六轴联动电火花加工电极的动态规划

本文提出了一种加工复杂构型的整体涡轮通道的创新思路，首先依据求解最优控制理论的现代变分法建立了电极成形运动的变分模型，根据动态规划原理提出了这一类变分问题的数值解法，并运用实例验证了所提出的这一创新思想的可行性及有效性。     

Design and implementation of five-axis transformation function in CNC system

To implement five-axis functions in CNC system, based on domestic system Lan Tian series, an improved design method for the system software structure is proposed in this paper. The numerical control kernel of CNC system is divided into the task layer and the motion layer. A five-axis transformation unit is integrated into the motion layer. After classifying five-axis machines into different types and analyzing their geometry information, the five-axis kinematic library is designed according to the abstract factory pattern. Furthermore, by taking CA spindle- tilting machine as an example, the forward and the inverse kinematic transformations are deduced. Based on the new software architecture and the five-axis kinematic library, algorithms of RTCP （rotation tool center point control） and 3D radius compensation for end-milling are designed and realized. The milling results show that, with five-axis functions based on such software struc- ture, the instructions with respect to the cutter＇s position and orientation can be directly carried out in the CNC system.     

Extension of the low diffusion particle method for near-continuum two-phase flow simulations

The low diffusion (LD) particle method, proposed by Burt and Boyd, is modified for the near-continuum two-phase flow simulations. The LD method has the advantages of easily coupling with the direct simulation Monte Carlo (DSMC) method for multi-scale flow simulations and dramatically reducing the numerical diffusion error and statistical scatter of the equilibrium particle methods. Liquidor solid-phase particles are introduced in the LD method. Their velocity and temperature updating are respectively, calculated from the motion equation and the temperature equation according to the local gas properties. Coupling effects from condensed phase to gas phase are modeled as momentum and energy sources, which are respectively, equal to the negative values of the total momentum and energy increase in liquid or solid phase. The modified method is compared with theoretical results for unsteady flows, and good agreements are obtained to indicate the reliability of the one-way gas-to-particle coupling models. Hybrid LD-DSMC algorithm is implemented and performed for nozzle discharging gas-liquid flow to show the prospect of the LD-DSMC scheme for multi-scale two-phase flow simulations.     

Motion equations of hemispherical resonator and analysis of frequency split caused by slight mass non-uniformity

The mass non-uniformity of hemispherical resonator is one of reasons for frequency split, and frequency split can cause gyroscope to drift. Therefore, it is of great significance to analyze the relationship between mass non-uniformity and frequency split, which can provide a theoretical basis for mass balance of imperfect resonator. The starting point of error mechanism analysis for gyroscope is the motion equations of resonator. Firstly, based on the Kirchhoff-Love hypothesis in the elastic thin shell theory, the geometric deformation equations of resonator are deduced. Secondly, the deformation energy equation of resonator is derived according to the vibration mode and relationship between the stress and strain of hemispherical thin shell. Thirdly, the kinetic energy equation of resonator is deduced by the Coriolis theorem. Finally, the motion equations of resonator are established by the Lagrange mechanics principle. The theoretical values of precession factor and natural frequency are calculated by the motion equations, which are substantially consistent with the ones by the finite element method and practical measurement, the errors are within a reasonable range. Simultaneously, the varying trend of natural frequency with respect to the geometrical and physical parameters of resonator by the motion equations is consistent with that by the finite element analysis. The above conclusions prove the correctness and rationality of motion equations. Similarly, the motion equations of resonator with mass non-uniformity are established by the same modeling method in case of ignoring the input angular rate and damping, and the state equations with respect to the velocity and displacement of vibration system are derived, then two natural frequencies are solved by the characteristic equation. It is concluded that one of reasons for frequency split is the 4th harmonic of mass non-uniformity, and thus much attention should be paid to minimizing the 4th harmonic of mass non-uniformity in the course of mass balancing for imperfect resonator.     

基于相关匹配的弹道中段目标章动角估计

章动角是弹道中段目标的重要进动特征,可用于识别弹头和诱饵。首先提出了基于相关匹配的章动角估计方法,将观测的目标雷达截面积（RCS）序列与不同参数下的RCS序列模板进行相关匹配,搜索匹配函数的最大值,从而得到章动角的估计值。然后给出了具体的实现算法,将初始时刻的采样间隔设置为脉冲重复周期（PRI）的整数倍或1/K（K为整数,且K≥2）,在此基础上减少了匹配函数的计算量,并且可通过单层或多层相关匹配来估计章动角。仿真结果表明,由于RCS测量存在系统误差,相关匹配的章动角估计性能远优于最小二乘匹配。同时分析了全姿态RCS数据的角度采样间隔对相关匹配估计性能的影响。最后比较了多层相关匹配和单层相关匹配的估计性能和计算量。     

空间光学遥感运动模糊仿真方法研究

空间光学遥感作为一个动态的成像过程,像物曝光时间内的相对运动必然会导致成像的模糊,因此在遥感成像链路仿真模型中必然要考虑运动模糊的影响。文章将运动类型分为线性运动和简谐运动两种,并且根据成像过程中器件积分时间和简谐运动周期的比值大小将简谐运动分成高频、低频不同情况来处理。文章指出严格意义上运动模糊具有空间移变的性质,最终根据积分时间同简谐运动的频率提出一种TDICCD运动模糊的仿真方法,可为后续全链路仿真提供参考。     

非匀速弹道SAR成像方法研究

非匀速直线弹道成像是弹载SAR领域的核心问题之一。首先构建三维空间中的非匀直弹道模型,通过泰勒近似公式分析运动偏差的来源,并将运动偏差分解成方位偏移、地距偏移和俯仰偏移等三个部分。推导了横向运动和俯冲运动分别引起的地距偏移和俯仰偏移函数,从而得到了对应的运动补偿函数。方位偏移表现为SAR平台在方位向作变速直线运动,回波的数据格式可看成空间非均匀采样的结果。为此,提出了一种利用空间非均匀采样模型替代时域变多普勒模型的成像方法。该算法将变速运动等间隔时间采样的回波数据等效为匀速运动中非等间隔时间采样数据,然后通过方位向非均匀离散傅立叶变换将数据变换到均匀频率域,再完成其它后续的成像操作。完整地推导了非匀直弹道SAR成像的全过程,点目标仿真结果清晰可见,表明了算法的有效性。
     

空间机械臂建模方法与控制策略研究

针对刚柔耦合空间机械臂动力学建模中对柔性体采用的传统描述方法（有限元法、模态综合法以及集中参数法等）并不足以精确描述柔性大变形的问题,采用绝对节点坐标法描述柔性体,采用自然坐标法描述刚性体,建立了末端带集中质量的双连杆柔性机械臂的动力学模型并且研究了机械臂的空间定位问题。结合广义α法以及工程上常用的Scaling技术,开发了计算程序,实现了动力学方程的高效精确数值求解。针对机械臂的空间定位以及柔性变形问题,提出了一种运动规划方案,采用PD控制策略,实现了机械臂的运动跟踪控制;仿真结果表明：提出的运动规划方案能有效地减弱机械臂的柔性变形。     

一种改进阻尼倒数的空间机器人避奇异算法

针对自由漂浮空间机器人运动规划过程中存在的动力学奇异问题,提出一种动力学奇异转化加改进阻尼倒数的奇异回避算法。首先,通过运动学分解,间接求解机器人逆运动学方程,避免直接求解逆广义雅可比矩阵,以实现奇异参数的分离;然后,采用改进的高斯分布阻尼因子的阻尼倒数代替奇异参数的普通倒数,回避运动学奇异的影响。与现有阻尼倒数方法相比,提高了算法在奇异点附近的连续性,进一步减小了算法带来的跟踪误差。在PUMA类型空间机器人模型上进行仿真试验,校验算法的有效性。     

Energy-saving and accurate motion control of a hydraulic actuator with uncertain negative loads

Pump controlled hydraulic actuators are wildly used in the aerospace industry owing to the advantages of energy-saving and integrated configurations. Negative loads may occur to actuators due to external force loads or the inertial force when the actuator decelerates significantly. Uncertain negative load working conditions may cause cavitation, actuator vibration, and even instability to the motion control if the actuator is without sufficient meter-out damping. Various types of hydraulic configuration schemes have been proposed to deal with negative loads of hydraulic actuators. However, few of them can simultaneously achieve energy saving and high control accuracy. This study proposes an energy-saving and accurate motion tracking strategy for a hydraulic actuator with uncertain negative loads. The actuator’s motion is driven by a servomotor pump, which gives full play to the advantage of energy-saving. The meter-out pressure is controlled by proportional valves to provide the optimized meter-out damping. The nonlinear adaptive robust control law is designed, which guarantees the control stability and achieve high tracking accuracy. An integrated direct/indirect adaptation law obtains satisfactory parameter estimations and model compensation for asymptotic motion tracking. Comparative experiments under different working conditions were performed to validate the advantages of the proposed control strategy.