Aeroelastic simulation of the first 1.5-stage aeroengine fan at rotating stall

A massive parallel aeroelastic simulation platform has been built to investigate the first 1.5-stage fan of an aeroengine at rotating stall. The Computational Fluid Dynamics (CFD) solver and Computational Structural Dynamics (CSD) solver are coupled directly by non-matching mesh interfaces. The unsteady rotor/stator interaction is solved by the Sliding Mesh Interface method. The original rotor blades are shrouded by the midspan shrouds. An unshrouded fan is also created to investigate the effects of the midspan shrouds. Both the shrouded fan and unshrouded fan have stable aeroelasticity at the designed state. At rotating stall, the stalled region rotates at 30% of the rotor speed on the absolute reference frame. The energy spectrum of the rotating stalled flow is measured quantitatively. It shows that the first two order excitations are much stronger than the higher order excitations. In the flow of rotating stall, the fifth backward travelling wave mode of shrouded fan is resonated by the fifth excitation of the rotational stalled flow because the rotational speed of the stalled region coincides with the modal rotational speed, while for the unshrouded fan, the first bending mode is resonated by the second excitation of the rotational stalled flow, forming two waves in the circumference of the annulus blades. At rotating stall, the vibration of the shrouded blades is still under control but the vibration of the unshrouded blades is diverged and out of control. A novel tool, i.e., resonance map, is proposed to predict the resonance. It provides a perspective to explain the effects of midspan shrouds at a theoretical level, and it would also be helpful in the structural design of blades.     

Flight dynamics characteristics of canard rotor/wing aircraft in helicopter flight mode

The aerodynamic layout of the Canard Rotor/Wing(CRW) aircraft in helicopter flight mode differs significantly from that of conventional helicopters. In order to study the flight dynamics characteristics of CRW aircraft in helicopter mode, first, the aerodynamic model of the main rotor system is established based on the blade element theory and wind tunnel test results. The aerodynamic forces and moments of the canard wing, horizontal tail, vertical tail and fuselage are obtained via theoretical analysis and empirical formula. The flight dynamics model of the CRW aircraft in helicopter mode is developed and validated by flight test data. Next, a method of model trimming using an optimization algorithm is proposed. The flight dynamics characteristics of the CRW are investigated by the method of linearized small perturbations via Simulink. The trim results are consistent with the conventional helicopter characteristics, and the results show that with increasing forward flight speed, the canard wing and horizontal tail can provide considerable lift,which reflects the unique characteristics of the CRW aircraft. Finally, mode analysis is implemented for the linearized CRW in helicopter mode. The results demonstrate that the stability of majority modes increases with increasing flight speed. However, one mode that diverges monotonously,and the reason is that the CRW helicopter mode has a large vertical tail compared to the conventional helicopter. The results of the dynamic analysis provide optimization guidance and reference for the overall design of the CRW aircraft in helicopter mode, and the model developed can be used for control system design.     

Analysis of reaction torque-based control of a redundant free-floating space robot

Owing to the dynamics coupling between a free-floating base and a manipulator,the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator's motion.The reaction torque acted on the satellite base's centroid is an important index to measure the satellite base's disturbance.In this paper,a comprehensive analysis of the reaction torque is made,and a novel way to derive the analytical form of the reaction torque is proposed.In addition,the reaction torque null-space is derived,in which the manipulator's joint motion is dynamically decoupled from the motion of the satellite base,and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space.Furthermore,the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task.Besides,supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control,the reaction torque can be used to realize satellite base attitude control,that is,base attitude adjustment or maintenance.Moreover,because reaction torque-based control is a second-order control scheme,joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control.A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas.Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.     

基于分枝模态法的面对称布局飞行器结构动力学建模

针对面对称布局飞行器整体模态具有对称和反对称的特征,应用分枝模态法建模时采取以对称和反对称模态划分分枝,避免了按部件划分分枝产生的约束模态问题,且分枝间实现惯性和气动力解耦,有助于减缩自由度和计算规模.数值算例表明:其建模精度满足工程要求.     

扁平型外转子混合磁悬浮飞轮动力学分析

针对扁平型外转子磁悬浮飞轮,考虑轴向被动悬浮刚度影响,采用理论模型与数值模拟相结合的方法,对系统静态悬浮和稳定旋转两种工况下的动力学特性进行了研究.结果表明,静态悬浮时,轴向刚度的变化对径向摆动固有频率影响明显,径向刚度的变化主要影响系统径向刚体平动固有频率,振型交换区内系统振型为转子刚体平动与摆动的叠加;稳定旋转时,轴向刚度的变化主要影响低速圆锥涡动频率,径向刚度的变化主要影响圆柱涡动频率.     

仿猫月球着陆缓冲机构设计与缓冲特性研究

针对现有被动式铝蜂窝月球着陆器缓冲力波动大、无法重复使用的问题,提出一种基于磁流变缓冲器的仿猫月球着陆缓冲机构。首先,开展了不同高度平台的家猫跳落实验,对其跳落着陆姿态与前/后腿触地冲量进行了分析,探究其缓冲吸能机理;实验结果表明猫后腿的缓冲吸能占比更高。其次,结合猫跳落实验与中国嫦娥系列月球着陆器参数,设计了一种新构型仿猫着陆缓冲机构,并将其与嫦娥着陆器进行了仿真分析对比。结果表明,所提出的仿猫月球着陆缓冲机构,其机体最大加速度降低了18.3%,具有更为出色的着陆性能。其前腿缓冲吸能贡献约为40%,后腿的缓冲贡献度约为60%,与家猫高台跳落实验结果基本吻合,验证了仿猫月球着陆缓冲机构设计方案的合理性。     

Dynamics modeling and control of a transport aircraft for ultra-low altitude airdrop

The nonlinear aircraft model with heavy cargo moving inside is derived by using the separation body method, which can describe the influence of the moving cargo on the aircraft attitude and altitude accurately. Furthermore, the nonlinear system is decoupled and linearized through the input–output feedback linearization method. On this basis, an iterative quasi-sliding mode(SM)flight controller for speed and pitch angle control is proposed. At the first-level SM, a global dynamic switching function is introduced thus eliminating the reaching phase of the sliding motion.At the second-level SM, a nonlinear function with the property of ‘‘smaller errors correspond to bigger gains and bigger errors correspond to saturated gains' ' is designed to form an integral sliding manifold, and the overcompensation of the integral term to big errors is weakened. Lyapunovbased analysis shows that the controller with strong robustness can reject both constant and time-varying model uncertainties. The performance of the proposed control strategy is verified in a maximum load airdrop mission.     

空天飞行器制导控制技术研究进展与展望

本文在简要介绍空天飞行器制导控制技术发展情况基础上，针对其典型的任务形态给制导控制技术带来的挑战，分别从动力学建模、轨迹优化与制导、飞行控制与导航等四个方面阐述了制导控制技术中面临的关键技术，并探讨了空天飞行器制导控制技术后续发展方向与思路。     

Study of waves in the magnetotail region with cluster and DSP

The study of the neutral sheet is of fundamental importance in understanding the dynamics of the Earth’s magnetosphere. From the earliest observation of the magnetotail, it has been found that the neutral sheet frequently appears to be in motion due to changing solar wind conditions and geomagnetic activity. Multiple crossings of the neutral sheet by spacecraft have been attributed to a flapping motion of the neutral sheet in the north–south direction, a wavy profile either along the magnetotail or the dawn–dusk direction. Cluster observations have revealed that the flapping motions of the Earth’s magnetotail are of internal origin and that kink-like waves are emitted from the central part of the tail and propagate toward the tail flanks. This flapping motion is shown here to propagate at an angle of ∼45° with x_GSM. A possible assumption that the flapping could be created by a wake travelling away from a fast flow in the current sheet is rejected. Other waves in the magnetotail are found in the ULF range. One conjunction event between Cluster and DoubleStar TC1 is presented where all spacecraft show ULF wave activity at a period of approximately 5 min during fast Earthward flow. These waves are shown to be Kelvin–Helmholtz waves on the boundaries of the flow channel. Calculations show that the conversion of flow energy into magnetic energy through the Kelvin–Helmholtz instability can contribute to a significant part of flow breaking between Cluster and DoubleStar TC1.