Factor graph based navigation and positioning for control system design: A review

Navigation and positioning is an important and challenging problem in many control engineering applications. It provides feedback information to design controllers for systems. In this paper, a bibliographical review on factor graph based navigation and positioning is presented. More specifically, the sensor modeling, the factor graph optimization methods, and the topology factor based cooperative localization are reviewed. The navigation and positioning methods via factor graph are considered a...     

贝叶斯景象匹配技术

景象匹配技术以其极高的末制导精度在导航系统中起着关键性的作用。经典的景象匹配定位方法只能提供象素级的定位精度,为了获得更高的精度可采用ＦＦＴ匹配算法、最小二乘匹配算法等。该文首次提出了一种新的贝叶斯景象匹配算法。其基本思想在于：匹配定位位置可看作为随机量,先利用匹配图像间的信息求其条件概率分布,再利用图像中的大量样本来求解其贝叶斯估计值。同时研究了基于贝叶斯估计的景象匹配技术的原理及算法,并将其与     

含不等长双裂纹无限大板应力强度因子

采用交替法求解了含任意相对位置不等长双裂纹的无限大极受均布拉应力作用的应力强度因子。此法以平面弹性力学的一个问题为基础,即含单裂纹无限大板,裂纹面受集中载荷,此问题的解已知,然后交替地满足边界条件。各种计算结果已绘成曲线。     

空间辐射器热分析

在航天飞机温控系统中,空间辐射器是最主要部件。对以航天飞机蒙皮为辐射表面的,单面翼—管式空间辐射器进行了详细的热分析,把平均翼效率代替局部翼效率,利用有限差分的方法对单面翼—管式辐射器进行了性能计算。     

叶栅绕流计算的高分辨率隐式解法

以一种性能优越的高分辨率格式为基础, 发展了其隐式解法, 提出并实现了与这种格式相适应的隐式边界处理过程, 从而显着提高了高分辨率格式的收敛速度。用不同来流条件下叶栅绕流数组计算结果与实验做了对比, 以说明解的准确程度和本文算法的效果。      

电机生产企业绿色工厂评价内容、指标及方法的研究

为积极响应《中国制造2025》以及《工业和信息化部办公厅关于开展绿色制造体系建设的通知》,针对我国目前在电机生产行业相关绿色工厂评价要求缺失的现状,结合我国电机生产企业的物料使用特点、生产工艺特点、生产装备特点、产品特点、能源利用特点、主要污染物排放特点等6个方面,对电机生产企业绿色工厂评价内容、指标及方法进行研究。该研究为我国电机生产行业全面推行绿色制造,加快电机生产行业绿色改造升级,构建电机生产行业绿色制造体系,提高我国电机生产行业的国际竞争力作出积极贡献。     

Rapid design and optimization of low-thrust rendezvous/interception trajectory for asteroid deflection missions

Asteroid deflection techniques are essential in order to protect the Earth from catastrophic impacts by hazardous asteroids. Rapid design and optimization of low-thrust rendezvous/interception trajectories is considered as one of the key technologies to successfully deflect potentially hazardous asteroids. In this paper, we address a general framework for the rapid design and optimization of low-thrust rendezvous/interception trajectories for future asteroid deflection missions. The design and optimization process includes three closely associated steps. Firstly, shape-based approaches and genetic algorithm (GA) are adopted to perform preliminary design, which provides a reasonable initial guess for subsequent accurate optimization. Secondly, Radau pseudospectral method is utilized to transcribe the low-thrust trajectory optimization problem into a discrete nonlinear programming (NLP) problem. Finally, sequential quadratic programming (SQP) is used to efficiently solve the nonlinear programming problem and obtain the optimal low-thrust rendezvous/interception trajectories. The rapid design and optimization algorithms developed in this paper are validated by three simulation cases with different performance indexes and boundary constraints.     

钢管混凝土柱极限承载力分析的分段合成法

在计算钢管混凝土受压构件弹塑性极限承载力的合成法基础上,提出了一种新的数值计算方法--分段合成法,计算假设仅包括平截面假设和考虑紧箍力影响的钢管混凝土的应力-应变关系,取消了原合成法中对柱变形曲线的假设,积分时不仅需要在截面上划分单元而且还需沿杆长划分单元,因而可考虑柱多个截面的平衡条件.与原合成法相比,该方法不仅适用于轴压构件和两端偏心距相等的偏压构件,而且还适用于两端偏心距不等的偏压构件的弹塑性极限承载力计算.利用提出的方法和程序,计算了圆形截面钢管混凝土轴压长柱、两端偏心距相等的偏压长柱以及两端偏心距不等的偏压长柱的弹塑性极限承载力,理论分析结果与文献中的理论结果和试验结果均吻合良好.     

一种新型火星定点着陆轨迹快速优化方法

针对火星定点着陆任务大气进入段的轨迹规划问题,给出了一种基于hp Radau伪谱法的快速优化算法。综合考虑大气进入段的动力学约束、边值约束、以及着陆器的机动能力约束和安全性约束,结合hp Radau伪谱法的配点特性,将轨迹优化问题转换成一个大规模多约束参数优化问题,给出了大气进入段轨迹优化问题的求解框架;为了提高算法的计算效率,给出了参数优化过程中雅克比矩阵的解析表达式;并通过数学仿真对本文算法进行了数值验证,结果表明：     

Attitude Control Considering Variable Input Saturation Limit for a Spacecraft Equipped with Flywheels

A new attitude controller is proposed for spacecraft whose actuator has variable input saturation limit. There are three identical flywheels orthogonally mounted on board. Each rotor is driven by a brushless DC motor (BLDCM). Models of spacecraft attitude dynamics and flywheel rotor driving motor electromechanics are discussed in detail. The controller design is similar to saturation limit linear assignment. An auxiliary parameter and a boundary coefficient are imported into the controller to guarantee system stability and improve control performance. A time-varying and state-dependent flywheel output torque saturation limit model is established. Stability of the closed-loop control system and asymptotic convergence of system states are proved via Lyapunov methods and LaSalle invariance principle. Boundedness of the auxiliary parameter ensures that the control objective can be achieved, while the boundary parameter’s value makes a balance between system control performance and flywheel utilization efficiency. Compared with existing controllers, the newly developed controller with variable torque saturation limit can bring smoother control and faster system response. Numerical simulations validate the effectiveness of the controller.