复杂约束下航天器姿态机动球面几何规划方法

针对航天器进行大角度姿态机动过程中约束多且复杂的问题,提出一种基于球面几何的姿态规划方法.该方法将复杂指向约束描述为多个禁入锥,设计了区分有效约束和无效约束的路径约束检测方法,能有效减少当前路径处理的约束数量;然后将三维空间避障问题映射到二维平面上,通过球面几何距离公式推导了中间姿态指令解析解.仿真结果表明,该方法规划...     

基于Petri网的故障树分析方法

故障树是事件间的一种布尔逻辑关系模型,基于故障树的诊断方法的广泛应用由于实际故障树分析过程NP困难问题而受到妨碍。Petri网作为一种特殊的有向网,它能反映系统的状态变化和事件发展,尤其适合于表达故障的传播关系。本文因此提出了两种基于Petri网的改进方法,与下行法相比,用该方法寻找最小割集和最小路集能有效地节省计算时间,提高推理速度和效率,并且其算法便于计算机实现。     

A newly bio-inspired path planning algorithm for autonomous obstacle avoidance of UAV

In this paper, a bio-inspired path planning algorithm in 3D space is proposed. The algorithm imitates the basic mechanisms of plant growth, including phototropism, negative geotropism and branching. The algorithm proposed in this paper solves the dynamic obstacle avoidance path planning problem of Unmanned Aerial Vehicle (UAV) in the case of unknown environment maps. Compared with other path planning algorithms, the algorithm has the advantages of fast path planning speed and fewer route points, and can achieve the effect of low delay real-time path planning. The feasibility of the algorithm is verified in the Gazebo simulator based on the Robot Operating System (ROS) platform. Finally, an actual UAV autonomous obstacle avoidance path planning experimental platform is built, and a UAV obstacle avoidance path planning flight test is carried out based on this actual environment.     

回转体自动铺丝轨迹规划与覆盖性分析

针对航空航天工业领域的复合材料回转体类构件,研究了回转体自动铺丝轨迹规划和 覆盖性问题。应用一般回转体的数学模型,建立了基于解析解的自动铺丝轨迹规划模型。在 此基础上,利用测地线的特性,建立了相邻铺丝轨迹中心线之间距离与丝数的对应关系,提 出了一种覆盖性分析方法以处理可能出现的丝束重叠或空隙。根据上述算法,开发了CATIA
V5R18环境下的回转体复合材料CAD软件,并进行了实例验证。结果表明：生成的铺丝轨迹效 果较好,裁剪后的丝束能均匀覆盖在构件表面,满足工艺设计要求和工程需要。
     

基于移动机器人的运动学半物理系统的规划方法

针对基于移动机器人的半物理系统运动精度较差,需要机械臂对移动机器人进行实时精度补偿的问题,提出了一种以超冗余机械臂为规划对象的整体规划方法。该方法将整体系统等效为一个超冗余机械臂,并且根据该超冗余机械臂的自运动特性调整关节构型,使其远离关节极限并且最大化灵活操作能力,为后续的实时补偿控制创造条件。最后将该算法在实际搭建的基于移动机器人的半物理系统上进行了实验,实验结果验证了该算法的必要性和有效性。     

Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task

A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA), which combines the central force optimization (CFO) algorithm with the genetic algorithm (GA). Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time sys-tems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP) algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time per-formance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.     

Aircraft-on-ground path following control by dynamical adaptive backstepping

The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.     

载体姿态无扰动的空间机械臂路径规划

载体姿态无扰动的空间机械臂路径规划顾晓勤,刘延柱（上海交通大学工程力学系,２０００３０）关键词空间机械臂,路径规划,Ｌｙａｐｕｎｏｖ方法,Ｐｏｎｔｒｙａｇｉｎ极值原理空间机械臂工作期间系统处于自由漂浮状态,机械臂的相对运动必将引起载体位姿的变化．因此...     

跨声速翼型实验数据插值方法探讨

本文主要针对跨声速风洞翼型实验表面压力分布曲线处理中出现的问题作了分析和讨论。同时,从绘制该翼型压力分布曲线的特点出发,分别叙述了用拉格朗日分段抛物插值和三次样条插值对翼型压力分布曲线所进行的试探性工作。在比较、分析这两种方法的基础上,提出了实用中改进的措施和手段,着重介绍了改进的方法及效果。文中对具体的实践过程也作了较详细的分析说明,并用翼型压力分布曲线图给予直观的解释和验证。上述方法简便、实用,既可以有效地防止因插值方法使用不合理所引起的数值积分误差,而且又可以比较成功地应用于同类问题的处理中。     

圆轮沿运动轨道纯滚的运动特性

本文针对圆轮沿运动轨道作相对纯滚时,轮、轨接触点间运动量的关系和规律,进行归纳和总结,澄清一些错误概念,为解决涉及相对纯滚的运动学和动力学问题提供明确,简捷的思路。