非线性相对运动的飞行器碰撞概率研究

发展了一种非线性相对运动情况下的飞行器碰撞概率描述和计算方法。采用拟最大瞬时碰撞概率和总碰撞概率两个主要指标来定量描述飞行器碰撞的危险性，并针对这两个指标发展了相应的计算方法。对于拟最大瞬时碰撞概率的计算，首先需要在相对轨迹上寻找最小相对距离或最大概率密度的点，然后在这个点上计算拟最大瞬时碰撞概率。对于总碰撞概率的计算，由于总碰撞概率的增量可以表示成一个时间的函数，因此总碰撞概率的计算就是一个在时间域上的积分。所建立的这种描述和计算方法适用于相对速度和误差协方差矩阵随时间任意变化的情况。数值算例表明所提出的指标比单纯采用总碰撞概率能够更好的描述飞行器的碰撞危险性，并且碰撞概率的计算方法和线性相对运动情况下的计算方法是兼容的。     

卫星远距离伴飞的变结构控制

主要研究卫星远距离稳态伴飞的控制问题。首先,根据线性相对运动方程(C-W方程)设计了能实现稳态伴飞的变结构控制律,并证明了其在有干扰情况下的有效性。然后,推导了适用于远距离相对运动的非线性方程解析解,并在此基础上对伴飞控制律进行了改进,以实现远距离的稳态伴飞。通过仿真,比较了上述控制律的效果,证明了基于非线性相对运动的变结构控制能有效地实现远距离稳态伴飞。     

机器人适从运动的混合控制

本文研究了理想情形下一类机器人适从运动的混合控制。对于一个机械臂手端与刚性环境发生光滑接触的类型,本文给出了一种约束描述,并进行分析。在此基础上,通过将控制变量分成两个分属于相互垂直的子空间的控制:力控制和运动控制,将机械臂动力学方程分裂成两个。一个用于力控制,另一个用于运动控制。从而对混合控制的思想有了更好的理解,使力控制和运动控制的设计能单独分别进行,为寻找混合控制提供了简便途径。     

物—伞系统运动稳定性初探

弹道－升力式再入飞行器常采用旋成体外形，但其质心偏离对称轴（纵轴）设置。这种飞行器在着陆前要采用降落伞作为主减速手段。研究质心偏离对称轴的旋成体与降落伞组成的系统的运动稳定性是一项有工程实践意义的课题。作为一种初步探索，在把降落伞视作刚体的条件下，按该系统平面运动方程考察其在平衡状态附近的稳定性，给出了运动稳定性判据。     

Convex optimisation approach to constrained fuel optimal control of spacecraft in close relative motion

This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as “Sum Of Squares” (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.     

Analysis of the DORIS contributions to ITRF2008

In its function as an ITRS Combination Centre, DGFI is in charge with the computation of an ITRF2008 solution. The computation methodology of DGFI is based on the combination of datum-free normal equations (weekly or session data sets, respectively) of station positions and Earth orientation parameters (EOP) from the geodetic space techniques DORIS, GPS, SLR and VLBI. In this paper we focus on the DORIS part within the ITRF2008 computations. We present results obtained from the analysis of the DORIS time series for station positions, network translation and scale parameters, as well as for the terrestrial pole coordinates. The submissions to ITRF2008 benefit from improved analysis strategies of the seven contributing IDS analysis centres and from a combination of the weekly solutions of station positions and polar motion. The results show an improvement by a factor of two compared to past DORIS data submitted to ITRF2005, which has been evaluated by investigating the repeatabilities of position time series. The DORIS position time series were analysed w.r.t. discontinuities and other non-linear effects such as seasonal variations. About 40 discontinuities have been identified which have been compared with the results of an earlier study. Within the inter-technique combination we focus on the DORIS contribution to the integration of the different space geodetic observations and on a comparison of the geodetic local ties with the space geodetic solutions. Results are given for the 41 co-location sites between DORIS and GPS.     

Unsteady oscillation of a deformable airfoil section in incompressible flow

The unsteady aerodynamic loads (pressure increment and generalized forces) acting on a deformable thin airfoil section are determined for its arbitrary motion in the incompressible flow with transverse gusts. In this case, the exact Küssner solution in series is used for harmonic oscillation of an airfoil, in which the Theodorsen function is approximated by a sum of fractional functions with poles. In the time domain, these functions are replaced by the unknown functions that satisfy the one-type ordinary first order differential equations. The equations obtained are combined with the differential equations of the airfoil motion in the generalized coordinates and are used for analyzing the aeroelastic system stability and calculating its dynamic response to gust loads.     

Localization,Exploration, and Navigation Based on Qualitative Angle Information

Abstract

Three of the major problems in building autonomous mobile robots are localization, exploration, and navigation. This paper investigates how well different qualitative methods based on angle information, most of them originally invented for representation of spatial knowledge, are suited for addressing these problems. It combines results from discrete and computational geometry with methods from qualitative spatial reasoning, gaining some new insights on the complexity of robot navigation. It turns out that essentially only with panoramas (special roundviews) the qualitative localization problem can be solved in a satisfactory manner. The exploration problem (qualitative map building), remains difficult for all considered approaches.     

Effects of blade aspect ratio and taper ratio on hovering performance of cycloidal rotor with large blade pitching amplitude

In recent years, a lot of research work has been carried out on the cycloidal rotors. However, it lacks thorough understanding about the effects of the blade platform shape on the hover efficiency of the cycloidal rotor, and the knowledge of how to design the platform shape of the blades. This paper presents a numerical simulation model based on Unsteady ReynoldsAveraged Navier–Stokes equations(URANSs), which is further validated by the experimental results. The effects of blade aspect ratio and taper ratio are analyzed, which shows that the cycloidal rotors with the same chord length have quite similar performance even though the blade aspect ratio varies from a very small value to a large one. By comparing the cycloidal rotors with different taper ratios, it is found that the rotors with large blade taper ratio outperform those with small taper ratio. This is due to the fact that the blade with larger taper ratio has longer chord and hence better efficiency. The analysis results show that the unsteady aerodynamic effects due to blade pitching motion play a more important role in the efficiency than the blade platform shape. Therefore we should pay more attention to the blade airfoil and pitching motion than the blade platform shape.The main contributions of this paper include: the analysis of the effects of aspect ratio and taper ratio on the hover efficiency of cycloidal rotor based on both the experimental and numerical simulation results; the finding of the main influencing factors on the hover efficiency; the qualitative guidance on how to design the blade platform shape for cycloidal rotors.     

气体性质对气动增压器性能的影响

气动增压器的动作频率是一个重要的性能参数。当气动增压器结构确定后,频率直接决定推进剂流量等参数。同时,气动增压器的动作频率体现在推进剂出口管路压力的波动上,对出口压力的稳定性有很大影响。研究气动增压器的动作频率,有助于合理选择频率参数,以及气动增压器结构参数和性能参数的匹配。为了研究增压气体性质对气动增压器工作性能的影响,建立了数学模型,利用AMESim软件对气液活塞的工作过程进行了仿真。仿真结果与试验数据对比,一致性较好。