异构无人系统协同作战关键技术综述

针对异构无人系统的规模、异构性强弱,对异构无人系统进行了分类,引入了异构无人系统协同作战班组的概念以及应用设想,并通过城市环境中异构无人系统协同作战问题为牵引,提出了异构无人系统协同作战面临的挑战与解决思路,在此基础之上,从异构无人系统协同控制架构、协同任务规划、智能交互、目标感知、环境感知等主要方面对异构无人系统协同作战的关键技术进行了分析,最后对异构无人系统协同作战目前的研究进展与挑战进行了总结。     

An improved numerical method for constructing Halo/Lissajous orbits in a full solar system model

An improved numerical method that can construct Halo/Lissajous orbits in the vicinity of collinear libration points in a full solar system model is investigated. A full solar system gravitational model in the geocentric rotating coordinate system with a clear presentation of the angular velocity relative to the inertial coordinate system is proposed. An alternative way to determine patch points in the multiple shooting method is provided based on a dynamical analysis with Poincare′sections. By employing the new patch points and sequential quadratic programming, Halo orbits for L_1, L_2, and L_3 points as well as Lissajous orbits for L_1 and L_2 points in the EarthMoon system are generated with the proposed full solar system gravitational model to verify the effectiveness of the proposed method.     

蜂窝结构的焊点位置控制方法研究

蜂窝结构是航空发动机中的重要封严结构,随着航空航天工业的飞速发展,该结构的需求也日益增多。蜂窝拼焊的自动化生产是实现蜂窝结构高效率生产的有效方法之一。针对蜂窝结构自动化生产中的关键问题,即焊点的位置精度,分析了原有工艺和系统的不足。在基于ACR9000运动控制器平台上,针对焊点精度,分别提出了基于电机编码器的位置控制和轴同步原理的方式。结果证明,这两种方法能够很好地实现焊点位置的精度要求,使蜂窝高质量高效率生产。     

全模颤振风洞试验三索悬挂系统多体动力学分析

全模颤振风洞试验需要通过软支撑系统模拟飞行器的自由飞行状态并调整模型姿态达到配平状态。参考NASA双索悬挂方案,提出了一种两电机驱动的三索悬挂系统,利用后方两索的同向/反向联动实现模型俯仰和滚转姿态的调整,利用弹簧刚度以及钢绳张力设计实现支撑频率要求。基于柔性多体动力学方法,建立了包括飞行器刚体模型、柔性索、滑轮、弹簧、气动力模型、伺服电机控制在内的复杂系统动力学模型,其中,利用任意拉格朗日-欧拉（ALE）变长度索单元描述钢绳,利用不约束物质坐标的索结点约束描述钢绳与滑轮相互作用,利用索结点物质输运速度约束描述伺服电机绞盘,利用飞行力学的气动力模型描述吹风下的气动力。基于该模型,通过小扰动响应辨识研究了弹簧刚度、钢绳张力、连接点位置等因素对支撑频率的影响规律,并分析了系统姿态调整能力,俯仰调整范围达到-12.5°~12.5°,滚转调整范围达到-45°~45°。采用滑轮处电位计测量的钢绳相对位移作为反馈信号,基于设计的控制律利用多体动力学求解器与Simulink对风洞吹风下的姿态调整过程进行仿真,模型达到配平状态,获得了吹风下的索拉力和伺服电机功率,为系统设计提供基础。     

地球同步轨道薄膜太阳帆的姿态轨道控制方法

薄膜太阳帆（FSS）是集推进、发电和姿轨控功能于一体化的超大型挠性太阳帆式航天器,通过调整薄膜反射率产生可变推力和力矩,实现其姿态和轨道运动控制。结合薄膜太阳帆在地球同步轨道运行时的受力特性进行了轨道漂移分析。通过建立薄膜太阳帆动力学模型及受力模型,提出了调整帆面角度轨道修正方法以及基于薄膜光压力矩角动量卸载的长期在轨对日定向面内双轴动量轮稳定控制方法。通过系统仿真验证表明所提的轨道修正和对日定向控制方法是合理有效的,可使薄膜太阳帆长期在定点位置维持对日定向。     

单推力航天器交会对接轨迹规划及跟踪控制

针对单推力航天器交会对接问题,提出一种轨迹规划及跟踪算法。首先,考虑到追踪航天器只沿本体X轴安装推力器,且推力方向固定,为了实现从起始位置转移至期望位置并满足姿态要求,基于三维螺旋线设计两阶段转移轨迹,根据初末位置以及末端速度方向要求,求解螺旋线参数。该螺旋线可以保证在初末速度方向固定情况下,曲率积分最小。其次,为了降低轨迹跟踪难度并减小初始时刻的位置跟踪控制力,需要将转移轨迹初始速度与追踪星X轴重合。传统螺旋线无法满足该约束条件。本文对传统螺旋线进行改进,提出一种旋转螺旋线轨迹设计方法。通过引入姿态旋转矩阵,将螺旋线在三维空间旋转,在不改变曲线形状的前提下满足初末位置及速度方向要求。然后,为了跟踪转移轨迹以及跟踪期望推力方向,提出基于CLF（Control Lyapunov Function）的滑模控制策略,当追踪星X轴与期望推力方向夹角较大时,采用CLF,保证最优性;当姿态误差收敛至滑模面附近时,切换为滑模控制,以提升系统鲁棒性。最后,通过仿真验证旋转螺旋线相比于传统螺旋线的优势。     

大跨时空任务背景下的太阳能无人机任务规划技术研究进展

通过任务规划技术合理的优化太阳能无人机的飞行轨迹和动力学参数,能够有效提高太阳能无人机的能量利用率,使其胜任许多大范围跨时间跨空间飞行任务。从能量建模、续航评估和能量管理策略3个方面对大跨时空任务背景下太阳能无人机任务规划技术的研究进展进行了综述。在能量建模方面,介绍了当前主流的太阳辐射模型和能量生产基本框架;在续航评估方面,分析了目前的指标设计和应用方法;在能量管理策略方面,从能量综合应用、风力滑翔机制、轨迹优化方法和面向特定任务的应用4个角度,梳理了当前的研究现状。最后,对该领域未来可能的研究方向进行了展望。     

Shock protection of penetrator-based instrumentation via a sublimation approach

It is often necessary for space-borne instrumentation to cope with substantial levels of shock acceleration both in the initial launch phase, as well as during entry, descent and landing in the case of planetary exploration. Current plans for a new generation of penetrator-based space missions will subject the associated on-board instrumentation to far greater levels of shock, and ways must therefore be found to either ruggedize or else protect any sensitive components during the impact phase. In this paper, we present an innovative method of shock protection that is suited for use in a number of planetary environments, based upon the temporary encapsulation of said components within a waxy solid which may then be sublimated to return the instrument back to its normal operation. We have tested this method experimentally using micromachined silicon suspensions under applied shock loads of up to 15,000g, and found that these were able to survive without incurring damage. Furthermore, quality factor measurements undertaken on these suspensions indicate that their mechanical performance remains unaffected by the encapsulation and subsequent sublimation process.     

Stochastic modelling considering ionospheric scintillation effects on GNSS relative and point positioning

Global Navigation Satellite Systems (GNSS), in particular the Global Positioning System (GPS), have been widely used for high accuracy geodetic positioning. The Least Squares functional models related to the GNSS observables have been more extensively studied than the corresponding stochastic models, given that the development of the latter is significantly more complex. As a result, a simplified stochastic model is often used in GNSS positioning, which assumes that all the GNSS observables are statistically independent and of the same quality, i.e. a similar variance is assigned indiscriminately to all of the measurements. However, the definition of the stochastic model may be approached from a more detailed perspective, considering specific effects affecting each observable individually, as for example the effects of ionospheric scintillation. These effects relate to phase and amplitude fluctuations in the satellites signals that occur due to diffraction on electron density irregularities in the ionosphere and are particularly relevant at equatorial and high latitude regions, especially during periods of high solar activity. As a consequence, degraded measurement quality and poorer positioning accuracy may result.     

基于改进FCM的北斗三频组合观测值选取

以北斗卫星导航系统三频双差为基础探讨了组合观测值及误差,针对以往采用聚类方法在研究GPS三频组合数据过程中的不足,提出了基于距离修正的增量模糊C均值算法.通过调节因子有效地修正了样本中心与聚类中心的距离,获得合理的隶属度,从而得到正确的分类;构造了基于距离修正的聚类有效性指标,自动获取最佳聚类数,避免了人为确定聚类数的不合理性;在此基础上引入增量的思想,数据增加时以原有的数据集为基础,根据阈值进行归类,不需要重新进行初始计算.通过矩阵变换法及实例验证了该方法的可行性和可靠性.