Physical implications of discrepancy between summer and winter PC indices observed in the course of magnetospheric substorms

The PC index based on a statistically justified relationship between the polar cap magnetic activity and the interplanetary electric field E_KL has been derived as a value standardized for the E_KL intensity regardless of season, UT and hemisphere. As a result, the summer and winter PC indices are consistent with one another under ordinary conditions. Discrepancies between the summer and winter PC indices arising in the course of magnetospheric substorms are analyzed in this paper. It is argued that the channel of enhanced conductivity, formed in the auroral oval owing to intense auroral particle precipitation, strongly improves the conditions for closure of the Region 1 field-aligned currents in the winter dark polar region but only trivially affects the conditions of the Region 1 FAC closure in the summer sunlit ionosphere. Since the coefficients describing the relationship between E_KL and the polar cap magnetic activity were derived for statistically justified (i.e., mean) conditions, their application to such abnormal situation, as intense field-aligned currents in the winter dark polar region, leads to overestimation of the winter PC index. The summer and winter PC indices level off as soon as the intense auroral particle precipitation terminates and the auroral ionosphere in the winter and summer polar caps returns to the ordinary (statistically justified) state.     

中国及邻近地区地磁场垂直梯度的计算与研究

根据地磁场的球谐模型,推导出地磁场各个分量垂直梯度的球谐表达式.计算出中国及邻近地区高度为0km,50km和100km处的地磁场及其垂直梯度的网点值,编绘出地磁总强度、垂直强度、水平强度和磁偏角的垂直梯度等值线图.研究了地磁场垂直梯度在地面上以及随高度的变化规律.     

飞行器油泵柱塞座的收口与扩口

介绍了飞行器油泵柱塞座的结构,分析了柱塞座收口与扩口的组合难点,通过试验分析找到了合理的工艺路线及组合参数。     

Kinematics-based four-state trajectory tracking control of a spherical mobile robot driven by a 2-DOF pendulum

Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer planets. However, spherical mobile robot is a special highly under-actuated nonholonomic system, which cannot be transformed to the classic chained form. At present, there has not been a kinematics-based trajectory tracking controller which could track both the position states and the attitude states of a spherical mobile robot. In this paper, the four-state(two position states and two attitude states) trajectory tracking control of a type of spherical mobile robot driven by a 2-DOF pendulum was studied. A controller based on the shunting model of neurodynamics and the kinematic model was deduced, and its stability was demonstrated with Lyapunov's direct method. The control priorities of the four states were allocated according to the magnification of each state tracking error in order to firstly ensure the correct tracking of the position states. The outputs(motor speeds) of the controller were regulated according to the maximum speeds and the maximum accelerations of the actuation motors in order to solve the speed jump problem caused by initial state errors, and continuous and bounded outputs were obtained. The effectiveness including the anti-interference ability of the proposed trajectory tracking controller was verified through MATLAB simulations.     

极轴式望远镜系统误差修正方法研究

为提高极轴式望远镜的测量精度,借鉴地平式望远镜的系统误差修正方法,推导了基于轴系和球谐函数的极轴式望远镜系统误差修正模型,在分析2种误差修正模型误差项不足的基础上,探索性地提出了一种新的误差修正模型——改进球谐函数系统误差修正模型。对实际测星数据进行误差修正的结果表明,进行改进球谐函数系统误差修正后,精度在时角和赤纬方向上比其他方法提高了50%。     

微重力下球形贮箱内液体晃动有限元模拟

以卫星球形贮箱为研究对象,用任意拉格朗日-欧拉(ALE)法建立了数学模型,给出了计算的基本方程,并基于MSC-Dytran有限元程序,对常重力和微重力环境中贮箱内推进剂的晃动进行了数值模拟。结果表明,微重力环境中液体更易发生大幅晃动,甚至产生飞溅,工程中常用的等效力学模型已不再适用,而有限元数值模拟方法可较好地解决该问题,为卫星及大充液复杂结构航天器控制系统的设计和分析提供理论参考。     

横向激励下液体大幅晃动建模分析

研究部分充液球形贮箱内的液体在横向推力作用下发生大幅晃动的等效力学模型,建模过程同时考虑平动和转动激励。建立一种新的等效模型,首次提出液体的静平衡表面垂直于等效重力方向的假设,将液体的大幅运动分解为跟随等效重力的整体运动和在此基础上的小幅晃动,该等效模型能够更好地模拟液体大幅晃动情形。将仿真得到的晃动力和力矩与传统等效模型及Flow-3d的结果进行对比,验证了新模型的有效性和准确性。该模型可应用于探月软着陆悬停避障过程等实际工程问题中。     

无反作用力矩空间机器人轨迹跟踪控制

针对目前关节驱动方式的不足,提出一种采用无反作用力矩驱动方式的空间机器人设计概念。系统平台与各节机械臂上均安装一组金字塔构型的控制力矩陀螺（CMGs）作为力矩执行机构,各臂间由自由球铰连接。采用Rodriguez参数描述平台姿态和机械臂角位移,利用Kane方程建立系统动力学模型。在此基础上,设计了渐近稳定的轨迹跟踪控制律,使得平台姿态和机械臂角位移跟踪期望运动轨迹;并设计了CMGs操纵律,使之准确输出期望控制力矩。此外,研究了机械臂工作空间到关节空间的轨迹规划算法,使得所设计的控制律也可应用于工作空间的轨迹跟踪控制。由三关节系统的仿真结果,验证了无反作用力矩设计概念的可行性和轨迹规划算法的有效性。     

一种新型球副机构的设计及分析

提出一种新型球副机构,即1S机构.该机构由两个转动副和一个等效转动副组成,其运动功能等效为球副.1S机构可通过其变种构型增强刚度和增大运动角度.同时,以1S机构为基础,可构建N-S复合球副机构;与其他运动副进行复合,如移动副、额外的转动副等,可构建X-S机构.在复合铰链中,所有的运动副:(a)均具备相对独立的运动,(b...     

Sawtooth substorms generated under conditions of the steadily high solar wind energy input into the magnetosphere: Relationship between PC, AL and ASYM indices

Periodicity in occurrence of magnetic disturbances in polar cap and auroral zone under conditions of steady and powerful solar wind influence on the magnetosphere is analyzed on the example of 9 storm events with distinctly expressed sawtooth substorms (N = 48). Relationships between the polar cap magnetic activity (PC-index), magnetic disturbances in the auroral zone (AL-index) and value of the ring current asymmetry (ASYM index) were examined within the intervals of the PC growth phase and the PC decline phase inherent to each substorm. It is shown that the substorm sudden onsets are always preceded by the PC growth and that the substorm development does not affect the PC growth rate. On achieving the disturbance maximum, the PC and AL indices are simultaneously fall down to the level preceding the substorm, so that the higher the substorm intensity, the larger is the AL and PC drop in the decline phase. The ASYM index increases and decreases in conformity with the PC and AL behavior, the correlation between ASYM and PC being better than between ASYM and AL. Level of the solar wind energy input into the magnetosphere determines periodicity and intensity of disturbances: the higher the coupling function E_KL, the higher is substorm intensity and shorter is substorm length. Taking into account the permanently high level of auroral activity and inconsistency of aurora behavior and magnetic onsets during sawtooth substorms, the conclusion is made that auroral ionosphere conductivity is typically high and ensures an extremely high intensity of field-aligned currents in R1 FAC system. The periodicity of sawtooth substorms is determined by recurrent depletions and restorations of R1 currents, which are responsible for coordinated variations of magnetic activity in the polar cap and auroral zone.