移动服务机器人共享控制研究

移动服务机器人在提高老人/残疾人活动空间方面具有重要作用.针对机器人自主避障失败时存在安全问题,提出了基于共享控制的服务机器人系统.构建基于机器视觉与人眼视觉共享控制的机器人系统.研究服务机器人的共享策略问题和眼电信号角度与参考轨迹关系.引入人工场解决自适应轨迹跟踪算法的平滑性.仿真结果说明基于人工场导向方法能平滑逼近期望轨迹.实验结果表明本系统能够满足使用者的安全需求.     

Extended trajectory shaping guidance law considering a first-order autopilot lag

To satisfy the terminal position and impact angel constraints, an optimal guidance problem was discussed for homing missiles. For a stationary or a slowly moving target on the ground, an extended trajectory shaping guidance law considering a first-order autopilot lag (ETSGL-CFAL) was proposed. To derive the ETSGL-CFAL, a time-to-go-nth power weighted objection function was adopted and three different derivation methods were demonstrated while the Schwartz inequality method was mainly demonstrated. The performance of the ETSGL-CFAL and the ETSGL guidance laws was compared through simulation. Simulation results show that although a first-order autopilot is introduced into the ETSGL-CFAL guidance system, the position miss distance and terminal impact angle error induced by the impact angle is zero for different guidance time.     

Trajectory Optimization Design for Morphing Wing Missile

This paper presents a new particle swarm optimization (PSO) algorithm to optimize the trajectory of morphing-wing missile so as to achieve the enlargement of the maximum range. Equations of motion for the two-dimensional dynamics are derived by treating the missile as an ideal controllable mass point. An investigation of aerodynamic characteristics of morphing-wing missile with varying geometries is performed. After deducing the optimizing trajectory model for maximizing range, a type of discrete method is put forward for taking optimization control problem into nonlinear dynamic programming problem. The optimal trajectory is solved by using PSO algorithm and penalty function method. The simulation results suggest that morphing-wing missile has the larger range than the fixed-shape missile when launched at supersonic speed, while morphing-wing missile has no obvious range increment than the fixed-shape missile at subsonic speed.     

Optimal Release Control of Companion Satellite System Using Electromagnetic Forces

Electromagnetic forces generated by the inter-action of component satellites can be used to release companion satellites. Optimal release trajectories for companion satellite system using inter-electromagnetic forces were investigated. Firstly, nonlinear relative motion dynamic equations of a two-craft electromagnetic companion satellite system were derived in spatial polar coordinates. Then principles of electromagnetic satellite formation flying were introduced. Secondly, the characteristics of the electromagnetic companion satellites release were analyzed and optimal release trajectories of companion satellites using electromagnetic forces were obtained using Gauss pseudospectral method. Three performance criteria were chosen as minimum time, minimum acceleration of the separation distance and minimum control acceleration. Finally, three release examples including expansion along separation distance, rotation in orbital plane and stable formation reconfiguration were given to demonstrate the feasibility of this method. Results indicated that the release trajectories can converge to optimal solutions effectively and the concept of release companion satellites using electromagnetic forces is practicable.     

不确定单机无穷大系统的预测变结构控制

将不确定单机无穷大系统的非线性三阶模型转换成二阶模型,以便在相平面中直观地设计变结构控制律。使用系统不确定参数的上下限来设计控制律,以获得良好的鲁棒性。通过预测相轨线的走势确定控制切换时机,保证了系统轨迹以指数速率收敛到平衡点。由于控制律的切换不是连续的,因此避免了传统变结构控制中的抖振。在仿真时,系统的初始状态较大地偏离了平衡点,在仿真过程中,机械功率遭受了30%的临时干扰,仿真结果表明,系统轨迹能够快速地回到原来的平衡点,控制律具有很好的鲁棒性。     

基于航模辅助观测的车辆轨迹提取方法

为了克服交通流定点视频观测方法在观测范围上的局限性,提出了一种基于飞行航模辅助视频观测的地面道路车辆轨迹提取方法．首先应用飞行航模在空中拍摄获得道路交通流视频,并将视频分解为连续逐帧图片;其次应用针孔成像模型和空间坐标转换算法,对逐帧航拍图片内的车辆坐标进行提取和转换,以获得车辆的运行时空轨迹数据;最后进行了该方法的3类误差分析.结果表明,该方法在标准棋盘格试验下提取坐标的相对误差小于5％,实际道路交通目标坐标提取的精度达到90％以上．航模辅助视频观测法可实现对交通目标的大范围低成本观测,能够满足交通工程的观测需求．     

时间模糊开关控制的自旋系统Lyapunov控制

研究了自旋1/2系统的量子态控制问题。首先通过分析量子系统状态的轨迹演变误差,利用模糊开关控制对所研究的量子系统状态进行模糊控制,其次根据量子克隆的思想,对控制后的量子态进行复制,进而对克隆得到的量子态进行测量,将测量结果反馈到控制系统中,最后在一个给定的误差范围内得到系统控制的目标态。     

JZ-3型水轮机修复机械手路径轨迹规划

针对水轮机修复机械手在水轮机转轮的异性叶片曲面上焊接的路径轨迹规划问题,在概述了水轮机修复专用机械手运动方程的基础上,论述了经过修订的两种笛卡尔空间路径轨迹规划算法.为使规划的路径轨迹准确通过补焊位置而减小误差,同时尽可能使工作路径涵盖绝大部分的水轮机叶片曲面,提出了任意四边形内多焊道等宽路径轨迹规划的概念、算法和相应步骤.编程和仿真显示此方法可用于异形曲面的路径轨迹规划,并使焊道涵盖90%左右的水轮机叶片表面.     

利用拉格朗日方法对旋流器分离过程随机特性的实验研究

为了探测旋流器中固体颗粒的随机分离特性,实验采用高速摄像技术并利用拉格朗日方法对粒子运动轨迹进行了测定,所进行的100多种实验工况能充分说明粒子运动和分离特征。统计分析实验中粒子运动轨迹表明其分离过程存在随机特性,且产生短路流的大部分颗粒是由3点注入时产生的,这为进一步进行理论研究和旋流器结构设计提供了可靠的实验依据。     

异类粒子群算法的机械臂轨迹多目标规划

为了减少机械臂工作过程中的耗时、耗能和冲击,提出了基于异类粒子群算法的机械臂轨迹多目标规划方法。建立了7自由冗余机械臂运动学模型和优化模型;以传统粒子群算法为基础,根据学习信息的不同来源,设计了4种粒子进化行为,根据粒子当前状态计算不同进化行为的当前价值和未来价值,根据当前价值和未来价值的综合价值计算不同进化行为的选择概率,从而完成了异类粒子群算法的构造。以耗时最少单目标优化为例,与传统粒子群算法相比,异类粒子群算法不仅收敛速度快,而且优化程度提高了27.48%;使用异类粒子群算法对机械臂轨迹进行多目标综合优化,给出了Pareto最优前沿面,可根据不同需求和优化重心从中选择优化结果。