无速度测量下的航天器安全接近位姿一体化控制

针对考虑位姿耦合的非合作航天器交会对接场景,在没有速度测量情况下为了同时解决安全约束、模型不确定性、执行器故障和输入饱和问题,提出一种基于容积卡尔曼滤波算法(CKF)的自主安全接近方法。首先基于容积卡尔曼滤波器和扩张状态观测器(ESO)分别估计目标航天器的位姿信息和相对速度信息;然后通过将一种新颖的安全包络与人工势函数(APF)结合设计自适应滑模控制器,并设计非奇异辅助系统对执行器故障和输入饱和带来的影响进行集中处理。提出的控制策略在不违反安全约束情况下,能在固定时间内实现位置接近和姿态同步。通过李雅普诺夫方法可以保证闭环系统固定时间稳定。仿真结果表明,所提控制方法具有较高的精度和良好干扰抑制能力。     

一种在轨改善偏置动量卫星控制精度的方法

对多个偏置动量卫星在轨飞行的遥测数据观察后发现．其中一些卫星的X轴和Z轴控制误差较大，且有明显的常值偏差存在．对这一现象进行分析，从偏置动量卫星的控制原理上找到了姿态偏差较大的原因，进而提出修正方法．在轨飞行测试表明：原姿态超差的偏置动量卫星采用本方法后，姿态控制精度得到明显改善，证明了本方法行之有效．     

简析一起飞机转弯航向误差大的故障原因及预防措施

某型飞机装有两套HZX-1航向姿态系统，飞行中同时出现转弯航向误差大现象，本文通过分析故障原因，找出了引起故障的关键产品，并针对故障制定了预防措施。     

The mid-latitude field-aligned disturbances and their effect on differential GPS and VLBI

For the first time we propose a method for detecting the mid-latitude field-aligned disturbances (FADs) prolated on the magnetic field. The method is based on GPS detection of isolated ionosphere disturbances and analysis of the angle between the “GPS satellite-receiver” line-of-sight and the local magnetic field vector, for which maximum (minimum) of aperiodic variation of the total electron content (TEC) is registered.     

Earthquake induced dynamics at the ionosphere in presence of magnetic storm

The modifications induced in the dynamics of the ionosphere by the major Japan earthquake (EQ) of March 11, 2011 (epicenter at 38.322°N, 142.369°E, M = 8.9) in presence of a magnetic storm are examined by mapping latitudinal variations of F-layer ionization density (NmF2) from 22 stations covering the epicenter zone. The changes forced into the Total Electron Content (TEC) by the major EQ in the magnetic storm ambiance are also examined from the GPS data collected at Guwahati (26° 10′ N, 91° 45’ E), situated in the major fault system of East Asia. The contributions of pre-seismic electric field as well as of magnetic storm time electric field in the observed density variations are brought into the ambit of discussion. The influence of lower atmosphere in shaping TEC features during the study case is highlighted. The effects of solar activity on density variations during such complex ambiances are also addressed.     

Ionospheric disturbance associated with radiation accidents of Fukushima I nuclear power plant damaged by the M9.0 2011 Tohoku Earthquake

Transient ionospheric disturbances in the total electron content (TEC) are examined before and after the M9.0 2011 off the Pacific coast of Tohoku Earthquake to find ionospheric responses to the radiation caused by Fukushima I nuclear power plant accident, which was damaged by the earthquake and tsunamis. The TEC is derived from records of a ground-based receiving network of GPS Earth Observation Network (GEONET) in Japan. Both small enhancement and disturbance of TEC were detected over the nuclear power plant after the radiation was suddenly enhanced on March 14 of 2011, while similar signatures were not detected in the other sudden radiation enhancements. Further, no continuous enhancement and disturbance lasting for more than an hour were observed over the nuclear power plant. Therefore, the results indicate that radioactive materials may not cause the ionospheric disturbance or disturb the ionosphere in highly specific circumstance even if such effects exist.     

Ionospheric response to the storm-time disturbance of 29 May, 2010

The Ionospheric F2-layer peak parameters response to a magnetic storm had been investigated over Ilorin, Nigeria (Lat. 8:53°N, Long. 4.5°E, dip angle, −2.96°), Jicamarca, Peru (11.95°S, 76.87°W, dip angle, 0.8°) and Hermanus, South Africa (34.42°S, 19.22°E, dip angle, −60.77°), using percentage enhancement/depletion values. Our results showed an enhancement in NmF2 at all of these stations. Averagely, pre-noon and post-noon peaks are highest at Ilorin during quiet time. The similar pattern observed for quiet condition between Ilorin and Jicamarca was due to their latitudinal positions. For disturbed NmF2 condition, Jicamarca and Ilorin recorded higher peaks at nighttime than during the daytime for the storms main phase, and the reverse over Hermanus. The nighttime and daytime increases were observed respectively at Ilorin and Hermanus during the recovery period. The hmF2 variation recorded higher enhancement at Jicamarca during the daytime and at Hermanus at nighttime during the main phase. During the recovery phase, the highest enhancement was recorded during the daytime at Jicamarca, and over Hermanus at nighttime. These observations find their explanation in the magnetospheric current, solar wind and E × B drift.     

Analysis of reaction torque-based control of a redundant free-floating space robot

Owing to the dynamics coupling between a free-floating base and a manipulator,the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator's motion.The reaction torque acted on the satellite base's centroid is an important index to measure the satellite base's disturbance.In this paper,a comprehensive analysis of the reaction torque is made,and a novel way to derive the analytical form of the reaction torque is proposed.In addition,the reaction torque null-space is derived,in which the manipulator's joint motion is dynamically decoupled from the motion of the satellite base,and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space.Furthermore,the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task.Besides,supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control,the reaction torque can be used to realize satellite base attitude control,that is,base attitude adjustment or maintenance.Moreover,because reaction torque-based control is a second-order control scheme,joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control.A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas.Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.     

Ionospheric disturbances under low solar activity conditions

The paper is focused on ionospheric response to occasional magnetic disturbances above selected ionospheric stations located at middle latitudes of the Northern and Southern Hemisphere under extremely low solar activity conditions of 2007–2009. We analyzed changes in the F2 layer critical frequency foF2 and the F2 layer peak height hmF2 against 27-days running mean obtained for different longitudinal sectors of both hemispheres for the initial, main and recovery phases of selected magnetic disturbances. Our analysis showed that the effects on the middle latitude ionosphere of weak-to-moderate CIR-related magnetic storms, which mostly occur around solar minimum period, could be comparable with the effects of strong magnetic storms. In general, both positive and negative deviations of foF2 and hmF2 have been observed independent on season and location. However positive effects on foF2 prevailed and were more significant. Observations of stormy ionosphere also showed large departures from the climatology within storm recovery phase, which are comparable with those usually observed during the storm main phase. The IRI STORM model gave no reliable corrections of foF2 for analyzed events.     

Three-dimensional magnetic reconnection regimes: A review

The magnetic field in many astrophysical plasmas – such as the solar corona and Earth’s magnetosphere – has been shown to have a highly complex, three-dimensional structure. Recent advances in theory and computational simulations have shown that reconnection in these fields also has a three-dimensional nature, in contrast to the widely used two-dimensional (or 2.5-dimensional) models. Here we discuss the underlying theory of three-dimensional magnetic reconnection. We also review a selection of new models that illustrate the current state of the art, as well as highlighting the complexity of energy release processes mediated by reconnection in complicated three-dimensional magnetic fields.