基于变量集结预测控制的四旋翼无人机控制器设计

针对四旋翼无人机路径跟踪问题,设计了一种基于变量集结预测控制的控制器。首先以四旋翼无人机状态空间模型为基础建立预测模型;接着设计控制器时采用分段集结的策略把控制量集结成三段优化序列以减少优化计算量,并降低优化保守性,为了进一步加强系统稳定性,控制器引入终端代价函数和终端约束;最后用四旋翼无人机的动力学模型作为被控对象进行仿真验证,结果表明：该控制器能使四旋翼无人机在三轴方向均能实现一个良好的路径跟踪效果。与传统方法相比,这种基于变量集结的预测控制策略能够减小在线优化量,更适合四旋翼无人机飞控芯片的应用。     

基于新型降阶模型的网格加筋圆柱壳频率分析

针对网格加筋圆柱壳频率分析计算量大的问题,提出一种基于多项式及梁单元形函数的模型降阶方法,即运用多项式及梁单元形函数将复杂结构有限元的节点位移转化为主节点位移,实现模型降阶。并通过控制多项式阶数及梁单元个数来调整降阶模型的分析精度,而降阶模型的计算效率较精细模型有显著提高。以网格加筋圆柱壳为例,对比本文提出的模型降阶方法与3-D实体模型及其他模型降阶方法的频率分析结果,结果表明,提出的模型降阶方法不仅能捕捉到结构的整体模态,还能反映出结构部分局部模态,适用范围广,能够为工程结构设计提供简单有效的计算模型。     

一种新的红外烟幕遮蔽效果时域特性评估方法

提出了基于分形特征和Aitkin插值技术的烟幕遮蔽效果时域特性评价的方法,计算了目标热像区域的分数维和分形拟合误差,采用了Aitkin插值技术来获得烟幕场遮蔽效果的时域特性。     

基于多项式插值的自由漂浮空间机器人轨迹规划粒子群优化算法

针对自由漂浮空间机器人轨迹规划问题,提出一种基于多项式插值与粒子群优化算法相结合的非完整运动规划方法。首先,通过对系统非完整约束条件进行分析,给出了以机械臂关节角耗散能为目标函数的轨迹最优控制算法;并采用高阶多项式插值方法逼近机械臂关节角轨迹,将插值多项式的系数作为优化参数,结合粒子群优化算法对关节角轨迹进行优化求解。最后,对本文提出的轨迹规划算法进行数值仿真。仿真结果表明关节角轨迹平滑连续,保证了关节角速度及关节角加速度在初始和终止状态均为零,从而验证了所提方法的有效性和可行性。     

电磁式跟踪器磁场畸变的姿态校正技术

电磁式跟踪器可以测量物体的位置和姿态,但其测量精度也容易受金属环境干扰。本文根据电磁跟踪器的工作原理,给出了电磁式跟踪器姿态校正的模型,讨论了两种不同的姿态校正实现方法:插值法和拟合法,比较了两种方法的优缺点。最后,对某一金属环境进行了畸变姿态校正的试验,给出了3个不同的姿态实际值和在此金属环境下的畸变和校正结果。试验结果表明本文提出的姿态校正算法能很好地补偿金属环境引起的电磁式跟踪器姿态的畸变。     

对称分段线性系统主共振的分叉

由ＫＢＭ法推出的分段线性系统主共振的一次近似解，导出了分叉方程，然后应用奇异性理论对主共振的分叉类型进行了系统的分析，并用计算稳态周期运动的参数延续数值方法结果与其中感兴趣的部分进行了对比，发现基于弱非线性分析的主共振一次近似解在较强的非线性情况下仍具有一定的精度。     

Numerical studies of static aeroelastic effects on grid fin aerodynamic performances

The grid fin is an unconventional control surface used on missiles and rockets. Although aerodynamics of grid fin has been studied by many researchers, few considers the aeroelastic effects.In this paper, the static aeroelastic simulations are performed by the coupled viscous computational fluid dynamics with structural flexibility method in transonic and supersonic regimes. The developed coupling strategy including fluid–structure interpolation and volume mesh motion schemes is based on radial basis functions. Results are presented for a vertical and a horizontal grid fin mounted on a body. Horizontal fin results show that the deformed fin is swept backward and the axial force is increased. The deformations also induce the movement of center of pressure, causing the reduction and reversal in hinge moment for the transonic flow and the supersonic flow,respectively. For the vertical fin, the local effective incidences are increased due to the deformations so that the deformed normal force is greater than the original one. At high angles of attack, both the deformed and original normal forces experience a sudden reduction due to the interference of leeward separated vortices on the fin. Additionally, the increment in axial force is shown to correlate strongly with the increment in the square of normal force.     

Synergistic use of multitemporal RAMP,ICESat and GPS to construct an accurate DEM of the Larsemann Hills region,Antarctica

An enhanced digital elevation model (DEM) of the Larsemann Hills region, east Antarctica, is constructed synergistically by using highly accurate ground-based GPS measurements, satellite-derived laser altimetry (GLAS/ICESat) and Radarsat Antarctic Mapping Project (RAMPv2) DEM-based point elevation dataset. Our DEM has a vertical accuracy of about 1.5 times better than RAMPv2 DEM and seven times better than GLAS/ICESAT-based DEM. The accuracy is improved by validating the RAMPv2 DEM elevation by supplementing with GLAS/ICESat and DGPS survey data, when compared to that of DEM constructed by using GLAS/ICESat or RAMPv2 alone. With the use of accurate GPS data as ground control points reference elevations, the DEM extracted is much more accurate with least mean RMSE of 34.5 m than that constructed by using a combination of GLAS/ICESat and RAMPv2 as true reference. The newly constructed DEM 7 achieves highest accuracy with the least average elevation difference of 0.27 m calculated using 46 ground reference points. Available DEMs of Antarctic region generated by using radar altimetry and the Antarctic Digital Database indicate elevation variations in the range of 50–100 m, which necessitates the generation of local DEM and its validation by using ground truth. This is our first attempt of fusing multi-temporal, multi-sensor and multi-source elevation data to generate a DEM of any part of Antarctica, in order to address the ice elevation change to infer the ice mass balance. Our approach focuses on the strengths of each elevation data source to produce an accurate DEM.     

超精密车床数控系统软件的研制

介绍了HCM-I型超精密车床数控系统软件的功能及工作流程．详细分析了数控系统软件的关键技术，给出了相应技术的软件流程图.     

湍流边界层速度分布的显式表示

本文根据不可压缩湍流边界层内的Ｒｅｉｃｈａｒｄｔ立方律，得到了比现有的Ａ．Ｊ．Ｍｕｓｋｅｒ和Ａ．Ｌｉａｋｏｐｏｕｌｏｓ的公式更加符合Ｓｐａｌｄｉｎｇ公式及实验数据的湍流边界层内速度分布的显式表达式。