基于改进人工势场法的服务机器人路径规划

人工势场法是服务机器人路径规划算法中一种简单有效的方法.针对传统人工势场法存在的目标不可达问题,通过在原来的斥力函数中加入一个调节因子的方法解决,同时采用遍历搜索法解决局部极小值问题,并引入安全距离以及改进调节因子以提高机器人路径规划过程中的安全性能.最后,利用Matlab软件将改进后的人工势场法应用于服务机器人路径规划并进行了仿真实验.仿真结果表明,基于改进人工势场法的服务机器人路径规划有效地解决了机器人不能到达目标点的问题.     

旋翼非定常气动特性CFD模拟的通用运动嵌套网格方法

针对直升机旋翼非定常气动特性CFD模拟中的网格生成难题,提出了一套高效、通用的运动嵌套网格生成方法.首先,基于Poisson方程求解和翻折法生成旋翼桨叶的正交贴体网格.其次,针对旋翼桨叶的扭转分布及变距、挥舞等复杂运动,建立了一套通用的洞单元识别的扰动衍射法;为保证洞包络面的封闭性,完善了挖洞过程中网格加密策略;在洞边界确立基础上,提出了一种高效、鲁棒的最小距离法贡献单元搜索的改进方法.在此基础上,建立了基于RANS(Reynolds-averaged Navier-Stokes)方程的旋翼非定常流场CFD模拟方法.最后,采用所建立的方法分别对悬停和前飞状态下的C-T(Caradonna-Tung)旋翼和7A(Helishape 7A)旋翼的气动特性、桨尖涡的位置进行了计算,计算结果与试验值误差小于5%,验证了该运动嵌套网格生成方法在旋翼非定常气动特性CFD模拟中的有效性.      

频率失谐对跨声速压气机气弹稳定性的影响

为了深入理解频率失谐对跨声速压气机气弹稳定性的影响,基于能量法建立了跨声速颤振实验转子的全周气动阻尼计算模型,数值分析了转子叶片频率交替失谐、随机失谐以及线性失谐对其气弹稳定性的影响。数值计算了该转子的气动性能,颤振边界和叶片模态,其结果和实验数据吻合较好;研究不同模态、不同叶片间相位角条件下谐调转子的气动阻尼,结果表明叶片间相位角对叶片气动阻尼均有较大的影响,尤其在一弯模态下,叶片气动阻尼对叶片间相位角最敏感;对该转子所有叶片的平均气动阻尼而言,失谐的存在弱化了叶片间相角对叶片气动阻尼的影响,显著提高了该转子最不稳定状态的平均阻尼达到7~11倍,反之使其最稳定状态的平均阻尼降低约50%;失谐转子中不同叶片的气动阻尼表现出显著差异,其受叶片局部失谐模式及失谐量的影响较大。     

太阳能飞机翼肋结构拓扑优化设计

太阳能飞机翼肋结构轻薄且数量众多,其结构形式的合理性对于结构减重、机翼刚度设计等具有重要意义。基于现有太阳能飞机翼肋的结构形式,提出一种翼肋拓扑优化设计方法:首先,应用双向渐进结构优化法(BESO),以单元应力为判断指标,对太阳能飞机典型翼肋进行结构拓扑优化;其次,基于拓扑优化结果对翼肋进行结构细节设计;最后,通过有限元计算,验证翼肋的结构强度、刚度和静稳定性。通过本文方法,能够得到太阳能飞机翼肋更为合理的结构布局。     

S型进气道隐身与气动综合特性数值分析

针对S型进气道弯度对其隐身气动特性影响程度的问题,利用CAD软件对进气道进行参数化建模,通过改变进、出口的中心偏移量实现对进气道弯度的改变。采用数值仿真方法分别研究了进气道前向电磁散射特性和进气道流场及气动特性。仿真结果表明,进气道弯度增加对隐身特性和气动特性的影响是完全相反的,并进一步分析出这一现象的产生机理,对进气道的隐身气动一体化设计具有指导性意义。     

一种减少失速保护虚警率的混合滤波方法

针对飞机失速保护设计过程中易出现虚警的情况,提出一种基于FIR和传统滤波器相结合的混合滤波方法。结合飞机本体的运动特征,对参与失速保护逻辑运算的两个重要参数,即侧向加速度和迎角信号进行频率分析,基于信号的特征设计混合滤波器,然后采用Simulink滤波工具箱设计滤波器对信号进行滤波处理。仿真结果表明该方法能够减少虚警率的发生,特别是大背景噪声下的虚警率能够得到较好抑制,验证了滤波器设计正确性,从而提高失速保护功能对适航条款符合性。该滤波器设计方法,不但可以有效解决本文提到的问题,对于其他涉及信号处理的系统设计同样具有借鉴意义。     

Numerical analysis and optimization of boundary layer suction on airfoils

Numerical approach of hybrid laminar flow control(HLFC) is investigated for the suction hole with a width between 0.5 mm and 7 mm. The accuracy of Menter and Langtry’s transition model applied for simulating the flow with boundary layer suction is validated. The experiment data are compared with the computational results. The solutions show that this transition model can predict the transition position with suction control accurately. A well designed laminar airfoil is selected in the present research. For suction control with a single hole, the physical mechanism of suction control, including the impact of suction coefficient and the width and position of the suction hole on control results, is analyzed. The single hole simulation results indicate that it is favorable for transition delay and drag reduction to increase the suction coefficient and set the hole position closer to the trailing edge properly. The modified radial basis function(RBF) neural network and the modified differential evolution algorithm are used to optimize the design for suction control with three holes. The design variables are suction coefficient, hole width, hole position and hole spacing. The optimization target is to obtain the minimum drag coefficient. After optimization,the transition delay can be up to 17% and the aerodynamic drag coefficient can decrease by 12.1%.     

Specific grinding energy and surface roughness of nanoparticle jet minimum quantity lubrication in grinding

Nanoparticles with the anti-wear and friction reducing features were applied as cooling lubricant in the grinding fluid. Dry grinding, flood grinding, minimal quantity of lubrication（MQL）, and nanoparticle jet MQL were used in the grinding experiments. The specific grinding energy of dry grinding, flood grinding and MQL were 84, 29.8, 45.5 J/mm³, respectively. The specific grinding energy significantly decreased to 32.7 J/mm³ in nanoparticle MQL. Compared with dry grinding, the surface roughness values of flood grinding, MQL, and nanoparticle jet MQL were significantly reduced with the surface topography profile values reduced by 11%, 2.5%, and 10%,respectively, and the ten point height of microcosmic unflatness values reduced by 1.5%, 0.5%,and 1.3%, respectively. These results verified the satisfactory lubrication effects of nanoparticle MQL. MoS₂, carbon nanotube（CNT）, and ZrO₂ nanoparticles were also added in the grinding fluid of nanoparticle jet MQL to analyze their grinding surface lubrication effects. The specific grinding energy of MoS₂ nanoparticle was only 32.7 J/mm³, which was 8.22% and 10.39% lower than those of the other two nanoparticles. Moreover, the surface roughness of workpiece was also smaller with MoS₂ nanoparticle, which indicated its remarkable lubrication effects. Furthermore,the role of MoS₂ particles in the grinding surface lubrication at different nanoparticle volume concentrations was analyzed. MoS₂ volume concentrations of 1%, 2%, and 3% were used.Experimental results revealed that the specific grinding energy and the workpiece surface roughness initially increased and then decreased as MoS₂ nanoparticle volume concentration increased.Satisfactory grinding surface lubrication effects were obtained with 2% MoS₂ nanoparticle volume concentration.     

基于混合优化的运载器大气层内上升段轨迹快速规划方法

针对运载器大气层内的最优轨迹快速规划问题,提出一种将求解最优控制问题的间接法与直接法相结合的混合优化方法。首先,基于最优控制问题的一阶必要条件,将运载器大气层内的三维最优上升问题转化为Hamiltonian两点边值问题;然后,采用直接法中能以较少的节点获得较高求解精度的Gauss伪谱法进行求解,提高算法的求解效率;最后,采用真空解析解初值及密度同伦技术,解决初值猜测与算法收敛困难的问题。仿真结果表明,混合优化算法能够准确、快速地对运载器大气层内的最优上升轨迹问题进行求解,并在计算精度与效率上均优于间接法,可应用于运载器的轨迹在线规划与闭环制导。     

基于AFAS 软件的机翼壁板耐久性分析及试验验证

随着航空工业的发展,对机翼壁板耐久性分析的精确性及计算速度的要求日益提高,必须考虑从手工计算到程序计算的转变。飞机结构耐久性分析软件系统(AFAS)是为了满足飞机结构耐久性分析的工程实际使用要求而编制的。本文介绍采用该软件中包含的DFR方法计算程序对机翼壁板结构进行耐久性分析的过程,并进行试验验证,分析得到的机翼壁板结构具有95%置信度、95%可靠度的可靠性寿命与试验统计结果非常相近,证明AFAS是一个可以进行耐久性分析的快速准确的计算工具。