自由漂浮空间机器人多约束混合整数预测控制

针对空间机器人完成任务时需要躲避障碍物的问题,提出一种自由漂浮空间机器人的混合整数预测控制方法。首先,在模型预测控制方法框架下,机械臂关节的物理限制,躲避障碍物的要求被统一描述为最优控制问题下的不等式约束,可以得到自由漂浮空间机器人具有线性二次规划形式的最优控制律。其次,基于命题逻辑建立控制问题中各约束的优先级,保证在最大程度地满足约束的情形下得到控制问题的解,有效弥补了模型预测控制方法用于空间机器人控制时,多约束可能导致最优控制问题不可行的不足。最后,仿真结果校验了所设计控制律的有效性。     

适应于RBCC运载器的轨迹优化建模研究

根据RBCC动力系统工作原理,分析了RBCC运载器上升段轨迹特点和设计矛盾。针对此类飞行器工作模态多、冲压模态约束条件复杂、传统优化模型无法求解其全局最优解的问题,以Radau伪谱法为基础,建立了基于混合积分变量的全程最优轨迹求解模型,并引入连接条件模型。该模型可以有效处理RBCC运载器多段飞行轨迹约束条件,克服了传统建模方法的不足。采用50km、Ma8运载任务算例校验优化模型,优化结果显示,所研究模型符合RBCC运载器工作特点和任务需要,可快速求解此类运载器上升段最优轨迹。     

Multi-objective output-feedback control for microsatellite attitude control: An LMI approach

Mixed H₂/H_∞ output-feedback controller with pole placement constraints against the internal uncertainty of moment-of-inertia variation and space environmental disturbances is proposed for mircosatellite attitude control. The multi-objective controller is designed based on linear model of attitude dynamics. The H_∞ performance takes into account both robustness stability against moments-of-inertia uncertainty and the disturbance rejection aspect. H₂ performance takes into account the LQG aspect which avoids the undesirable wheels’ saturation effect. In addition, the closed-loop poles can be forced into some sector of the stable half-plane to obtain well-damped transient responses. The problem is then reduced to a convex optimization involving linear matrix inequalities (LMIs), so it can be efficiently solved. The simulation results demonstrate that the presented mixed H₂/H_∞ control system is robust stable and optimal in the sense of H₂ norm, and has good steady-state and dynamic performances against the parameter uncertainties and various disturbances for the microsatellite attitude control system.     

基于H∞控制的某空空导弹俯偏回路设计

针对某导弹飞行空域广、参数摄动大、鲁棒性强等控制特点,采用H∞控制的混合灵敏度和线性二次调节（LQR）设计了自动驾驶仪俯偏回路。其中,内回路采用LQR限定模型的不确定性界,外回路用H∞控制混合灵敏度设计控制器。仿真结果表明：所设计的自动驾驶仪可较好地抑制参数摄动,鲁棒性较佳。     

Nonlinear mixture model of mixed pixels in remote sensing satellite images based on Monte Carlo simulation

A nonlinear mixture model for the interpretation of mixed pixels in remote sensing satellite images is proposed. The proposed model is a Monte Carlo ray-tracing model that takes into account interactions among the ground cover materials (multiple reflections among the materials on the surface). The proposed model also takes into account topographic features (slope) of the ground surface. As an example, Top of the Atmosphere (TOA) radiance of mixed pixels of forested areas which are composed of grasses and trees are simulated with the proposed model and compared to actual remote sensing satellite data of ASTER/VNIR over these forested areas. It was found that the influence due to multiple scattering interactions between trees depends on the tree distance and ranges from 8% to 10%. It is also found that the proposed model is useful to interpret mixed pixels. Namely, it is suggested that actual reflectance of the trees is higher than apparent reflectance that is calculated with the satellite data. Also it is suggested that it is possible to estimate forest parameters such as tree distance, tree shape.     

航空发动机约简遗传规划起动非线性动态模型

提出了一种新的用于航空发动机最优化起动过程数据驱动动态建模的约简遗传规划(PGP)算法。这种模型采用遗传规划产生航空发动机辨识模型的输入输出非线性模型集,并以二叉树结构表征函数项,运用正交最小二乘算法(OLS)估计二叉树分支对于模型精度的贡献并据此去除复杂、冗余的函数项,从而加快遗传规划的收敛速度,最后通过GP进化可获得简单、可靠、准确的线参数非线性线参数动态模型。实际发动机起动过程建模应用案例证明,这种思路对于具有非线性输入输出关系特征的数据可以产生鲁棒性好、解析性强的线参数非线性模型。      

多媒体时钟解决实时控制系统的定时

W indows操作系统在大部分情况下以队列形式工作,使得在W indows下实现实时控制成为难题。本文以利用多媒体时钟解决实时控制系统的定时为例,具体说明利用多媒体时钟实现W indows实时控制的方法。     

甲烷-乙烷混合推进剂深度过冷技术的实验研究

针对甲烷采用液氮过冷可能发生甲烷冰堵风险,提出了在甲烷中添加乙烷,制备凝固温度更低的甲烷-乙烷混合推进剂的新方案,搭建实验系统测试了甲烷-乙烷凝固温度变化规律。研究发现,随着甲烷含量提高,混合推进剂凝固温度先降低后升高。当甲烷、乙烷比例为0.71∶0.29时,混合推进剂达到最低凝固温度,约73.0 K。当采用常压饱和液氮对混合推进剂过冷时,控制甲烷含量在0.52~0.81间可避免推进剂冻结。相较于常压饱和甲烷,防冻结区的混合推进剂密度提高了24.0%~38.4%,液相存在温区增大至35.7 K~40.5 K。此外,甲烷-乙烷混合推进剂具有理论比冲高、再生冷却性能佳、结焦与积碳小等优势。所提出的甲烷-乙烷混合推进剂在火星探测等任务中具有可观的应用前景。     

VC 与MATLAB的混合编程

介绍ＶＣ＋ ＋ 与ＭＡＴＬＡＢ混合编程并产生独立可执行文件的接口原理及ＶＣ＋ ＋中使用ＭＡＴＬＡＢ函数库的基本注意事项     

二维高超声速压缩面斜激波系的优化配置

选择进气道外压缩段的气流转折角为设计变量,以进气道的压升比为约束条件,分别以总压恢复系数和阻力系数为优化目标,基于一维气体动力学,在飞行马赫数6,飞行高度25 km,进气道出口气流方向与自由来流夹角等于0,°2,°4°和6°的条件下,对二维混压式高超声速进气道进行了优化设计,得到了优化的斜激波配置。优化结果表明,在所讨论的各种情况下,以阻力系数最小为目标得到的外压缩段斜激波系与以总压恢复系数最大为目标得到的外压缩段斜激波系基本相同,都近似为等强度斜激波系。运用数值模拟手段验证了等强度斜激波系配置原则,本文提供的方法可以用于二维混压式高超声速进气道的初步设计。