寻优能力强.     

6-TPS并联平台型数控铣床结构参数的标定方法

介绍了6-TPS并联平台型数控铣床的一种结构参数标定方法.借助于工作台上的辅助工艺孔及标准量块,采用加权分类隔离的标定方法,将结构参数分为若干类进行标定,在并联工作台的结构参数标定过程中,采用了改进后的共轭梯度法,提高了标定效率.主要分析了刀具位姿参数及并联机构结构参数的标定方法,通过标定实例验证了标定方法的有效性.     

基于模糊径向基神经网络的小型无人机控制系统研究

为保证小型无人机的飞行安全,提出一种由无人机飞行控制器和地面学习单元构成的两层网络学习控制系统架构。无人机飞行控制器采用模糊控制策略,学习单元采用经遗传算法优化的径向基神经网络,充分利用模糊控制和神经网络的各自优势,将模糊控制策略与RBF神经网络相结合提出了一种基于RBF神经网络的自学习模糊控制策略。所设计的飞行控制器用于无人机飞行过程中的姿态控制,仿真及实验结果表明本方法是有效的。     

基于快速平行因子分解的声矢量传感器阵二维DOA估计

将声矢量传感器阵列参数估计问题与平行因子(Parallel factor,PARAFAC)模型相结合,提出了一种基于快速PARAFAC分解的二维波达方向(Direction of arrival,DOA)估计算法。该算法首先将接收信号构建为PARAFAC模型,然后在数据域对参数矩阵进行初估计,最后利用PARAFAC分解获得信号二维DOA估计。该算法能够应用于任意结构的声矢量传感器阵列,同时能够得到和信源一一匹配的仰角和方位角估计。借助于参数矩阵的初始估计,所提算法收敛速度较快,其计算复杂度大大降低。该算法角度估计性能接近于PARAFAC算法,同时优于借助旋转不变性进行信号参数估计(Estimation of signal parameters via rotational invariance technique,ESPRIT)算法和传播算子(Propagator method,PM)算法。     

Safety assessment of approximate segregated parallel operation on closely spaced parallel runways

With the continuous growth of air traffic flow, some airports in China or other countries begin to construct Closely Spaced Parallel Runways (CSPR) to meet the capacity requirement of civil aviation. In this paper, the simulation and calculation method of flight trajectory is developed, as well as the collision risk calculation method and wake vortex encounter risk calculation method. New methods for departure and go-around procedures are proposed to achieve approximate segregated parallel operation in an attempt to obtain approximately the same results on closely spaced parallel runways as on widely spaced parallel runways. By comparing with the independent parallel departure and segregated parallel operation in ICAO Doc. 9643, it is found that the lateral separation between aircraft in this proposal is not less than the separations in the other two cases. Based on the simulation calculation of flight trajectories under different conditions, the probabilities of collision conflict and encountering wake vortex are lower than those in current operation plan. The proposed plan has no special requirements in pilot operation, control command procedures, airport facilities, or meteorological observation and prediction, so it is convenient to promote and implement at the airports with closely spaced parallel runways.     

Type synthesis of 2-DoF rotational parallel mechanisms actuating the inter-satellite link antenna

This paper focuses on the type synthesis of two degree-of-freedom (2-DoF) rotational parallel mechanisms (RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory, two steps are necessary to synthesize 2-DoF RPMs except describing the continuous desired motions of the moving platform. They are respectively generation of required open-loop limbs between the fixed base and the moving platform and definition of assembly principles for these limbs. Firstly, all available displacement subgroups or submanifolds are obtained readily according to that the continuous motion of the moving platform is the inter-section of those of all open-loop limbs. These subgroups or submanifolds are used to generate all the topology structures of limbs. By describing the characteristics of the displacement subgroups and submanifolds intuitively through employing simple geometrical symbols, their intersection and union operations can be carried out easily. Based on this, the assembly principles of two types are defined to synthesize all 2-DoF RPMs using obtained limbs. Finally, two novel categories of 2-DoF RPMs are provided by introducing a circular track and an articulated rotating platform, respectively. This work can lay the foundations for analysis and optimal design of 2-DoF RPMs that actuate the inter-satellite link antenna.     

考虑运动学约束的不规则目标遗传避碰规划算法

 针对复杂环境下不规则目标的路径规划问题,提出了一种带有运动学约束的遗传避碰规划算法。以舰载机在航母甲板上的路径规划问题作为研究对象,并且该算法可推广至其他具有此类约束的路径规划问题中,它较好地解决了目标形状复杂、障碍环境复杂、目标运动时带有回转半径约束等特殊问题。在传统遗传路径规划算法的基础上,针对性地设计了三维位置和姿态混合编码、三段法路径解码、轨迹包围盒的碰撞检测及距离计算等方法,并在遗传操作中引入惩罚项和修补策略来辅助算法寻优。最后,为得出复杂环境下的最优路径,基于VC++平台对算法进行了仿真验证。结果表明,在复杂障碍环境下,本文提出的算法可求得最优避碰路径,并满足预先设定的目标回转半径约束,能够有效地解决此类目标的避碰路径规划问题。     

基于冲突距离的空中高速路换道模型

为解决航空器在空中高速路中的运行安全问题,对空中高速路平行航路换道模型进行了研究。分析了航空器换道的运动学过程,根据航空器之间的冲突距离建立了航空器的平行航路换道模型,总结了影响换道航空器之间的冲突距离的因素。最后,经仿真计算得到航空器匀速飞行时与相邻航空器不发生冲突的理论安全距离。     

基于单叶双曲面的标准Stewart并联结构六维力传感器各向同性优化设计

基于Stewart并联结构六维力/力矩传感器在空间六维力的准确检测上具有广泛前景,设计低耦合、高精度、易于标定和使用的六维力/力矩传感器是其结构设计的关键问题.传统Stewart并联结构几何参数描述为6个相互耦合的变量,不利于实现设计参数与设计指标的解耦,而且非正交条件下的各向同性使得六维力/力矩传感器仍存在耦合,为此...