双柔性机械手搬运刚性物体的协调控制研究

采用负载分配方法,将双柔性机械手协调搬运物体的控制分解为两个等效柔性机械手的运动与力混合控制的问题,同时表明当负载分配系数为常数时等效柔性机械手具有柔性机械手相同的动力学特性。然后通过等效刚性机械手的逆运动学求解出两等效柔性机械手的期望运动轨迹,并且采用输出重定义设计出两等效机械手的运动近似跟踪控制和力控制算法;最后,通过双柔性平面机械手协调搬运物体的仿真实例,说明了所提出的控制方案在柔性机械手协调控制中的有效性。     

Correction method of airfoil thickness effect in hinge moment calculation of a folding wing

The influences of airfoil thickness on the aerodynamic loading distribution and the hinge moments of folding wing aircraft are presented in this work. The traditional panel method shows deficiencies in the calculation of folding wing’s hinge moments. Thus, a thickness correction strategy for the aerodynamic model with CFD results is proposed, and an aeroelastic flight simulation platform is constructed based on the secondary development of ADAMS. Based on the platform, the developed aerodynamic model is verified, then the flight-folding process of the folding wing aircraft is simulated, and the influences of airfoil thickness on the results are investigated. Results show that the developed aerodynamic model can effectively describe the thickness effect of the folding wing. Airfoil thickness, which cannot be considered by the panel method, has a great influence on the hinge moments during the folding process, and the thickness correction has great significance in the calculation of folding wing’s hinge moments.     

Variation of the orbital elements for parabolic trajectories due to a small impulse using Gauss equations

Firstly we derive Gauss’ perturbation equation for parabolic motion using Murray–Dermott and Kovalevsky procedures. Secondly, we easily deduce the variations of the orbital elements for the parabolic trajectories due to a small impulse at any point along the path and at the vertex of the parabola.     

深空探测采样返回起旋分离动力学仿真分析研究

针对深空探测采样返回高精度起旋分离,实现返回器再入大气姿态稳定的需求。在自主研发的被动式起旋分离机构的基础上,以多刚体系统动力学理论为基础,建立返回器起旋分离ADAMS动力学仿真分析模型,开展起旋分离过程综合敏度分析、敏感参数偏差耦合分析以及覆盖性分析研究,以此评估多参数偏差对返回器初始分离姿态的影响。分析结果表明：动力回转轴偏差和返回器横向质心偏差对返回器起旋分离姿态影响最为明显;合理配置动力回转轴及返回器横向质心位置有助于改善初始分离姿态;经多参数偏差覆盖性分析,验证了起旋分离各项指标的符合性。为深空探测采样再入返回高精度、高可靠分离技术的工程实施提供理论指导。     

Testing Modified Newtonian Dynamics with LISA Pathfinder

We suggest that LISA Pathfinder, a technology demonstrator for the future gravitational wave observatory LISA, could be used to carry out a direct experimental test of Modified Newtonian Dynamics (MOND). The LISA Pathfinder spacecraft is currently being built and the launch date is just a few years away. No modifications of the spacecraft are required, nor any interference with its nominal mission. The basic concept is to fly LISA Pathfinder through the region around the Sun-Earth saddle point, in an extended mission phase, once the original mission goals are achieved. We examine various strategies to reach the saddle point, and find that the preferred strategy, yielding relatively short transfer times of just over 1 year, probably involves a lunar fly-by. LISA Pathfinder will be able to probe the intermediate MOND regime, i.e. the transition between deep MOND and Newtonian gravity. We present robust estimates of the anomalous gravity gradients that LISA Pathfinder should be exposed to, based on MONDian effects as derived from the Tensor-Vector-Scalar (TeVeS) theory. The spacecraft speed and spatial scale of the MOND signal combine in a way that the spectral signature of the signal falls precisely into LISA Pathfinder’s measurement bandwidth. We find that if the gravity gradiometer on-board the spacecraft achieves its currently predicted sensitivity, these anomalous gradients could not just be detected, but measured in some detail.     

空间薄壁式伸展臂的展开仿真与卷曲方式研究

针对一种完全依靠自身弹性展开的空间柔性薄壁式伸展臂的展开动力学问题,基于Kirchhoff Love基本假设和广义胡克定律推导了伸展臂各部分壳体在展开前的应力计算公式,使用该公式对伸展臂的有限元模型进行预应力初始化,并采用显式时间积分方法对正向卷曲、反向卷曲和不紧密卷曲的空间薄壁式伸展臂的展开过程进行了动力学仿真,通过实验对仿真结果进行了验证。研究结果表明：应力计算公式可以正确地计算薄壁式伸展臂在展开前的应力状态,基于预应力初始化方法的显式动力学仿真可以较为准确地模拟空间薄壁式伸展臂的展开过程;反向卷曲的伸展臂在展开过程中出现了向固定段展开的现象,并且具有较高的初始应变能,不利于薄壁式伸展臂的空间应用,在设计中应选择正向卷曲的方式;不紧密卷曲的影响主要表现为卷曲段内层壳体易于从卷曲段侧边缘滑出,使伸展臂在展开过程中产生较大幅度扭转,而增大壳体材料的摩擦系数则可以有效避免这种现象。     

圆轨道航天器八面体编队构型轨道动力学分析

提出一个全新的八面体航天器编队构型,该构型体现出当前编队飞行多种轨道构型的特征,同时也适于作为空间演示试验的编队飞行模式。八面体编队构型的设计思路是基于C-W方程,轨道平面内沿航向编队构型可利用轨道动力学自然保持,正上方或正下方编队构型则需要依靠平面内控制来实现,垂直轨道平面的编队构型需要施加法向控制来实现。对基于C-W方程的悬停动力学模型进行了精度分析,最后以低轨道航天器的八面体编队构型为例进行了数学仿真验证。     

Advances in the Researches of the Middle and Upper Atmosphere in China in 2012–2014

In this report we summarize the research results by Chinese scientists in 2012–2014. The focuses are placed on the researches of the middle and upper atmosphere, specifically the researches related to ground-based observation capability development, dynamical processes, the property of circulation and chemistry-climate coupling of the middle atmospheric layers.     

A transient bulk flow model with circular whirl motion for rotordynamic coefficients of annular seals

Bulk flow model with perturbation simplification has been used to calculate rotordynamic coefficients in annular seals which have significant influences on the dynamic behavior of rotors in turbomachinery. In this work, a transient bulk flow model with arbitrary rotor motion is developed, and the boundary conditions and friction factor in the model are calibrated with steady Computational Fluid Dynamics (CFD) analysis. The numerical solution scheme is developed based on the finite element method to obtain the transient reaction force in the seal clearance. With a periodic circular rotor orbit, the transient forces at multiple whirling frequencies are used to evaluate the rotordynamic coefficients. The leakage flowrate of CFD analysis has good agreement with experimental results and the calibrated parameters in bulk flow model are dependent on operating conditions. Although CFD calibration improves the accuracy of the perturbed bulk flow model, the direct damping is overestimated and the cross-coupled damping is underestimated. Compared with the perturbed model, the predictions of the transient bulk flow model are more agreeable with the experiment.     

Numerical simulation of broken pin effects on the flow field and cooling performance of a double-wall cooling configuration

In this paper, the flow characteristics of the double wall structure are presented and the effect of the broken pin size on the cooling performance and flow field of the double wall configuration is investigated. A periodic plate model with seven units is adopted, and there are an impingement hole and a film hole in each unit. Under five blowing ratios, six different sizes of the broken pin are compared, and the double wall configuration without broken pins is taken as the baseline. The results show that if the broken pins height is too small, the cooling effectiveness usually cannot be improved. With the presence of broken pins with a height of more than 0.4, the effectiveness is improved due to the enhancement of reattachment and recirculation of coolant. With the increase of the broken pin height, the cooling effectiveness increases. However, the increase of the diameter does not always improve the cooling performance, since the limiting effect of the wall jet. In this study, Case 6 with the largest broken pin always has the best cooling performance, but also the largest flow resistance. In Case 6 temperature is reduced by almost 15 K compared to the baseline, and more areas have relatively higher cooling effectiveness.