基于逆动态理论的空间飞行器大角度机动控制

提出了一种基于逆动态理论的轮控空间飞行器大角度机动控制方法。用逆动态控制对系统作非线性解耦,基于变结构控制的鲁棒性设计控制器,给出了控制回路方案。仿真结果表明：该控制法在有外界干扰和系统参数不确定条件下有较快的收敛性和一定的鲁棒性。     

一种可移动检测机器人站位规划策略

针对大型舱体舱外有效载荷支架检测过程中机器人站位难以确定的问题,提出一种规划策略。首先,结合机器人正运动学构建检测环境的数学模型,分别从舱体轴向与径向初步划分工作区域。然后,基于遗传算法(GA)优化检测视点次序并对工作区域栅格化处理,结合工作区域内对应视点位姿信息及关节转角约束,通过机器人逆运动学求得满足约束条件站位。最后,考虑不同关节转角误差对机器人末端精度和机器人运行过程安全性的影响,对检测过程各关节角度变化方差加权处理并构造优化函数。通过算例验证了所构建的模型及方法的可行性,结果表明该策略能够得到满足检测需求的优化站位。     

基于移动机器人的运动学半物理系统的规划方法

针对基于移动机器人的半物理系统运动精度较差,需要机械臂对移动机器人进行实时精度补偿的问题,提出了一种以超冗余机械臂为规划对象的整体规划方法。该方法将整体系统等效为一个超冗余机械臂,并且根据该超冗余机械臂的自运动特性调整关节构型,使其远离关节极限并且最大化灵活操作能力,为后续的实时补偿控制创造条件。最后将该算法在实际搭建的基于移动机器人的半物理系统上进行了实验,实验结果验证了该算法的必要性和有效性。     

Cross-sectional deformation of H96 brass double-ridged rectangular tube in rotary draw bending process with different yield criteria

Different yield criterion has great difference in predicting the deformation of tube with different material. In order to improve the prediction accuracy of the cross-sectional deformation of the double-ridged rectangular tube (DRRT) during rotary draw bending (RDB) process, Mises isotropic yield criterion, Hill’48 and Barlat/Lian anisotropic yield criteria commonly used in practical engineering are introduced to simulate RDB of DRRT. The inverse method combining uniaxial tensile test of whole tube and response surface methodology was proposed to identify the parameters of Hill’48 and Barlat/Lian yield criteria of small-sized H96 brass extrusion DRRT as well. Then based on ABAQUS/Explicit platform, the FE models of RDB process of DRRT considering Mises, Hill’48 and Barlat/Lian yield criteria were built. The results show that: The variation trend of cross-sectional deformation ratio is same when using different yield criteria. The cross-sectional deformation ratio by using Mises yield criterion is close to that by using Hill’48 yield criterion. However, there is a quite difference between by using Barlat/Lian yield criterion and by using Mises or Hill’48 yield criteria. The prediction values of cross-sectional height deformation by using three yield criteria all underestimate the experiment ones, and the prediction values of cross-sectional width deformation overestimate the experiment ones. By comparing the simulation results of cross-sectional deformation of the DRRT with different yield criteria and experiment ones, Barlat/Lian yield criterion is found to be suitable for describing the RDB process of DRRT.     

索式火箭回收着陆系统缓冲装置设计与分析

针对索式火箭回收着陆系统中摩擦缓冲装置的缓冲能力和调节能力有限的问题,提出了一种基于最小二乘法和系统动力学特性的液压缓冲装置反问题设计方法。该方法通过对液压缓冲装置中控制阀凸轮外形和储能器初始压强的设计来调节着陆火箭运动学特性,使火箭按照特定的运动学特性在有限的缓冲位移内减速至静止稳定且缓冲加速度最小。对索式火箭回收着陆系统建立精准高效的多体动力学模型,并针对不同的工况进行仿真校验。仿真结果表明根据所提反问题设计方法设计的索式火箭回收着陆系统能够按照特定的运动学特性减速缓冲着陆火箭,具有较强的减速缓冲能力;针对不同质量和着陆位置偏差的着陆火箭,具有自动调整液压阻力保持火箭相同的运动学特性的能力。     

冗余SGCMG系统非奇异逆运动学闭环求解

为进一步简化单框架控制力矩陀螺（ＳＧＣＭＧ）系统逆运动学的求解，在借鉴国内外相关研究的基础上，将冗余机械臂逆运动学闭环求解方法引入到ＳＧＣＭＧ系统中来，并在闭环求解过程中，施加非奇异条件，即得到冗余ＳＧＣＭＧ系统非奇异逆运动学闭环解。这种方法不但可以得到逆运动学的非奇异解，且可通过选择适当的增益阵，控制算法的收敛速度。而且由于此种方法不用计算Ｊａｃｏｂｉ矩阵的伪逆，而是代之以Ｊａｃｏｂｉ阵的转置，大大简化了计算量，适于实时实现。对金字塔构形的４－ＳＧＣＭＧ系统的仿真结果表明，上述算法是可行的。     

A high-order SPH method by introducing inverse kernels

The smoothed particle hydrodynamics (SPH) method is usually expected to be an effi-cient numerical tool for calculating the fluid-structure interactions in compressors; however, an endogenetic restriction is the problem of low-order consistency. A high-order SPH method by intro-ducing inverse kernels, which is quite easy to be implemented but efficient, is proposed for solving this restriction. The basic inverse method and the special treatment near boundary are introduced with also the discussion of the combination of the Least-Square (LS) and Moving-Least-Square (MLS) methods. Then detailed analysis in spectral space is presented for people to better under-stand this method. Finally we show three test examples to verify the method behavior.     

A modified forward and backward reaching inverse kinematics based incremental control for space manipulators

Forward and backward reaching inverse kinematics(FABRIK) is an efficient two-stage iterative solver for inverse kinematics of spherical-joint manipulator without the calculation of Jacobian matrix. Based on FABRIK, this paper presents an incremental control scheme for a free-floating space manipulator consists of revolute joints and rigid links with the consideration of joint constraints and dynamic coupling effect. Due to the characteristics of FABRIK, it can induce large angular movements on s...     

Aeroelastic analysis and structural parametric design of composite rotor blade

Based on FEM theory, a method of dynamic analysis for hingeless rotors considering anisotropic composite materials is established. A parametric modeling method of composite blade with typical profile and high simulation degree for design is proposed. Through the finite element method, the profile characteristics of rotor blade can be obtained efficiently and accurately, and the synchronization of parametric design and finite element analysis of structural characteristics can be realized. Then a 23-degrees of freedom non-linear beam element is used to simulate the extended one-dimensional beam, thereby a non-linear differential equation describing the elastic motion of the rotor is established. To obtain the cross-sectional target characteristics of the blades, an inverse design method is proposed for cross-section components based on combinatorial optimization algorithm. The calculation and validation work show that the proposed model can effectively analyze the aeroelastic characteristics of general composite rotors. Further, the influence of cross-sectional parameters on the aeroelastic stability and hub loads of hingeless rotor is analyzed and some remarkable conclusions are obtained.     

逆系统方法在航天器姿态控制系统中的应用

微分几何方法是非线性控制的传统方法 ,但该方法比较抽象 ,且使用过程中计算繁琐。作为多变量非线性控制的新理论 ,逆系统方法通过研究和引入逆系统理论中的一些概念和结果 ,如α阶积分逆、伪线性系统等 ,来形成非线性系统的反馈线性化。它具有物理概念清晰、适用面宽、应用简便的优点。本文首先介绍了逆系统方法的基本思想 ,然后将其用于航天器非线性姿态控制系统的设计中。仿真结果表明 ,航天器的姿态角以较高的精度快速跟踪目标值 ,最终偏差满足要求 ,系统性能良好。