An inertial parameter identification method of eliminating system damping effect for a six-degree-of-freedom parallel manipulator

A new simple and effective inertial parameter identification method based on sinusoidal vibrations of a six-degree-of-freedom parallel manipulator is proposed. Compared with previously known identification algorithms, the advantages of the new approach are there is no need to design the excitation trajectory to consider the condition number of the observation matrix and the inertial matrix can be accurately defined regardless of the effect of viscous friction. In addition, the use of a sinusoidal exciting trajectory allows calculation of the velocities and accelerations from the measured position response. Simulations show that the new approach has acceptable tolerance of dry friction when using a simple coupling parameter modified formula. The experimental application to the hydraulically driven Stewart platform demonstrates the capability and efficiency of the proposed identification method.     

基于变权重变异鸽群优化的无人机空中加油自抗扰控制器设计

针对空中加油过程中的受油机模型建模误差和强扰动以及自抗扰控制器（ADRC）人工参数整定难的问题,提出了一种基于变权重变异鸽群优化（VWMPIO）算法的无人机自抗扰控制器优化算法。首先,给出了六自由度无人机（UAV）模型,基于自抗扰控制结构设计了一种受油机的姿态控制器,在此基础上用所提出的变权重变异鸽群优化算法整定了自抗扰控制器参数。随后,将变权重变异鸽群优化与其他基本鸽群优化算法、粒子群优化算法进行了实验对比,并从控制性能和抗噪声性能的角度对自抗扰控制器和传统的比例-微分-积分（PID）控制器进行了仿真对比。实验结果表明所提算法能提高复杂态势环境下无人机空中加油的控制精度和扰动抑制性能。     

Crustal deformation characteristics of Sichuan-Yunnan region in China on the constraint of multi-periods of GPS velocity fields

In order to obtain deformation parameters in each block of Sichuan-Yunnan Region (SYG) in China by stages and establish a dynamic model about the variation of the strain rate fields and the surface expansion in this area, we taken the Global Positioning System (GPS) sites velocity in the region as constrained condition and taken advantage of the block strain calculation model based on spherical surface. We also analyzed the deformation of the active blocks in the whole SYG before and after the Wenchuan earthquake, and analyzed the deformation of active blocks near the epicenter of the Wenchuan earthquake in detail. The results show that, (1) Under the effects of the carving from India plate and the crimping from the potential energy of Tibetan Plateau for a long time, there is a certain periodicity in crustal deformation in SYG. And the period change and the earthquake occurrence have a good agreement. (2) The differences in GPS velocity fields relative Eurasian reference frame shows that the Wenchuan earthquake and the Ya'an earthquake mainly affect the crustal movement in the central and southern part of SYG, and the average velocity difference is about 4–8?mm/a for the Wenchuan earthquake and 2–4?mm/a for the Ya'an earthquake. (3) For the Wenchuan earthquake, the average strain changed from 10 to 20 nanostrian/a before earthquake to 40–50 nanostrian/a after the earthquake, but before and after the Ya’an earthquake, the strain value increased from about 15 nanostrian/a to about 30 nanostrian/a. (4) The Wenchuan earthquake has changed the strain parameter of each active block more or less. Especially, the Longmen block and Chengdu block near the epicenter. The research provides fundamental material for the study of the dynamic mechanism of the push extrusion from the north-east of the India plate and the crimp from Qinghai Tibet Plateau, and it also provides support for the study of crustal stress variation and earthquake prediction in Sichuan Yunnan region.     

聚合物混溶的热力学分析

在小分子溶液热力学理论的基础上,介绍了对聚合物溶液体系采用Flory-Huggins晶格模型理论的结果;分析了聚合物完全溶解的必要条件和充分条件;根据温度、浓度及分子量对聚合物溶解性的影响,引出临界溶解温度、临界浓度、临界相互作用参数的概念。     

基于遗传算法的航空发动机PI控制器参数优化方法

P ID控制器参数整定与优化一直是自动控制领域研究的问题。采用遗传算法进行的PID参数整定与优化是一种全局最优且与初值无关的优化方法。本文结合某型航空发动机,利用遗传算法对发动机单变量及双变量P I控制器参数进行优化。仿真结果表明:该方法对PI参数整定具有比较好的综合控制性能,不失为一种具有较好实用价值的航空发动机P I控制器参数整定与优化方法。      

嵌入式挥舞吸振器对旋翼桨叶挥舞载荷的抑制研究

为了抑制刚性旋翼桨叶的二阶挥舞交变载荷,在桨叶内部挥舞方向嵌入动力吸振器。为探究动力吸振器抑制旋翼桨根处二阶挥舞载荷的效果,通过建立旋翼桨叶与挥舞动力吸振器二自由度耦合系统模型,推导出嵌有挥舞吸振器的耦合系统的运动微分方程,比较液弹吸振器与弹性吸振器抑制挥舞方向载荷的效果,并对影响吸振器吸振性能和挥舞吸振器的动态特性的结构参数进行分析。研究表明,挥舞吸振器在旋转和不旋转时,其固有频率并未发生改变;液弹吸振器和弹性吸振器都能达到良好的降低桨叶挥舞方向低阶载荷的效果,但液弹吸振器所需行程明显小于弹性吸振器。     

基于区域极点配置的航空发动机全包线/LPV控制

根据发动机相似工作原理以及平方和(Sun of squares, SOS)规划,基于发动机全飞行包线的换算线性变参数(Linear parameter varying, LPV)模型,提出了一种基于区域极点配置的航空发动机全包线切换/ LPV控制方法。根据发动机相似换算参数,建立换算状态变量模型。以高压换算转速为调度参数,利用多项式拟合得到全包线慢车以上的换算LPV模型。考虑基于区域极点配置的/LPV控制问题,将LPV闭环系统的极点配置在复平面上一个期望的区域内,并将LPV闭环系统稳定性条件转化为SOS约束,进行控制器求解。基于Lyapunov理论,设计全包线的切换LPV控制器,保证切换闭环系统Lyapunov意义下稳定。仿真结果表明,设计的切换LPV控制器能保证全包线内系统稳定且具有较好的鲁棒性能和动态响应性能。     

基于扩展Kalm an滤波的实时测速定轨算法

针对实时测速定轨 (即只用测速数据确定运动目标的状态参数 )的实现问题 ,研究了一种扩展 Kalman滤波方法 ,并利用其状态方程和线性化观测方程得到定轨算法。理论推导和仿真结果表明 ,此算法是收敛的 ,且精度较高。     

相控阵雷达长时跟踪波束调度与波形优化策略

针对相控阵雷达多目标跟踪波束调度和波形参数优化控制的问题,本文提出了一种基于马尔可夫决策过程（MDP）的相控阵雷达跟踪波束调度与波形参数优化策略,该方法以无迹卡尔曼滤波（UKF）算法为基础来估计目标的状态。首先将本文的序列决策问题建模为马尔可夫决策过程,定义了资源的效费比和长期回报率,然后与当前实际跟踪误差综合考虑作为MDP的回报函数,进而给出了调度的优化模型,最后将长时决策问题转化为动态规划算法结构进行求解,并且提出了一种并行混合遗传粒子群优化算法来求解各决策时刻的最优策略。仿真结果表明了长时策略的先进性以及寻优算法的优越性,与传统的短时策略相比,跟踪精度可提高11.17%。     

基于LFT的鲁棒变增益控制的降保守性设计

研究了线性变参数系统的鲁棒变增益控制,介绍了基于LFT的鲁棒变增益控制的思想;针对目前基于LFT的鲁棒变增益控制的保守性,采用全块标量矩阵,通过减少对全块标量矩阵的结构约束;提出了一种保守性更小的稳定性判据,并且利用消元定理,给出了基于LFT的鲁棒变增益的输出反馈控制器存在的条件;同时给出了控制器的构建方式,并且给出了...