基于自适应差分进化和BP网络的罗盘误差补偿

To improve the acuuracy of heading angle measured by electronic compass, a new error compensation method is proposed based on adaptive differential evolution algorithm and BP neural network. In the method, the 3 layer BP neural network is used to model heading angle error, and adaptive differential evolution algorithm is adopted to train the weights of network, thus obtaining a more exact error model, and compensating the heading angle error measured by electronic compass. Compared with other compensation methods such as 8 position least squares, BP neural network, differential evolution algorithm for optimizing BP neural network, and so on, its error compensation accuracy is significantly improved, the method has strong global optimization ability, great convergence rate, good stability, and so on. The experimental results show that after compensation, the error range of heading angle is decreased from -16°~30.7° to -0.22° ~0.2°, which satisfies the needs of higher accuracy navigation systems.     

INS全温六方位速率标定及分段线性插值补偿

针对捷联惯性导航系统(INS, Inertial Navigation System)全温动态环境下测量误差问题,提出一种全温六方位正反速率标定及分段线性插值补偿方法.根据工作环境设定标定温度点,在每个恒温点设计六方位正反速率标定方案;采用分段线性插值算法实时补偿系统零偏和标度因数温度误差,提高了系统温度及动态环境下的测量精度.实验结果表明:采用该方法系统的车载和飞行实验纯惯性导航误差均值分别由1.501 n mile/h和5.811 n mile/h减小到0.393 n mile/h和0.68 1n mile/h,为进一步提高合成孔径雷达(SAR,Synthetic Aperture Radar)成像分辨率奠定基础.     

Deformation Compensation of Ram Components of Super-heavy-duty CNC Floor Type Boring and Milling Machine

Ram is a very important component of super-heavy-duty computer numerical control (CNC) floor type boring-milling machine, and deformation of ram is a significant source causing errors in machining process. To compensate the deformation error of super-heavy-duty CNC floor type boring-milling machine, based on force analysis theory, the law and compensation measures of deformation of ram are researched. Based on the principle of torque (force) balance of the ram components, the formulas of compensation forces and compensation torques are derived, the relations between compensation forces (compensation torques) and the stroke distance of the ram are given. According to theoretical analysis results and the structural characteristics of super-heavy-duty CNC floor type boring and milling machine of TK6932, rods compensation, hydrostatic pressure compensation and wire rope compensation measures are taken to compensate the deformation error of ram. The experiments and computer simulation results show that the straightness of the ram at its overhanging end meets the national machinery industry standards.     

一种更精确的带有杆臂补偿的速度加姿态匹配传递对准模型

针对捷联惯导系统的传递对准问题,提出了一种更精确的带有杆臂补偿和速度差乘积项的速度加姿态匹配的传递对准模型。对准模型中增加杆臂补偿项提高了系统的稳态精度;增加速度差乘积项改善了系统的动态响应,加快了滤波器收敛速度。采用“摇摆机动”的飞行轨迹,对传递对准滤波器进行了仿真;仿真结果证明了传递对准模型的有效性。     

可重构柔性多点模具蒙皮拉形模面补偿算法

针对单曲形蒙皮零件,建立了有限元数值模拟的离散模型和等效模型,通过对成形计算时间、垫层变形量和成形零件外形的比较,验证了等效模型的高效性和可靠性.为了消除垫层变形和板料回弹对成形精度的影响,采用有限元等效模型技术,基于位移调整法,提出了先进行板料回弹补偿再进行垫层变形补偿的模面补偿算法,并应用该算法分别对单曲形和双曲形蒙皮零件进行了拉形模面补偿分析.在得到的补偿模面上进行了单曲形和双曲形蒙皮零件成形试验,采用非接触光学测量系统进行数字化测量后,发现成形零件外形误差均在允许范围(±0.5 mm)之内,满足精度要求,验证了该模面补偿算法的有效性.      

电阻应变传感器的补偿技术

电阻应变传感器在实际工程中应用很广,但由于元件材料本身和结构形式、工艺、应变计性能及粘贴等原因,还会由于温度变化而产生零点漂移而产生误差,本文对其补偿技术进行分析。     

一种新的干扰力矩补偿方法在测试转台中的应用

为提高转台位置跟踪精度,提出了一种新的复合控制方法:电机中摩擦模型采用摩擦参数为非一致性变化的LuGre动态模型。控制器采用参数自适应律和CMAC神经网络来估计未知LuGre模型参数和辨识位置周期摩擦扰动并给与补偿。该方法保证了闭环系统全局稳定性和对期望位置信号的渐进跟踪,提高了转台位置跟踪精度。     

Deramp range migration processing for space-borne spotlight synthetic aperture radar

The deramp range migration algorithm (DRMA) for space-borne spotlight synthetic aperture radar (SAR) is presented, which is based on the two-step algorithm and range migration algorithm. The presented algorithm combines the advantages of SPECAN algorithm and range migration algorithm. Firstly, the presented algorithm performs a bulk azimuth raw data compression to achieve a pixel spacing no larger than the expected azimuth resolution of the fully focused image. Therefore, the azimuth spectral folding phenomenon is overcome. Secondly, the residual and precise focusing of the synthetic aperture radar data is achieved by applying the range migration algorithm. The space-borne SAR focusing parameters’ computation is also described in the paper. At the end of this paper, results are presented which confirm the validity of the presented algorithm.     

速度对微多普勒的影响及其补偿研究

微多普勒为雷达目标识别提供了一种新的思路和方法,而目标的平动速度会影响微多普勒信息的提取.以锥体目标的进动为例来研究速度对微多普勒的影响,并提出中心法进行等效速度补偿,该方法不是先估计出速度值再对原始信号进行补偿,而是基于原始信号频谱信息进行的一种后处理.仿真结果表明该方法能有效地补偿速度.同时基于速度补偿后的频谱,提出重心法估计微多普勒的调制带宽并与中心法进行了比较,且采用最小二乘法拟合了不同信噪比下的估计误差.估计出的调制带宽可作为一种参数特征用于识别.     

具有未知载荷参数的漂浮基空间机械臂姿态、关节协调运动的模糊自适应补偿控制

讨论了载体姿态受控、位置不受控制情况下, 漂浮基空间机械臂载体姿态及机械臂 关节协调运动的控制问题. 利用拉格朗日方法并结合系统动量守恒关系, 建立了漂浮基空间机械臂完全能控形式的系统动力学方程. 以此为基础, 针对空间机械臂末 端爪手所持载荷参数未知的情况, 设计了一种基于标称计算力矩控制器附加模糊自适应补偿控制器的复合控制方案, 即通过模糊自适应补偿控制器来弥补系统未知参数对标称计算力矩控制器的影响, 以确保存在未知系统参数情况下整个闭环控制系 统的渐近稳定性. 文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节, 可以协调地完成期望的轨迹运动, 并具有不需要反馈和测量空间机械臂载体 的位置、移动速度、移动加速度, 同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点. 通过系统数值仿真证实了方法的有效性.