Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure

Space manipulator with free-swinging joint failure simultaneously contains kinematic and dynamic coupling relationships, so it belongs to a new underactuated system. To allow the manipulator to carry on tasks, an effective robust underactuated control method for the space manipulator with free-swinging joint failure is studied in this paper. Considering the effect of model uncertainty and joint torque disturbance, a robust underactuated control system based on the Terminal Sliding Mode Controller (TSMC) is designed, but two drawbacks are discussed: (A) Robustness depraves with eliminating chattering. (B) Control parameters are difficult to be determined under unknown uncertainty and disturbance. To improve the TSMC, the adaptive fuzzy controller is introduced to estimate the real effect of unknown uncertainty and disturbance according to deviations of sliding mode and its reaching law. The estimated result is directly compensated into active joints torque. In simulation, the space manipulator with free-swinging joint executes tasks based on the TSMC and the Adaptive Fuzzy Terminal Sliding Mode Controller (AFTSMC) respectively. Same tasks can be finished with smaller joints torque and stronger robustness based on the AFTSMC. Therefore, AFTSMC can serve as an effective robust control method for the space manipulator with free-swinging joint failure under unknown model uncertainty and torque disturbance.     

含有正态相关变量的多设计点/多失效模式情况下的方向抽样可靠性灵敏度分析

针对含有正态相关变量的多设计点/多失效模式系统的可靠性问题,提出了两种有效的基于方向抽样的可靠性灵敏度分析方法。可靠性灵敏度分析方法的基本思路是首先将正态相关变量进行等价独立标准正态变换,利用改进的方向抽样可靠性灵敏度分析方法得到独立标准正态空间的可靠性及灵敏度结果;通过复合求导法则,将独立标准正态空间的可靠性及灵敏度结果转化到正态相关空间,得到失效概率对相关正态变量分布参数(均值、标准差和相关系数)的偏导数,并对所推导的可靠性及灵敏度估计值进行了方差分析。与经典的MonteCarlo数字模拟法相比较,文中所列的数值算例和简单工程算例的分析结果验证了所提方法的可行性与有效性。     

复合材料格栅结构的强度分析(英文)

复合材料格栅结构是由连续纤维缠绕的斜向及环向肋和蒙皮组成的结构。对ANSYS软件进行了二次开发,分别采用层合板和层合梁单元模拟复合材料格栅结构的蒙皮和肋。根据复合材料格栅结构的几何特征及其载荷分布特征,采用周期对称有限元模型,分别以最大应力准则、最大应变准则和蔡-吴准则和Chang刚度退化准则对轴压载荷作用下的复合材料格栅结构破坏过程进行了强度预测,计算结果表明采用蔡-吴准则预测并结合Chang刚度退化准则的计算结果与试验结果的一致性较好。     

一种基于历史遥测数据的在轨卫星故障预警系统

对在轨卫星遥测数据的变化规律进行了分类,研究了数种主流的数据预测理论并分析了其适应性,由此提出了一种基于历史遥测数据的在轨卫星故障预警系统构架,并定义了其中各模块的功能以及接口关系,给出了实际应用的效果。这个系统对及早发现故障、维持在轨卫星的安全稳定运行具有重要价值。     

卫星在轨失效统计分析

从故障影响的设备、范围、时间特性等方面,对20世纪70年代以来国内外卫星272次典型在轨故障进行了分析。研究发现,发生故障的设备和发生故障的时间等都存在明显的规律性。对这些故障特性的深入研究可以制定针对性的故障防护措施,以降低卫星故障的发生率,并有助于在故障发生后采取及时正确的措施以避免灾难性后果。基于上述研究,文章给出了卫星设计过程中有效规避故障的一些建议,以提高卫星的在轨存活率。     

复合材料层合板机械连接修理拉伸性能

带损伤孔的复合材料层合板拉伸强度会降低约55%,需要对其进行修理以恢复力学性能、满足使用要求。针对带圆形损伤孔的复合材料层合板设计了机械连接修理方案,通过轴向拉伸试验评估其修理效果。根据试验条件建立了有限元模型,分析不同的修理方案对破坏模式、破坏载荷、应力分布、钉载分配等产生的影响。试验及有限元分析(FEA)均表明,修理后的复合材料层合板,其强度恢复率达到55%~60%左右,应力集中部位主要在修理区域最外侧的钉孔旁,最终破坏模式为母板沿修理区域最外侧一排钉孔断裂。使用双面修理、增加螺栓排数、采用金属补片、适当增加补片厚度,可减缓应力集中,改善钉载分配,提高结构强度恢复率。      

Research on failure criterion of composite based on unified macro- and micro-mechanical model

A new unified macro- and micro-mechanics failure analysis method for composite structures was developed in order to take the effects of composite micro structure into consideration. In this method, the macro stress distribution of composite structure was calculated by commercial finite element analysis software. According to the macro stress distribution, the damage point was searched and the micro-stress distribution was calculated by reformulated finite-volume direct averaging micromechanics (FVDAM), which was a multi-scale finite element method for composite. The micro structure failure modes were estimated with the failure strength of constituents. A unidirectional composite plate with a circular hole in the center under two kinds of loads was analyzed with the traditional macro-mechanical failure analysis method and the unified macro- and micro-mechanics failure analysis method. The results obtained by the two methods are consistent, which show this new method’s accuracy and efficiency.     

亚轨道飞行器发动机故障下飞行程序设计方法

针对亚轨道飞行器单台发动机发生故障情况,提出了基于正指数攻角的发动机故障下飞行程序设计方法,给出了不同故障时刻的仿真结果,并与正常飞行情况进行了比较.仿真结果表明,对于不同故障时刻,该方法均能够在满足弯矩约束、攻角限制的情况下使得故障飞行器安全到达预定高度,为后续应急返回机动飞行提供有利的飞行条件.     

结构可靠性灵敏度因子的新标准化指标

鉴于以往可靠性灵敏度在不同算法下数值差异性较大,可靠性灵敏度数值仅能进行简单的重要性排序,数值本身难以反映出基本变量对输出不确定性的影响程度,提出了标准化灵敏度因子及标准化灵敏度因子向量。据此,其分量不仅反映了基本变量对输出不确定性的影响,还袁征了此变量在全部变量中对输出不确定性的重要性程度,在数值上具有明确的物理意义,进一步在线性机构条件下推导出标准化灵敏度因子的具体求解公式。经数值算例分析,算法简单易行,运算量小,计算效率高。     

基于光谱分析技术的磨损故障监测

采用转盘电极式原子发射光谱分析技术,监测某型燃气轮机传动润滑系统磨损状况的发展变化趋势,及时诊断早期磨损故障.为确保光谱分析技术监测的准确性,着重研究了环境温度波动、标准曲线细化、样品黏度以及磨损颗粒尺寸等主要因素对测量结果的影响,并简要阐述了光谱分析技术的基本原理.经大量研究试验表明:光谱分析技术能够提前预报燃气轮机传动润滑系统可能发生的磨损故障,是油液状态监控的1种有效手段.