投入产出生产函数在生产计划管理中的应用

探讨了如何应用投入产出生产函数为订货生产类型的企业制订企业生产计划大纲和产品进度计划问题.将企业的整个生产过程划分为多个生产节点,根据生产节点划分的规则,不同品种的产品生产所需经过的路径可由产品依次经过的生产节点来描述.生产节点间的投入产出关系,以及生产过程中普遍存在着的动态随机性,则借助于动态随机生产函数来反映,从而使计划人员估计不确定性对完成项目时间的影响.在此基础上,同时考虑到订货生产类型企业的特点,在制订企业的生产计划大纲时,应用静态生产函数,制订企业的产品进度计划时,应用动态随机生产函数.     

液体火箭发动机起动过程减损控制研究

为了控制液体火箭发动机起动过程中故障的发展,以便提高发动机的可靠性与安全性,在其关键部件损伤与系统性能之间折衷考虑,实施减损控制。提出一种以减小部件损伤为目的的发动机开环控制结构,并对其所涉及的相关模型作了简短的分析;通过综合分析减损控制律,可对控制输入序列进行优化选择。仿真研究了某火箭发动机起动过程实施减损控制后的两个实例,结果表明通过减损控制,可以实现在系统性能不明显损失的情况下,较大幅度地减小关键部件损伤。     

Adaptive formation control of quadrotor unmanned aerial vehicles with bounded control thrust

In this paper, the flight formation control problem of a group of quadrotor unmanned aerial vehicles (UAVs) with parametric uncertainties and external disturbances is studied. Unit-quaternions are used to represent the attitudes of the quadrotor UAVs. Separating the model into a translational subsystem and a rotational subsystem, an intermediary control input is introduced to track a desired velocity and extract desired orientations. Then considering the internal parametric uncertainties and external disturbances of the quadrotor UAVs, the priori-bounded intermediary adaptive control input is designed for velocity tracking and formation keeping, by which the bounded control thrust and the desired orientation can be extracted. Thereafter, an adaptive con-trol torque input is designed for the rotational subsystem to track the desired orientation. With the proposed control scheme, the desired velocity is tracked and a desired formation shape is built up. Global stability of the closed-loop system is proven via Lyapunov-based stability analysis. Numer-ical simulation results are presented to illustrate the effectiveness of the proposed control scheme.     

数控车削编程系统图素工艺信息自动输入模块的研究

根据NC车削自动编程系统的需要,为高效输入图形零件信息,实现数控编程的自动化,确定了基于回转体零件的数据结构(包括几何信息和工艺信息).通过求交算法实现各图素的特征提取和输入,客户可在屏幕上点选特征图素并同时输入其对应的工艺信息,随后通过动态绑定技术利用数据库来进行数据处理和储存.不同的特征图素将产生不同类型的表,可通过打开数据库的方式使零件图形输入并重现,最终实现输出系统所需的数据结构,提高了图形输入效率,为虚拟化数控加工仿真提供技术支撑.     

带有不确定参数的挠性航天器机动控制

将输入成型技术与闭环反馈控制结合设计,实现航天器机动控制中挠性附件的振动抑制.针对挠性航天器姿态机动过程中,系统惯量、模态矩阵等参数的不确定性对输入成型器抑制挠性附件振动的影响,提出基于最大允许残余振动的输入成型器建模参数的计算方法,并量化分析不确定参数对挠性附件振动的影响,为选择合适的成型器提供定量的理论依据.该方法可降低传统输入成型器设计的保守性,有利于提高控制性能.仿真结果表明,将系统存在的不确定参量考虑在内,系统振动抑制效果要优于不考虑的情况.     

From the Solar Wind to the Magnetospheric Substorm

This paper gives a brief outline of the progression from the first substorm model developed in Ref.[4] and[8] based on Kennel's ideas[3], to the present views about the mechanism by which solar wind kinetic energy is converted to electromagnetic energy at the Bow Shock and by which this energy is transferred to the magnetosphere in the form of current; about the transformation of the energy of this current to gas kinetic energy of convecting plasma tubes, and, finally, the back transformation of gas kinetic energy to electromagnetic energy in secondary magnetospheric MHD generators. The questions of the formation of the magnetospheric convection system, the nature of substorm break-up, and of the matching of currents in the magnetosphere-ionosphere system are discussed.      

歼击机结构故障的检测与自修复控制律重构

 针对鲁棒动态逆控制的飞机,提出一种有效的故障检测新方法及自修复控制律重构方法。设计了一种基于理想模型的非线性故障检测器,通过监测残差信号,能够可靠地对各类故障进行辨识,并利用补偿信号来抵消故障舵面产生的影响,可以满足自修复飞行控制的实时性要求。     

基于输入整形方法的2自由度机械臂运行过程振动抑制

输入整形方法是一种根据结构振动特性对外力函数进行整形,以达到振动抑制效果的方法。本文以三连杆二关节的2自由度机械臂为例,详细推导了机械臂(逆)运动学和输入整形方法,设计了行程和输入整形函数,将整形后的动态响应与逆运动学方法的解析结果进行比较。研究结果表明:输入整形方法能有效抑制2自由度机械臂运行时的振动。该方法可以拓展到7自由度机械臂,针对柔性特征明显的空间站大型机械臂末端振动抑制也有直接参考意义,具备空间大型柔性结构基座机器人在轨精细控制的应用前景。     

High precision attitude dynamic tracking control of a moving space target

On-orbit spacecraft face many threats, such as collisions with debris or other spacecraft.Therefore, perception of the surrounding space environment is vitally important for on-orbit spacecraft.Spacecraft require a dynamic attitude tracking ability with high precision for such missions.This paper aims to address the above problem using an improved backstepping controller.The tracking mission is divided into two phases: coarse alignment and fine alignment.In the first phase,a traditional saturation controller is utilized to limit the maximum attitude angular velocity according to the actuator's ability.For the second phase, the proposed backstepping controller with different virtual control inputs is applied to track the moving target.To fulfill the high precision attitude tracking requirements, a hybrid attitude control actuator consisting of a Control Moment Gyro(CMG) and Reaction Wheel(RW) is constructed, which can simultaneously avoid the CMG singularity and RW saturation through the use of an angular momentum optimal management strategy, such as null motion.Finally, five simulation scenarios were carried out to demonstrate the effectiveness of the proposed control strategy and hybrid actuator.     

挠性飞行器姿态机动脉冲调宽控制系统设计

大挠性充液飞行器喷气姿态控制系统设计是一个复杂和关键的问题,为了抑制挠性振动,设计形状输入信号,选取双曲正切作为平滑函数,并和Bang-Bang控制对比研究.喷气脉冲调制采用工程上易于实现的脉冲调宽（PWM）设计方法,结合积分死区原理设计脉冲宽度,对具有挠性充液动力学特性的对象进行控制,抑制了振动模态和晃动模态,实现了平滑机动控制.通过数学仿真表明,形状输入法和合理的脉冲调宽逻辑可以有效抑制大挠性飞行器姿态机动控制过程中的挠性振动.