卫星编队飞行中的队形设计研究

目前关于卫星编队飞行的研究有显著的增加。多颗从属卫星(从星)在近距离内与主卫星(主星)组成特定的队形以完成相应的任务,是卫星编队飞行的特点及潜在优势。卫星在编队飞行时,其队形定义为以各颗卫星质心为顶点所构成的几何形状,而队形设计则是根据队形的几何形状求出各卫星的轨道根数(其中主星的轨道根数可以根据任务的要求事先确定)。基于相对轨道根数法,根据卫星相对运动方程,提出了“自然队形”的概念及队形设计的一般方法,并给出了具体的例子。     

冷41-平14"L"型水平井轨迹优化与控制技术

冷41-平14井受地面条件的限制,靶前位移小,为保证中间套管和完井管柱的顺利下入,剖面设计为“反向造斜-稳斜-降斜-正向造斜-水平段”的“L”型。简要介绍了冷41-平14“L”型水平井的设计概况,详细介绍了该井井眼轨道优化设计原则和设计结果,以及实钻井眼轨迹连续控制技术。该井精确命中A、B靶,两靶处的井斜角、方位角和垂深等达到了设计要求,在A靶实现了软着陆。该井井眼轨道优化设计和井眼轨迹控制技术为类似水平井的井眼轨道设计和轨迹控制提供了有益的借鉴。     

水平井眼轨迹对气井出砂趋势及工作制度的影响

出砂是影响油气井正常生产的重要因素之一。借助FEPG有限元程序自动生成平台，建立了三维应力场弹塑性地层出砂模型，并运用有限元法计算分析了不同轨迹的裸眼井井壁周围的有效塑性应变分布规律及出砂趋势，研究了气藏压力衰竭对完井方式的影响。研究表明，水平井眼轨迹对出砂有重要的影响，同一地应力环境下向不同方位延伸的水平井在投产时应该采取不同的生产压差和不同的生产制度，水平井眼轨迹对出砂的影响程度随着3个地应力差异的增大而加剧。气藏压力衰竭对井壁的稳定性和出砂趋势都有重要影响。随着气藏压力的衰竭，井壁稳定性将变得越来越差，最终导致井筒出砂。因此，对气井完井不仅应该考虑到气藏开发初期地层的稳定性状况，而且还应该考虑到气藏压力衰竭后可能出现的井壁失稳问题。     

基于PRO/E三维管道轨迹专用检具的设计

介绍使用该软件组件设计模块中的高级工具———切除 (CutOut)功能设计高精度三维轨迹管道零件检具的方法 ,该方法具有高效和精密等特点。     

Temperature–stress–strain trajectory modelling during thermo-mechanical fatigue

The isothermal strain‐life approach is the most commonly used approach for determining fatigue damage, particularly when yielding occurs. Computationally it is extremely fast and generally requires elastic finite element analyses only. Therefore, it has been adapted for variable temperatures. Local temperature—stress–strain behaviour is modelled with an operator of the Prandtl type. The hysteresis loops are supposed to be stabilized and no creep is considered. The consequences of reversal point filtering are analysed. The approach is finally compared to several thermo‐mechanical fatigue tests and the Skelton model.     

Measurement of forming trajectories during drilling

Results are provided for an experimental study of forming trajectories during drilling and the effect on them of cutting speed and drilling depth. __________ Translated from Izmeritel’naya Tekhnika, No. 8, pp. 31–33, August, 2006.     

Determination of optimal feedback terminal controllers for general boundary conditions using generating functions

Given a nonlinear system and a performance index to be minimized, we present a general approach to expressing the finite time optimal feedback control law applicable to different types of boundary conditions. Starting from the necessary conditions for optimality represented by a Hamiltonian system, we solve the Hamilton-Jacobi equation for a generating function for a specific canonical transformation. This enables us to obtain the optimal feedback control for fundamentally different sets of boundary conditions only using a series of algebraic manipulations and partial differentiations. Furthermore, the proposed approach reveals an insight that the optimal cost functions for a given dynamical system can be decomposed into a single generating function that is only a function of the dynamics plus a term representing the boundary conditions. This result is formalized as a theorem. The whole procedure provides an advantage over methods rooted in dynamic programming, which require one to solve the Hamilton-Jacobi-Bellman equation repetitively for each type of boundary condition. The cost of this favorable versatility is doubling the dimension of the partial differential equation to be solved.     

L2-P5三靶点绕障拱型水平井钻井技术

介绍了胜利油田L2—P5三靶点绕障拱型水平井的设计和施工情况，重点分析了该井直井段和水平段井眼轨迹控制技术，对施工中出现的问题进行了分析并给出了相应的对策，为该区类似井钻井提供了有益的借鉴。     

Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

多目标水平井水平段三维设计数学模型

用柱面法推导出多目标水平井水平段三维设计数学模型，并给出了三维设计所需井斜方位角及井斜角的简单计算公式。该数学模型具有一般性，可以方便地编制成计算机程序，对于多目标水平井水平段的优化设计和所有水平井入靶前的随钻修正设计都非常适用。