一种微机器人轮式驱动器的运动稳定性研究

本文从动力学角度出发,建立微机器人轮式驱动器的运动方程,并分析微驱动器运动稳定性的各种影响因素,得出造成微驱动器运动产生振动主要是存在动载荷。通过使用一相对运动弹性杆组成的模拟传动机构在微小传动力实验台进行传动力试验,试验结果表明弹性杆在啮合过程中产生了不稳定的变传动力,这种变传动力正是影响微驱动器运动产生振动的重要因素。     

A new steering approach for VSCMGs with high precision

A new variable speed control moment gyro (VSCMG) steering law is proposed in order to achieve higher torque precision. The dynamics of VSCMGs is established, and two work modes are then designed according to command torque:control momentum gyro (CMG)/reaction wheel (RW) hybrid mode for the large torque case and RW single mode for the small. When working in the CMG/RW hybrid mode, the steering law deals with the gimbal dead-zone nonlinearity through compensation by RW sub-mode. This is in contrast to the conventional CMG singularity avoidance and wheel speed equalization, as well as the proof of definitely hyperbolic singular property of the CMG sub-mode. When working in the RW single mode, the motion of gimbals will be locked. Both the transition from CMG/RW hybrid mode to RW single mode and the reverse are studied. During the transition, wheel speed equalization and singularity avoidance of both the CMG and RW sub-modes are considered. A steering law for the RWs with locked gimbals is presented. It is shown by simulations that the VSCMGs with this new steering law could reach a better torque precision than the normal CMGs in the case of both large and small torques.     

叶片安装角槽式轮毂处理的三维数值模拟

采用三维定常不可压Ｎ－Ｓ方程对叶片安装角槽式的轮毂处理的叶栅通道进行了数值模拟,分析了叶片安装角槽式的轮毂处理的扩稳机理,在计算中采用了非交错网格的ＳＩＭＰＬＥ算法,并解决了因使用非交错网格离散方程而带来的压力场振荡的抑制问题,紊流模型采用ｋ－ε两方程模型。     

Performance evaluation of creep feed grinding of γ-TiAl intermetallics with electroplated diamond wheels

This paper evaluates the performance of creep feed grinding γ-TiAl intermetallic (Ti-45Al-2Mn-2Nb) using electroplated diamond wheels. Firstly, a comparative analysis with the grinding results by using electroplated CBN wheels was conducted, mainly involving abrasive wheel wear behavior and maximum material removal rate below surface burn limit. It was found that the diamond wheel would produce much better grinding results including lower wheel wear rate and higher maximum material removal rate. Then the surface integrity obtained at different level of material removal rate was characterized with the utilization of the diamond wheel. The poor ductility of this γ-TiAl intermetallic material was found to have a marginal effect on the surface integrity, as no severe surface defects such as material pullout were generated during the stable wheel wear stage. For the involved operating parameters, a deformation layer was produced with ∼10 μm or more in thickness depending on the material removal rate used. Meanwhile, a work-hardened layer extending to more than 100 μm was produced with a maximum microhardness of above 520 HV_0.05 (bulk value 360 HV_0.05). The residual stress remained compressive, with a value of above −100 MPa and even up to −500 MPa for an elevated material removal rate. Shearing chip was the main chip type, indicating good wheel sharpness in the grinding process.     

基于动量轮转速标定的轨道控制方法研究

某地球同步三轴卫星因故障导致推力器工作效率不稳定,使得采用原有方案进行向西轨道控制时姿态变化大,控制准确度降低.针对上述问题,通过分析卫星用于姿态控制的偏置动量轮的控制规律,利用星体角动量守恒条件,建立了偏置动量轮转速变化与轨道半长轴变化之间的相关性数学模型,提出了一种改进的基于偏置动量轮转速标定的轨道控制方法,同时结合姿态的稳定变化制定了轨道控制实施方案,并将其应用于实际卫星轨道控制中,取得了良好的控制效果.改进的控制方法提高了轨道控制的准确率,使得半长轴误差幅度由最大60％提高到0.2％左右,增加了姿态的稳定性,使得俯仰姿态变化幅度由最大0.7°减小到0.2°左右,降低了控制风险,减轻了地面控制人员的负担.     

三维修形对薄轮缘斜齿轮共振应力影响的实验研究

以８对具有不同辐板布置薄轮缘斜齿轮传动为对象，通过实验研究了三维修形对斜齿轮共振应力的影响。运用建立在有限元法、柔度矩阵和数学规划法基础上的三维修形方法获得了每对齿轮副的修形曲线。结果表明，采用三维修形技术将显著降低薄轮缘斜齿轮中的应力波动和振动水平，有利于延长齿轮传动的工作寿命。     

原位自生TiB_2/Al复合材料磨削表面质量研究

原位自生TiB_2/Al复合材料具有密度小,比强度高,比模量大等特点,在航空航天领域具有广泛的应用前景。为探索原位自生TiB_2/Al复合材料的磨削加工性能,选用单晶刚玉SA砂轮、白刚玉WA砂轮和CBN砂轮在不同磨削参数下对TiB_2/Al复合材料进行磨削试验。首先研究了砂轮材质、转速、工件速度、磨削深度对工件表面粗糙度的影响规律;其次通过对工件表面形貌、磨屑形态、砂轮磨损的观测分析,探索了原位自生TiB_2/Al复合材料磨削表面成形机制;最后基于试验数据,给出了TiB_2/Al复合材料磨削工艺参数优选域。本研究可为颗粒增强金属基复合材料磨削加工提供基础理论支撑。     

Simulation of multi-axis grinding considering runout based on envelope theory

As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace, automotive and mold, etc.Simultaneously, it is common that wheel and spindle axis do not coincide with each other due to wheel settings, machining errors and so on. This could result in the generation of wheel runout,which may reduce the machining surface’s quality. In this paper, combining this phenomenon, an analytic algorithm method for the multi-a...     

基于DSHplus 的前轮转弯系统的仿真研究

飞机前轮转弯系统是起落架系统的重要组成部分,在对前轮转弯系统进行分析研究的基础上,应用液压仿真软件DSHplus,对前轮转弯液压系统建模仿真。仿真结果与地面试验结果基本一致,验证了模型的准确性。并提出应用频谱分析的方法,对转弯液压系统进行频率响应分析。该方法在设计初期能够增强系统的稳定性,减少研发开支,提高核心竞争力。     

基于飞轮控制的空间机器人质量参数辨识

针对空间机器人进行在轨辨识时存在精度不高、燃料消耗较大等问题,提出了基于飞轮控制的在轨辨识方法,可以有效地解决辨识时存在的问题。该方法采用飞轮控制作为激励方式,通过改变机械臂的构型使整个空间机器人系统的质量分布发生变化,分别测量构型改变后的角速度和线加速度,以计算出基座本体的质量、质心和转动惯量。此外,分析了机械臂与本体的质量比对辨识精度的影响。仿真结果表明,本文的方法可操作性强、精度较高,燃料消耗较小,可以应用于空间机器人的在轨辨识中。