经济型月球探测器精确定点软着陆制导算法

针对未来经济型月球探测器精确定点软着陆问题,考虑发动机特性及终端状态约束,对主减速段制导算法进行了研究。首先考虑到未来月球通信网络的建立和资源的利用,提出了一种探测器在环月极轨道运行时的月面着陆点全覆盖环月调相策略。然后在北东地坐标系下建立软着陆主减速段的质心动力学模型,依据动力学模型将探测器的运动分为纵向平面运动和横向运动并分别设计在线闭环制导律。纵向平面运动采用改进显式制导算法,并基于有限推力思想和主减速段误差传播特性设计了满足终端航向位置约束的点火角修正策略;对于横向运动控制,首先基于ZEM/ZEV最优反馈制导律给出横向制导指令,然后采用PWPF将连续形式的制导指令调制为脉冲形式。仿真结果表明了该制导律能够满足所有终端状态约束,具有燃耗次优性、自主性、实时性和一定的鲁棒性,同时易于工程实现。     

基于Lambert问题的精确拦截与交会策略研究

Lambert交会问题的经典Gauss求解方法是建立在二体问题假设基础上的,不能满足实际空间任务需求。因此在考虑摄动影响的基础上,提出了一种修正方法,以实现精确拦截和交会,并通过仿真算例验证了该方法的正确性。     

Accurate 3D Target Positioning in Close Range Photogrammetry with Implicit Image Correction

Accurate three-dimensional (3D) target positioning is of great importance in many industrial applications. Although various methods for reconstructing 3D information from a set of images have been available in the literature, few of them pay enough attention to the indispensable procedures, such as target extraction from images and image correction having strong influences upon the 3D positioning accuracy. This article puts forward a high-precision ellipse center (target point) extraction method and a new image correction approach which has been integrated into the 3D reconstruction pipeline with a concise implicit model to accurately compensates for the image distortion. The methods are applied to a copyright-reserved close range photogrammetric system. Real measuring experiments and industrial applications have evidenced the proposed methods, which can significantly improve the 3D positioning accuracy.     

某型涡扇发动机状态模型修正

为了针对每一台发动机建立准确的气路故障诊断模型,采用部件法建立了某型涡扇发动机的基准数学模型,分析了模型失配的原因,确定出需要修正的特性参数,采用小波分析实现对可测参数数据的预处理,通过求解所建的扩展非线性方程组完成了发动机模型的离线修正。经仿真验证该算法有较高精度,且易于工程实现,为建立准确的稳态气路故障诊断方程奠定了基础。     

基于高速存储平台的高性能RS编译码器设计

目前,星载高速存储设备中采用商用RS编译码IP核来实现数据纠错功能,能够实现的编译码最高速率为800 Mbps,只能依靠多个IP核同时工作达到吉比特高速数据存取速率的要求。星载存储数据发生错误的主要原因是存储区单粒子翻转和存储介质本身特性产生的单比特数据错误。针对星载存储数据的误码特性,本文提出一种RS编译码改进算法,通过对编码算法中的剩余多项式及译码算法中的伴随多项式进行降次处理,减小编译码过程中运算的迭代次数及计算量,以及对编译码算法中的基本运算单元有限域乘法器采用子项复用技术,实现对传统RS编译码算法的改进。结果表明改进后的编译码器能达到最高数据速率为10.5 Gbps,编码器资源较单个商用IP核减少15%,译码器资源减少40%,能够满足后续高速存储平台的应用要求。     

Real-time mosaicking for infrared videos from an oblique sweeping camera

Image mosaicking is widely used in Geographic Information Systems (GISs) for large-scale ground surface analysis. However, most existing mosaicking methods can only be used in offline processing due to the enormous amounts of computation. In this paper, we propose a novel and practical algorithm for real-time infrared video mosaicking. To achieve this, a novel fast template matching algorithm based on Sum of Cosine Differences (SCD) is proposed to coarsely match the sequential images. The high speed of the proposed template matching algorithm is obtained by computing correlation with Fast Fourier Transform (FFT). We also propose a novel fast Least Squares Matching (LSM) algorithm for inter-frame fine registration, which can significantly reduce the computation without degrading the matching accuracy. In addition, the proposed fast LSM can effectively adapt for noise degradation and geometric distortion. Based on the proposed fast template matching algorithm and fine registration algorithm, we develop a practical real-time mosaicking approach which can produce seamless mosaic image highly efficiently. Experiments on synthetic and real-world datasets demonstrate that the proposed algorithm is not just computationally efficient but also robust against various noise distortions.     

一种中心型间断有限元MMALE方法

针对多介质可压缩流体动力学问题,提出了一种单元中心型二维MMALE(Multi-Material Arbitrary Lagrangian-Eulerian)方法.在拉氏步,流体力学方程组采用中心型间断有限元方法求解.对于混合网格,采用Tipton压力松弛模型更新物理量,用等参坐标法更新物质中心点坐标.界面重构采用一种...     

弧齿锥齿轮齿面拓扑修形及加工参数计算

为了能够实现对齿面啮合性能的灵活控制,针对弧齿锥齿轮小轮提出一种齿面拓扑修形方法,即借助二阶曲面对齿面偏差拓扑的近似表达,将齿面拓扑修形分解为5个方向:螺旋角修正、压力角修正、齿长曲率修正、齿廓曲率修正及齿面挠率修正,通过改变5个方向的修形系数对小轮齿面拓扑结构进行自由控制。在此基础上,建立齿面偏差与机床加工参数之间的修正数学模型,通过构建敏感性矩阵并采用最小二乘法求解,反求出获得修形齿面的小轮加工参数,以便指导加工。以一对弧齿锥齿轮副为例进行修形啮合分析,仿真结果表明:选取齿长曲率修形系数为0.0001,齿廓曲率修形系数为0.0005,齿面挠率修形系数为0.0003,对齿面进行拓扑修形后传动误差幅值为-25.60″,接触迹线倾斜角度变为54.7°,相比原始结果啮合性能得到改善。滚检接触区与理论仿真结果一致,验证了修形方法的有效性。      

基于位置修正的轨迹测量方法研究

传统精密轨迹测量方法大都采用GPS、全站仪等设备,存在设备不易架设、数据不连续、对环境要求较高等缺点。针对该问题提出一种基于航位推算系统的轨迹测量方法。该方法在航位推算基础上引入了位置修正技术,通过起始点与终点坐标即可计算出系统俯仰角误差、方位角误差及里程仪标度因数误差。系统完成航位推算计算后,用求解出的系统误差对航位推算轨迹进行修正,即可获得高精度的轨迹数据。最后通过试验验证该方法可行,系统行进153m误差小于0.12m。     

叶片磨抛机器人力/位混合控制的设计与实现

为提高航空类发动机叶片的自动化磨抛精度,减小复杂曲面叶片加工轨迹控制误差,采用基于六维力传感器的机器人力/位混合控制策略,实现机器人磨抛轨迹的在线修正。搭建以Staubli机器人和ATI六维力传感器为核心部件的叶片磨抛验证平台,通过C++开发上位机,采集磨抛过程中六维力传感器信息并进行Kalman滤波。通过示教确定机器人运动轨迹,对机器人运动轨迹与力传感器信息进行采集分析,确定基于力/位混合控制可以实现机器人运动轨迹的在线修正,为复杂曲面的叶片磨抛轨迹控制提供一种解决方案。