A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests.     

喷雾液滴与涂层壁面作用的机理性试验及其影响研究

为了研究双组元离心式发动机的喷雾液滴在撞击燃烧室涂层壁面后的发展行为,及其对发动机燃烧和传热的影响,进行了液滴与真实的涂层试样的机理性试验。通过试验,使用高速摄影装置观察了液滴在不同温度和入射韦伯数We的条件下撞击涂层试样后的情况,包括撞击后粘附、铺展、破碎、飞溅、悬浮和反弹多种行为模式下的速度、粒径和角度,证明了涂层表面状态的差异性对于液滴撞壁行为有显著影响。根据试验结果,分别建立了两种涂层基于壁温与入射韦伯数We的液滴撞壁机制和数学模型,并结合化学反应动力学模型进行了燃烧传热分析,通过与OA模型仿真结果和真实发动机热试车测试数据的对比,验证了该模型具有更高的准确性。     

天基对地打击武器飞行过程动力学分析与建模仿真

天基对地打击武器用于从太空对地面战略目标和高价值目标进行快速、准确的打击。本文运用空间飞行器动力学,在特定条件下,对天基对地打击武器的作战飞行过程分大气层外和大气层内2个阶段进行动力学分析,并利用建模仿真的方法得出在不同再入角和不同运行轨道高度的情况下飞行过程的相关数据,验证了天基对地打击武器作战迅速、打击时间短的特性,表明其在未来潜在的军事应用价值。     

燃气管路气流脉动压力模化试验研究

燃气管路气流脉动特性是影响补燃循环多推力室液体火箭发动机安全运行的因素之一,气流脉动压力强度剧烈时将影响管路下游燃烧室燃烧稳定性及发动机的正常工作.为探究液体火箭发动机燃气管路气流脉动压力特性,对燃气管路进行了模化试验,分析了进口流量分别为额定值模拟流量65％,100％和108％下无导流装置和有导流装置的气流脉动压力变...     

Safety modeling and simulation of multi-factor coupling heavy-equipment airdrop

Heavy-equipment airdrop is a highly risky procedure that has a complicated system due to the secluded and complex nature of factors＇ coupling. As a result, it is difficult to study the modeling and safety simulation of this system. The dynamic model of the heavy-equipment airdrop is based on the Lagrange analytical mechanics, which has all the degrees of freedom and can accurately pinpoint the real-time coordinates and attitude of the carrier with its cargo. Unfavorable conditions accounted in the factors＇ models, including aircraft malfunctions and adverse environments, are established from a man-machine-environment perspective. Subsequently, a virtual simulation system for the safety research of the multi-factor coupling heavy-equipment airdrop is developed through MATLAB/Simulink, C language and Flightgear software. To verify the veracity of the theory, the verification model is built based on dynamic software ADAMS. Finally, the emulation is put to the test with the input of realistic accident variables to ascertain its feasibility and validity of this method.     

复合材料加筋壁板有限元建模与强度分析

运用基于工艺的“laminate modeler”模块创建了复合材料铺层和加筋层合板的三维有限元模型.介绍了一种体单元与壳单元节点融合的方法.以不同的相对节点间距对加筋层合板模型进行了有限元网格划分,采用结构最大Von Mises应力作为标准进行了收敛性分析,得到了一个可适用于其他类似加筋板模型网格创建的合理相对节点间距值1/72.应力计算表明,集中载荷作用下复合材料加筋壁板的初始损伤发生于第八铺层材料主方向的2方向,损伤模式为基体拉伸开裂.发生初始损伤时加筋板结构的极限载荷为75 N.应力集中区较小,且主要分布于载荷作用点附近.集中载荷作用下加筋板的承载效率较低.     

小型混合翼无人机过渡过程一体化建模与控制

混合翼垂直起降无人机解决了普通固定翼无人机无法垂直起降以及旋翼无人机航时航程小的问题。针对旋翼与固定翼结合的混合翼可垂直起降无人机系统,将过渡过程中旋翼部分和固定翼部分进行一体化结合,推导了混合翼无人机过渡过程非线性动力学方程组。通过对得到的无人机纵向气动模型进行稳定性分析,设计了基于采用LQR(Linear Quadratic Regulator)的增益调度跟踪控制器。结果表明设计的控制器能使无人机状态进行良好的跟踪。     

Validation of the Neustrelitz Global Model according to the low latitude ionosphere

Empirical modeling including empirical model for the total electron content (TEC) is important for the study of the ionosphere and practical applications. In this paper goodness of new Neustrelitz Global Model (then NGM) at low latitudes is studied. The NGM model includes such parameters as the maximal electron density (NmF2) and altitude of the maximum (hmF2). As of today, besides NGM there are several empirical models for NmF2 and hmF2. Therefore, a comparison of these parameters of the NGM model, not only with the experimental data, but also with two versions of the International Reference Ionosphere (the IRI model): IRI2001 and IRI-Plas would be instructive. Because the NGM model incorporates special factor describing the equatorial anomaly, the comparison in lower latitude areas is particularly interesting. As one can see from the presented example of the data from low latitude stations located in the northern and southern hemispheres near the Greenwich meridian, the NGM model may have certain advantages over the IRI model versions. In particular, NGM TEC is preferable regardless of solar activity level while NGM NmF2 is only preferable under high solar activity conditions. Next, NGM equivalent slab thickness of the ionosphere: τ(NGM) = TEC(NGM)/NmF2(NGM) has been calculated and tested to answer the question whether τ(NGM) can be used as a proxy of the slab thickness of the ionosphere for an empirical modeling. The answer is positive for the near equatorial stations and periods of high solar activity, and under such conditions predicted τ(NGM) can be used for deriving NmF2 from the experimental values of TEC(CODE) in real time.     

管路系统敷设的并行工程模型研究

提出了一种应用于并行工程模型转换研究的标号法,该法是将现行串行设计过程（Ａｓ－ｉｓ）转换为并行设计过程（Ｔｏ－ｂｅ）。本文应用该法将发动机外部管路系统敷设过程模型进行了串并行转换,应用并行工程过程重构的手段,得到了管路敷设并行过程模型,文中对该模型进行了详细分析。最后对转换前后的模型进行了时间效益分析,得到了对敷管工程有指导意义的结论。     

基于平衡流形模型的航空发动机线性建模方法

研究了利用平衡流形模型建立航空发动机线性模型的方法。详细讨论了平衡流形模型的构造过程,给出从对象的平衡流形模型获取线性模型的理论依据。比较了线性化模型和平衡流形模型的有效范围,分析了两步法建立平衡流形模型允许采用更大的扰动量的原因。通过仿真验证了利用较大的扰动信号辨识平衡流形模型,进而获取线性模型的有效性。