空间站大型伸展机构的运动稳定性分析

从空间站大型伸展机构的运动特点和系统动力学方程出发，着重分析了该系统的稳定性判据。这一问题又可分为五个方面：姿态-伸展-振动耦合系统的分析方法，复杂大系统的分解集结方法，时滞系统和滞后系统的稳定性问题，Stick-Ship运动对系统对系统稳定性的影响，非线性非定常系数稳定性的一般解。其中还对接触、摩擦、碰撞问题，变拓扑系统，非光滑动力学系统等进行了专门的研究，分析了Lyapunov指数方法在这些特殊系统中的适应性。本文对空间站大型伸展机构的稳定性问题进行了较全面的分析，指出了目前在处理这类复杂大系统时存在的一些难点问题，为其设计和研制工作提出了理论基础。     

基于对偶数的相对耦合动力学与控制

针对空间交会对接等目标逼近任务中姿态和轨道运动相耦合的问题,推导给出了基于     

船载天线伺服系统稳定回路分析与设计

为提高方位俯仰型船载天线伺服系统的船摇隔离度,稳定环是常采用的策略,但是选择传统的PID(Proportional Integral Derivative,比例积分微分)调节器往往不能获得满意的控制效果,针对该问题,提出了PID+积分+滞后校正环节作为稳定环调节器的具体实现形式。另外,通过对伺服系统内各环路带宽及响应速度的分析,将稳定环阶跃响应的上升时间作为参数调节依据。上述设计完成后,在实际系统中添加周期10s,幅值8°的正弦波信号模拟船摇扰动,此时添加稳定环后,方位轴的船摇隔离度提高了6dB,俯仰轴的船摇隔离度提高了13dB。这表明,采用PID+积分+滞后校正环节作为稳定环调节器的设计形式是正确且简单有效的。     

基于DDPG-PID的机器人动态目标跟踪与避障控制研究

针对机器人在动态复杂环境下的操作问题,研究机械臂跟踪运动目标及避障的运动控制方法。采用传统PID控制方法与DDPG强化学习算法相结合的方式,利用PID控制使得机械臂的工作平面快速接近目标物并与之重合,再使用DDPG算法让机械臂在平面内自主学习追踪目标物投影同时避开障碍物投影,最终在三维空间中实现跟踪与避障。该方法将机械臂作为一个智能体,智能体通过感知目标物和障碍物的距离偏差来自主学习避障跟踪策略。将本方法用于多自由度机械臂路径规划与避障任务中,对比单纯使用DDPG算法将机械臂作为智能体在空间中进行决策控制,仿真结果显示本文所提出的方法收敛效果和控制性能更好,机械臂能在训练后实现目标物的稳定跟踪和障碍物的躲避。     

原子钟时域频率稳定性计算方法

首先给出时域频率稳定性分析中各种方差的实用计算公式,并在此基础上分析各种方差特性,总结归纳其适用范围。分析表明：①阿仑方差是时域频率稳定性分析中最常用的方法,但不能区分调相白噪声和调相闪变噪声;②改进阿仑方差通过相位平滑运算能识别这2种噪声;③时间方差和时间总方差主要用于描述频率源的时间波动,主要用于分析调相噪声;④当频率漂移项较大或受甚低频噪声影响时,哈达玛系列方差能给出很好的测量特性。     

Fast Probabilistic Particle Identification algorithm using silicon strip detectors

Active detectors used as radiation monitors in space are not usually able to perform Particle Identification (PID). Common techniques need energy loss spectra with high statistics to estimate ion abundances. The ALTEA-space detector system is a set of silicon strip particle telescopes monitoring the radiation environment on board the International Space Station since July 2006 with real-time telemetry capabilities. Its large geometrical factor due to the concurrent use of six detectors permits the acquisition of good energy loss spectra even in a short period of observation. In this paper we present a novel Fast Probabilistic Particle Identification (FPPI) algorithm developed for the ALTEA data analysis in order to perform nuclear identification with low statistics and, with some limitations, also in real time.     

小不对称物体配平性能风洞实验研究

用阶跃响应法,在风洞中测量小不对称物体配平性能的实验原理、实验装置、数据处理及部分实验结果。 模型支承于空气静压轴承。在模型内部设有电磁机构,在一次吹风中,可以阶跃方式多次提供不对称量。由高精度、非接触的感应同步器数字测量模型俯仰角变化历程。用修正Newton-Raphson法处理数据,求出小不对称量引起的配平角δ_o、俯仰力矩C_mo和气动刚度C_ma、气动阻尼C_mq等参数。 对11°斜切锥,钝度比分别为0.06及0.16的模型进行了风洞实验。实验M数为33.5和4。实验结果表明,所采用的实验原理、设备及方法可提供较好的精度及分辨率。实验还求出了配平性能(δ_o,C_mo)以及C_ma,C_mq随M数的变化。     

Stability analysis of an aeroelastic system with friction

In this paper, harmonic balance method, exact formulation and numerical simulation method are adopted to study the effects of different friction stiffness on the stability of 1.5 degrees of freedom aeroelastic system. On this basis, the expressions of input energy and dissipated energy are deduced, and the energy method is used to reveal the mechanisms of the stable boundary and unstable boundary existing in the system and the effects of different friction stiffness on the stability of the system. Studies have shown that the stability region and the critical aerodynamic damping ratio of the system rise with the increase of the friction stiffness, while the friction stiffness has little effect on the stability boundary. In the analysis of the stability of system, the results of harmonic balance method, exact formulation and Newmark of numerical simulation method are in good agreement. Compared with exact formulation and numerical simulation method, the concept and conclusion of harmonic balance method are simple in the system stability analysis.     

时域有限体积法的格式稳定性分析

以模型方程为例,采用MUSCL插值的S-W通量分裂格式,分别结合二步、四步龙格一库塔时间推进格式建立数值求解方法.用Von Neumann傅里叶级数分析方法,通过对不同格式的放大因子及色散因子的计算,分析了时域有限体积法(FVTD)格式的稳定性.     

Effects of yaw-roll coupling ratio on the lateral-directional departure prediction and restraint

The experimental data obtained from yaw-roll coupled wind tunnel tests are used for lateral-directional departure prediction, by linearizing the_b model to extract nominal dynamic derivatives at each coupling ratio.The prediction results are compared with those of the existing engineering methods which are based on the conventional aerodynamic derivatives.The comparison shows that the yaw-roll coupling ratio has a great influence on the departure susceptibility.The departure resistance will loss in partial region of the coupling ratio when the angle of attack is higher than a critical value.According to the stable and unstable regions of coupling ratio, a two-segment stability augmentation system with two different feedback gain matrices is obtained by pole-placement method.The two-segment stability augmentation system is used in the simulations of straight and level flight, steady turn, spin recovery and Herbst maneuver.The simulation results are also compared with the applications of a fixed-gain stability augmentation system designed by the conventional aerodynamic derivatives.When the yaw-roll coupling effects are fully considered, the two-segment stability augmentation system is more effective for departure restraint and can provide a better flying quality with less control energy.