基于飞行角度优化的蚁群改进算法

针对无人飞行器路径规划问题,实现了排序蚁群算法,并在此基础上,引入了针对无人飞行器飞行特征的飞行角度优化策略,并建立了转移概率的更新原则。模拟飞行环境建立栅格化地图,进行仿真验证,输出无人飞行器的最优路径,验证最优解的质量和算法的收敛速度,结果表明,该方法能有效消除飞行过程中的尖角和折返现象,更加符合无人飞行器的飞行特征。与传统的方法相比,算法的收敛速度和最优解的质量均得到了提升。     

端点误差控制刀位算法的改进

 对端点误差控制数控加工刀位算法进行了改进：采用2个端点间偏置距离代替它们的参数差值用于衡量加工带宽和进行加工误差控制,提出了一种新的采用循环迭代计算刀具旋转角度的方法,并给出了格点法对偏置方向角进行优化的过程;使得算法不受具体的曲面参数化方式影响,简化了刀具定位时计算量,刀位得到了充分的优化。利用UG二次开发技术进行的实例计算表明：设置走刀方向沿着曲面的最小主曲率方向比沿着曲面的最大主曲率方向加工带宽更宽,前者应该是该算法的最优走刀方向,而且沿着最优方向走刀的优化刀位和多点切触加工算法得到的加工刀位一致,该算法也比多点切触加工算法有更大的适应性。     

涡扇发动机气路部件故障增益调度容错控制

针对涡扇发动机气路部件故障导致控制性能下降甚至影响安全性的问题,提出了一种增益调度容错控制器设计方法.在全飞行包线内对发动机不同的工作点,基于部件线性化方法建立高精度的带健康参数的发动机线性化模型,并设计相应的卡尔曼滤波器构建气路部件故障诊断模块,估计出反映发动机气路部件故障程度的健康参数;针对不同工作点处正常状态和部...     

空间机器人的同伦类约束路径规划

同伦类约束路径规划是空间机器人路径规划的一种重要技术手段,能够有效实现复杂约束条件下路径规划的运算轻量化,具有重要的理论意义和应用价值。同伦路径规划以同伦这一数学工具作为基础,将空间机器人的可行路径集限制在范围有限且具有良好函数性质的同伦结构中,在该结构中进行优化路径的搜索,在保证路径规划有效性的同时降低了算法的复杂性。介绍了基于同伦的路径规划近似算法框架,以及路径同伦构造和规划问题的求解。从面向约束的路径同伦构造方法和同伦优化搜索2个层面分析了近年来针对空间机器人同伦路径规划研究的进展。根据研究现状,对空间机器人的同伦类约束路径规划的未来发展进行了展望。     

Extension of continuous scanning laser Doppler vibrometry measurement for complex structures with curved surfaces

The continuous Scanning Laser Doppler Vibrometry (SLDV) developed on the base of the galvanometer scanner system has made it possible to quickly obtain the full field vibration responses within a rectangular area of the structure. In this paper, an arbitrary continuous scanning path generating method for Continuous Scanning Laser Doppler Vibometry (CSLDV) is further put forward in order to allow the CSLDV suitable for testing structures featured by complex shapes not just for regular areas. In the first step, the relationship between position of laser spot and the driving voltages of galvanometer scanner system has been described by a mathematical modeling. Then, a novel arbitrary scanning path generating strategy based on CSLDV is presented by deforming a normalization rectangular scanning path to an arbitrary continuous scanning path. The mapping relation between the normalization rectangular scanning path and arbitrary continuous scanning path is established using the reference points. In the second step, a compressor blade with curved surface was taken as an example for modal test using the proposed method. At the same time, a validated experiment was performed in SLDV. The results show the mode shapes derived from the extended CSLDV are in agreement with those from SLDV and the Modal Assurance Criterion (MAC) between the two are all greater than 0.96. They also demonstrate the feasibility and effectiveness of the proposed method for CSLDV test and show strong potential on further practical engineering applications.     

Spatio-temporal variability of the wet component of the troposphere – Application to satellite altimetry

Due to the presence of water vapour and cloud liquid water in the atmosphere, the wet component of the troposphere is responsible for a delay in the propagation of the altimeter signals, the Wet Path Delay (WPD). The high space–time variability of the water vapour distribution makes the modelling of WPD difficult, its effect still being one of the main error sources in satellite altimetry applications, e.g. in the estimation of Mean Sea Level (MSL). The understanding and the quantification of the WPD variability on various spatial and temporal scales are the main purposes of this study, in view to improve the MSL error budget. The dominant timescales of WPD variability and its correlation with Sea Level Anomaly (SLA) are examined. In these analyses, the atmospheric reanalysis ERA-Interim model from the European Centre for Medium-Range Weather Forecasts (ECMWF) is used to derive a global dataset of daily grids of WPD, spanning a 28-year period from January 1988 to December 2015. The Seasonal-Trend decomposition procedure based on Loess (STL) is used to extract precise WPD annual and interannual signals. Linear trends have been derived from the interannual time series and the contribution of each STL component was mapped globally, allowing the understanding of the WPD variability in spatial terms. The correlation between SLA and WPD is mapped and decomposed into seasons using monthly mean grids, for a period of 21-years, from January 1993 to December 2013.Aiming at inspecting the sensitivity of the results to the used data set, the WPD temporal analysis is extended to the data set provided by the Special Sensor Microwave Imager (SSM/I) and SSM/I Sounder (SSM/IS) Sensors. The WPD from SSM/I(S) is compared against those from the ERA-Interim and from the National Centers for Environmental Prediction (NCEP).Results show that climate phenomena, especially the El Niño Southern Oscillation (ENSO) are the cause for this high variability, since they affect the water vapour and temperature. The observed trends from ERA-Interim, computed globally and over ocean regions only, allow concluding that WPD is increasing with time by approximately 0.1?mm per year, and the maximum trends are observed for the Pacific North and Indian Oceans. High correlation between WPD and SLA is found over the western tropical Pacific.The comparison between WPD from SSM/I(S) and from ERA-Interim and NCEP, allows concluding that the trends computed using only the SSM/I(S) measurement points are substantially larger.     

模块化可重构卫星在轨自重构的分层规划

模块化可重构卫星具有组织灵活、操作方便、适应性强等特点，可以有效降低卫星研制和发射成本、提高卫星对紧急任务的响应速度、延长卫星寿命。重构规划问题对模块的具体移动方式进行求解，是实现自重构需要解决的核心问题之一。针对同构式旋转立方结构，给出其离散运动模型，推导出运动空间求解算法。为降低重构规划问题的不确定性和复杂程度，采用分层规划策略，将规划任务分解为设计中间构型的上层规划和求解实现中间构型移动方式的下层规划，每层规划内部独立进行求解。设计了利用Kuhn-Munkres算法实现上层规划的重构规划算法，使中间构型具有较小的结构跨度，特别适合在轨自重构的重构规划问题求解。仿真结果表明了所提规划策略和所设计规划算法的可行性和有效性。     

蚁群算法的改进设计及在航迹规划中的应用

将蚁群算法与人工势场算法相结合，提出了一种新的寻优算法。在算法的设计过程中，首先引入人工势场法进行蚁群算法初始信息素的分配，避免了在迭代初始阶段，信息素太少与启发信息不成比例而使得蚂蚁集中在启发信息最强的路径上，从而陷入局部最优的问题。其次，通过引入势场引导函数改进蚁群算法的状态转移函数，避免了在三维空间中蚂蚁搜索容易忽视节点周围障碍物因素，从而陷入盲目选择导致搜索时间过长的问题。将优化算法应用于无人机三维航迹规划问题的求解，并通过仿真验证了有效性。     

一种高超声速试飞器助推段主动弹性抑制方法

针对高超声速试飞器助推段由于其高静不稳定特性所引起的低频弹性模态与刚体高带宽控制之间动态耦合问题，具有低频模态和大静不稳定度等特征，引入主动弹性抑制技术，即在传统控制器的设计基础上引入弹性振动能量在线辨识技术相结合的改进自适应增广控制技术(Adaptive augmenting control, AAC)，动态改变开环系统控制增益，以降低弹性模态对舵机的影响，同时增加刚体控制系统的稳定性。仿真结果验证了该方法能够有效减小由干扰激励出的弹性模态所引起的附加舵机摆角，抑制伺服弹性耦合作用。该方法对高超声速试飞器助推段的控制具有重要的理论意义和工程应用价值。     

Error constrained control of a pseudo-satellite with disturbance

This paper presents the control scheme of a pseudo-satellite in situations where error constraints, uncertainties, and external disturbances occur. The control scheme of a pseudo-satellite includes planar path following control scheme and altitude control scheme. In order to control the altitude of a pseudo-satellite, the backstepping technique is used to control the quality of air in the air balloon. To deal with the error constrained requirements of a pseudo-satellite’s position, a tan-type barrier Lyapunov function (TBLF) is proposed and incorporated with the guidance control schemes. Adaptive fuzzy disturbance observers are presented to estimate uncertainties and external disturbances. Rigorous stability analysis proves that the altitude error of the pseudo-satellite can be uniformly bounded, and the position error of which can be maintained within the range of constrained requirements, while all closed-loop signals are uniformly bounded regardless of uncertainties and disturbances.