伞舱系统在火星环境中的运动特性分析

建立了火星大气环境模型和伞舱系统多体动力学模型,通过仿真分析了火星环境下伞舱系统中进入舱的运动特性,并对其在火星环境和地球环境的运动稳定性进行仿真比较分析,得出的相关结论可为探测器火星登陆技术提供参考。     

Motion-planning and pose-tracking based rendezvous and docking with a tumbling target

Rendezvous and docking (RVD) with a tumbling target is challenging. In this paper, a novel control scheme based on motion planning and pose (position and attitude) tracking is proposed to solve the pose control of a chaser docking with a tumbling target in the phase of close range rendezvous. Firstly, the current desired motion of the chaser is planned according to the motion of the target. In planning the desired motion, the “approach path constraint” is considered to avoid collisions between the chaser and the target, and the “field-of-view constraint” is considered to make sure the vision sensors on the chaser to obtain tight relative pose knowledge of the target with respect to the chaser. Then, the difference between the chaser’s motion and the desired motion is gradually reduced by a pose tracking controller. This controller is based on the non-singular terminal sliding mode (NTSM) method to make the tracking error converge to zero in finite time. Since the chaser nearly moves along the desired motion and the motion is reasonable, (1) it could safely arrive at the docking port of the target with a suitable relative attitude, (2) it will be always suitably oriented to observe the target well, and (3) the magnitude of the needed control inputs are less than that in existing literatures. The numerical results demonstrate the above three advantages of the proposed method.     

基于移动最小二乘法的机载SAR成像运动误差补偿方法

机载SAR平台在飞行过程中产生的运动误差会导致成像质量下降,利用测量数据提取运动误差是机载SAR运动补偿的重要手段之一。通过对机载SAR运动误差理论的推导,提出一种基于移动最小二乘法的机载SAR成像运动补偿方法,方法借助于惯性导航系统记录的东北天三维速度信息,对其进行处理,进而获得雷达平台的三维空间信息,再与后向投影算法结合,完成SAR成像运动补偿。方法是对最小二乘法进行改进,使其不需要对数据进行分段估计和平滑,还可以保证估计结果的正确性。实验结果验证方法对运动误差估计的准确性和有效性。     

点缀你的主页

随着因特网的发展，主页不在只是网络服务商可以做的事情，那么主页内容以及它的可观赏性就成了它吸引读者的中心。本文简述图形及动画制作方法。运用这些图形及动画来修饰主页，以启到画龙点睛的作用。     

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。