一种多进程实时控制系统的软件设计

本文提出了一种时间片预分割方案,并将其用于多进程实时控制系统的软件设计,其特点是程序设计简单、维护方便,尤其是提高了系统运行的可靠性。     

LISP跳棋程序与启发式搜索

本文叙述了在IBM-PC个人计算机上,研制成功的LISP跳棋智能程序中,如何成功地使用启发式搜索进行设计的方法,特别对作者自行设计的顺序递归搜索算法进行了分析和评价。     

洗衣机用水量的优化设计

本文对洗衣机运转过程中的用水量建立优化模型，目标函数为在达到一定洗涤效果的前提下的最小用水量。我们将此归结为利用Ｌａｇｒａｎｇｅ函数求非线性规划的最优解问题，并且给出了相应的理论证明。此外，结合实际具体数据为洗衣机设计了一组运行程序。最后讨论了模型的改进与推广，并且对模型的优缺点作出了分析。     

交互绘图软件（MTSCAD2.0）开发中的深层次问题研究（2）

本文进一步介绍图形编辑和几何交切方面的程序设计的经验，如图形的映射、平移和旋转，交互绘图时常用到的九种几何交切的有关内容。用实例来说明程序设计原理和方法。     

Hybrid partition- and network-level scheduling design for distributed integrated modular avionics systems

Distributed Integrated Modular Avionics (DIMA) develops from Integrated Modular Avionics (IMA) and realizes distributed integration of multiple sub-function areas. Time-triggered network provides effective support for time synchronization and information coordination in DIMA systems. However, inconsistency between processing resources and communication network destroys the time determinism benefiting from partitions and time-triggered mechanism. To ensure such time determinism and achieve guaranteed real-time performance, system design should collectively provide a global communication scheme for messages in network domain and a corresponding execution scheme for partitions in processing domain. This paper firstly establishes a general DIMA model which coordinates partitioned processing and time-triggered communication, and then proposes a hybrid scheduling algorithm using Mixed Integer Programming to produce feasible system schemes. Furthermore, incrementally integrating new functions causes upgrades or reconfigurations of DIMA systems and will generate integration cost. To control such cost, this paper further develops an optimization algorithm based on Maximum Satisfiability Problem and guarantees that the scheduling design for upgraded DIMA systems inherit their original schemes as much as possible. Finally, two typical cases, including a simple fully connected DIMA system case and an industrial DIMA system case, are constructed to illustrate our DIMA model and validate the effectiveness of our hybrid scheduling algorithms.     

Obstacle avoidance handling and mixed integer predictive control for space robots

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector’s desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.     

Multiple-constraint cooperative guidance based on two-stage sequential convex programming

An improved approach is presented in this paper to implement highly constrained cooperative guidance to attack a stationary target. The problem with time-varying Proportional Navigation (PN) gain is first formulated as a nonlinear optimal control problem, which is difficult to solve due to the existence of nonlinear kinematics and nonconvex constraints. After convexification treatments and discretization, the solution to the original problem can be approximately obtained by solving a sequence of Second-Order Cone Programming (SOCP) problems, which can be readily solved by state-of-the-art Interior-Point Methods (IPMs). To mitigate the sensibility of the algorithm on the user-provided initial profile, a Two-Stage Sequential Convex Programming (TSSCP) method is presented in detail. Furthermore, numerical simulations under different mission scenarios are conducted to show the superiority of the proposed method in solving the cooperative guidance problem. The research indicated that the TSSCP method is more tractable and reliable than the traditional methods and has great potential for real-time processing and on-board implementation.     

某型膨胀循环发动机高空模拟试验方案研究

某型膨胀循环发动机在研制初期基于环境压力可能对膨胀循环发动机起动加速性有较大影响的考虑,采用了全程主动引射高空模拟试验方案,试验结果显示环境压力对发动机起动加速性的影响较小。发动机室压和喷管面积比是影响引射方式的主要参数,该型膨胀循环发动机与采用被动引射的某型燃气发生器循环发动机参数相当,这为该型膨胀循环发动机采用被动引射提供了可能,并对膨胀循环发动机采用被动引射高空模拟试验方案的可行性进行仿真研究。     

联结翼飞机主要布局参数对全机升阻特性影响研究

联结翼飞机具有重量轻、刚度大、诱导阻力低等优势。采用涡格法,研究联结翼主要布局参数(前翼后掠角、前后翼展向连接点位置、前后翼垂直方向高度差)的变化对升力系数、阻力系数和最大升阻比的影响。所得计算结果对联结翼飞机气动布局参数的确定具有参考价值。     

基于改进GPC的无人直升机动态路径规划

针对小型无人直升机航迹受到风场扰动和导航系统定位误差影响下的航迹最优规划问题,建立了风扰动和导航误差影响下的飞行航迹线性模型。基于混合整数规划思想,采用粒子滤波改进广义模型预测控制算法实时规划航迹,降低了导航定位误差造成的航迹估计偏差,提高了航迹估计精度。仿真结果表明,该算法能够生成三维可行航迹并躲避障碍物,且规划时间和无人机能耗较传统方法显著减少。