Performance limitations in trajectory tracking control for air-breathing hypersonic vehicles

An integrated approach that considers the performance limitations of tracking control systems for air-breathing hypersonic vehicles is proposed. First, a set of ascent trajectories is obtained as candidates for tracking control through a trajectory design method that considers the available acceleration. Second, the basic theory of performance limitations, which is adopted to calculate the limits on control performance through the trajectory, is integrated. The open-loop dynamics of air-breathing hypersonic vehicles is responsible for these limits on the control system. Comprehensive specifications on stability, tracking accuracy, and robustness are derived, and the flight envelope with constraints and control specifications is identified. Simulation results suggest that trajectory design should consider restrictions on control performance to obtain reliable solutions.     

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.     

AOS协议中自适应帧生成算法的研究

帧生成过程作为CCSDS AOS两级多路复用机制的第一级,其性能直接影响着AOS系统的传输效率和时延特性.本文对AOS协议中帧生成算法进行研究,分析了在包到达率服从泊松分布条件下,高效率帧生成算法的帧生成时间均值.针对高效率帧生成算法中可能出现的在较长时间内没有足够多的包到达,导致帧生成时间过长,从而造成帧生成时延超过业务所允许的最大时延情况,提出了一种自适应帧生成算法.理论分析和仿真结果表明,本算法不但能克服高效率帧生成算法中可能出现的大时延问题,并且比传统的等时帧生成算法具有更高的信息传送速率.     

Composite impact vector control based on Apollo descent guidance

A new three-dimensional missile guidance law to control the impact vector against a stationary target is proposed. The composite guidance law has two well-known components: Apollo descent guidance and trajectory shaping guidance. These respectively linear and planar guidance laws are combined to achieve a specified impact direction. The main idea is to define an impact plane and to steer the missile onto this plane using Apollo descent guidance while concurrently performing trajectory shaping wi...     

新生代农民工市民化问题探究

随着改革开放的不断深入,新生代农民工群体在城市化进程中发挥着日益重要的作用.新生代农民工是一个有着独特特征的流动群体,其特征也导致了他们最具有市民化意愿和亟待成为市民化群体.我国新生代农民工在市民化进程中并非一帆风顺,虽然取得了一些进展,但就其现状来看,也存在一些困境和问题,其中既有社会方面的原因,也有其自身的原因.这些原因也导致了这个特殊群体的社会化过程不是一朝一夕能够完成的,需要政府、社会和新生代农民工的共同努力.     

线性尺寸链函数式的自动生成

本文介绍了一种线性尺寸链函数式自动生成的方法，并给出了程序流程及关键技术的处理办法。     

Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task

A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA), which combines the central force optimization (CFO) algorithm with the genetic algorithm (GA). Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time sys-tems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP) algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time per-formance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.     

第二代农民工就业能力提升的路径

假定劳动力市场二元制度短期内不会立即改变,双层劳动力市场将长期存在。在第二代农民工人力资本存量既定的条件下,分析第二代农民工在劳动力市场供给的性状因素变化,从第二代农民工劳动力供给视角分析其人力资本增量空间,为第二代农民工就业能力的提升提出相应的路径选择。     

基于hp自适应伪谱法的固体运载火箭轨迹优化

多级固体运载火箭轨迹优化是一个多阶段多约束的最优控制问题。hp自适应伪谱法融合了有限元法和全局伪谱法的思想,采用双层优化策略对细化单元数和插值基函数的阶次进行自适应调节以满足精度和快速性要求。对基于hp自适应伪谱法的多级固体运载火箭主动段轨迹优化问题进行了数值计算,结果表明该优化方法能够很好的满足过程约束和终端入轨条件,具有收敛速度快、对初值不敏感等优点,有一定的工程应用价值。     

火星大气进入段轨迹优化与制导技术研究进展

首先根据国际上实施的火星探测任务及未来火星着陆探测的发展需求,阐述火星大气进入段轨迹优化与制导的重要性。结合火星着陆环境和探测器的气动特性等,归纳出火星大气进入段轨迹优化与制导面临的挑战。在此基础上,结合未来火星着陆任务的安全精确着陆目标,梳理火星大气进入段轨迹优化与制导所需解决的关键技术,分析目前火星进入段轨迹优化与制导技术研究进展及发展趋势。最后,对未来火星精确着陆所需的进入段轨迹优化与制导技术发展方向进行了展望。