基于UG/Motion的轴对称球面塞式

根据轴对称球面塞式矢量喷管的结构特点,应用UG NX软件自顶向下装配建模技术建立了该喷管3维实体模型,并运用UG/Motion技术建立该喷管的运动模型。通过对该运动模型的运动仿真模拟了该喷管的真实非矢量和矢量运动状态,验证了运动机构方案的合理性和可行性。初步研究了矢量作动筒不同布置方式对控制规律的影响,确定矢量作动筒的控制规律及行程范围和主要运动构件的运动轨迹,为喷管模型试验件工程设计提供了依据     

Ionospheric electron density over Resolute Bay according to E-CHAIM model and RISR radar measurements

In this study, predictions of the E-CHAIM ionospheric model are compared with measurements by the incoherent scatter radars RISR at Resolute Bay, Canada, in the northern polar cap. Reasonable coverage was available for all seasons except winter for which no conclusions were drawn. It is shown that ratios of the model-to measured electron densities are close to unity in the central part of the F layer, around its peak. This is particularly evident for summer daytime. Distributions of the ratios are wider for other seasons indicating larger number of cases when the model underestimates or overestimates. E-CHAIM underestimates the electron density at ionospheric topside and bottomside by ～ 10–20 %. At the bottomside, the underestimations are strongest in summer and equinoctial nighttime. At the topside, the underestimations are strongest in autumn nighttime. Model overestimations are noticeable in the middle part of the F layer during dawn hours in autumn. Overall, the model tends to not predict highest-observed peak electron densities and the largest-observed heights of the peak.     

一种非链式非完整球形机器人的反步轨迹跟踪控制器(英文)

Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.     

混凝土靶侵彻计算的半经验法

在球形空腔膨胀理论基础上,通过不同强度混凝土材料的侵彻实验数据直接识别建立混凝土材料综合动态强度参数psd与混凝土材料无侧限压缩强度σ-b的经验关系式;从应力波表层损伤理论分析了混凝土表层“开坑区”的侵彻特性,提出“简化等效阻力线”的计算方法;指出球形空腔膨胀理论的阻力算式中取动阻力项系数B=1.5的合理性。理论分析和侵彻实验表明:本文方法适用于小弹侵彻混凝土靶、大弹侵彻混凝土靶和以混凝土材料为面层的部分多层复合靶的侵彻计算,克服了Forrestal半经验法的不足。     

ZN—3探空火箭头罩分离的分析及弹射分离器的设计

本文应用结构动力学原理，对ＺＮ－３探空火箭头罩铰链式分离及其分离机构进行研究，并用铝合金和玻璃钢两种头罩得出了地面试验的结果，从而获得一些有用的结论。     

运载火箭挡火帽可靠性增长研究

对运载火箭挡火帽可靠性进行了深入的分析，评估，对挡火帽材料的失效机理作了较为深入的探讨，在此基础上进行了可靠性试验及可靠性仿真计算，提出了挡火帽可靠生增长的措施。     

Physical implications of discrepancy between summer and winter PC indices observed in the course of magnetospheric substorms

The PC index based on a statistically justified relationship between the polar cap magnetic activity and the interplanetary electric field E_KL has been derived as a value standardized for the E_KL intensity regardless of season, UT and hemisphere. As a result, the summer and winter PC indices are consistent with one another under ordinary conditions. Discrepancies between the summer and winter PC indices arising in the course of magnetospheric substorms are analyzed in this paper. It is argued that the channel of enhanced conductivity, formed in the auroral oval owing to intense auroral particle precipitation, strongly improves the conditions for closure of the Region 1 field-aligned currents in the winter dark polar region but only trivially affects the conditions of the Region 1 FAC closure in the summer sunlit ionosphere. Since the coefficients describing the relationship between E_KL and the polar cap magnetic activity were derived for statistically justified (i.e., mean) conditions, their application to such abnormal situation, as intense field-aligned currents in the winter dark polar region, leads to overestimation of the winter PC index. The summer and winter PC indices level off as soon as the intense auroral particle precipitation terminates and the auroral ionosphere in the winter and summer polar caps returns to the ordinary (statistically justified) state.     

石英半球谐振子精密成型技术

石英半球谐振陀螺以其轻质、低功耗、长寿命、高可靠、应用精度范围宽、成本低等优势，引起了惯性技术界的瞩目。半球谐振陀螺的核心器件——石英半球谐振子的成型技术是当前的研究重点。经不断试验和摸索，以范成球面弹性展成为基础，通过均衡磨削原则、磨头最大包络原则和三阶段37道工序的精细优化工艺流程，较好地实现了高精度微应力硬脆石英谐振子异形薄壁件的成型，形成了专用的结构成型中心，为石英半球谐振陀螺的核心半球谐振子球壳成型开创了一条可行途径。     

Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics

This paper presents the controller design for the path following of a spherical mobile robot,BHQ-1.Firstly,a desired velocity for the reference path is deduced from the kinematic model,which cannot be transformed into the classic chained form.Secondly,a necessary torque for the desired velocity is obtained based on the dynamic model.As to the kinematics,a one-dimensional function is selected to measure the two-directional tracking error,and the velocity of rolling forward is reasonably assumed to be constant;therefore the multiple-input multiple-output (MIMO) system is transformed into a single-input single-output (SISO) system.As to the dynamics,both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account,based on which a proportional-derivative (PD) controller and a sliding mode controller with adaptive parameters are proposed respectively.Finally,convergence analysis and simulation results are provided to validate these controllers.     

三维充液航天器的位置和姿态联合控制

考虑充液月球着陆器悬停避障阶段的控制问题,采用三维球摆作为液体晃动部分的等效模型.针对球摆与刚体耦合的三维动力学模型,给出动力学模型的矢量方程及各矢量在本体系的投影坐标,设计位置和姿态联合控制器.所设计的控制器可以稳定航天器刚体的位置和姿态,且只依赖刚体的位置和姿态,不依赖晃动角或者动力学方程,利于工程应用.利用LaSalle不变原理分析闭环系统的稳定性,给出期望姿态为竖直时系统渐近稳定的控制器参数选择依据.最后数值仿真验证控制方法的有效性.