存在飞轮安装偏差与故障的卫星姿态容错控制

基于滑模控制理论提出一种刚体卫星姿态稳定控制方法,实现对反作用飞轮部分失效故障的容错控制,以及对其安装偏差的补偿控制,并从理论上证明了所设计的控制器在有限时间内能够实现对闭环姿态控制系统的几乎全局渐近稳定控制.最后将所设计的控制器应用于某型卫星姿态稳定任务,仿真结果验证了所提出方法的有效性.     

考虑安装错位的弧齿锥齿轮小轮齿面再设计

为保证弧齿锥齿轮副在实际工况下具有良好的齿面印痕与啮合状态,研究安装错位的识别技术以及错位条件下的齿面再设计技术.分析可导致相同齿面印痕的多种安装错位组合之间的关系;提取齿面印痕的数值特征,以两接触轨迹曲线的偏差和最小为目标函数,采用优化方法识别当量安装错位;基于局部综合法,根据当量安装错位重新设计小轮的齿面.以一对弧齿锥齿轮副为例,比较实际安装错位与当量安装错位作用下的小轮再设计齿面的差曲面,验证了该设计方法的正确性和有效性.     

光纤陀螺输入轴失准角温度补偿研究

提高温度特性是光纤陀螺仪工程化的一个难题,温度补偿是解决该问题的一种有效方法。光纤陀螺与温度相关误差项主要为零漂和标度因数,输入轴失准角也是影响光纤陀螺应用的一个重要误差项。在大量试验的基础上,分析了光纤陀螺输入轴失准角误差产生机理,采用多项式拟合方法建立了输入轴失准角误差全温模型,对多套光纤陀螺进行了全温补偿。试验结果表明,输入轴失准角补偿前全温变化在2?10^-3rad数量级,补偿后全温变化小于3?10^-4rad,精度提高了近一个数量级,大大提高了光纤陀螺仪的全温性能。     

Effect of automatic image realignment on visuomotor coordination in simulated laparoscopic surgery

During laparoscopic surgery, the surgeon's hand-eye coordination is often disrupted by the incongruent mapping between the orientation of the endoscopic view and the actual operative field. Two experiments were conducted to examine the effect of automatic image realignment on the performance of laparoscopic surgery. The first experiment investigated how visual-motor misalignment impacted laparoscopic surgery performance. Novice subjects were randomly assigned to one of the two paired viewing conditions in a simulated laparoscopic surgery environment: 1) the endoscope was either at the center of the modeled workspace with an optical axis of 90°, or at -45° from the midline of the subjects with an optical axis 45°; 2) the endoscope was either at 0°, or at 180° from the midline of the subjects, both with an optical axis of 45°. Each group of twelve subjects performed a dynamic point-and-touch task under the assigned pair of viewing conditions, each with eight image orientations, in a repeated-measures mixed design. The second experiment examined whether the automatic realigning mechanism that was activated mid-task (such that a congruent mapping between display and control was re-established if the mapping at the beginning of the task had been misaligned) was helpful to improve performance. Twelve novice subjects performed the same task as in the first experiment in a repeated-measures design. Performance was examined under three misaligned visuomotor mappings, each followed by the realigned mapping activated by the automatic realigning mechanism. Results showed that performance was best when the endoscopic image was perfectly aligned with the actual task space (0° image orientation), but degraded progressively as a function of deviation from perfect alignment. Subjects' performance maintained a consistent pattern across 8 image orientations regardless of optical axis orientation and endoscope location. Performance was improved with the automatic realigning mechanism. It is recommended that any solution to restore the visuomotor congruency in laparoscopic surgery should first align the image with the task space. This work has implications for the design of visualization systems in laparoscopic surgery.     

Dynamic asymmetrical instability of elastic–plastic beams

Dynamic instability of elastic–plastic beam is investigated by employing a three-degree-of-freedom (3-DoF) beam model. Especially, asymmetrical instability induced by symmetrical load is discussed. The asymmetrical instability is considered as a second-order buckling mode. Four types of perturbations, i.e., geometrical misalignment, material property mismatch, unsymmetry of applied load and disturbance of boundary conditions, are introduced to activate the asymmetrical responses. The asymmetrical response is characterized by a modal participation factor α₂ which corresponds to an asymmetrical mode shape. Phase plane trajectories and Poincaré map are used to illustrate the chaotic characteristics of the beam response. Results show that if the perturbations are small enough, the perturbation type has negligible influence on the critical load for the occurrence of the asymmetrical instability, which implies that the asymmetrical instability is an intrinsic feature of the beam system. However, with the increase of the magnitude of the perturbations, the influence of the asymmetrical vibration is expanded to a large extension of loading parameter.     

计入轴倾斜的轴-轴承系统动力学行为研究

以弹性轴的多柔体动力学分析为基础,通过ADAMS与MATLAB联合仿真,解决了计入轴倾斜时弹性轴-轴承系统在正弦和冲击激励力作用下的动力学和摩擦学求解问题.主要结论是:考虑轴倾斜时,轴-轴承系统一阶固有频率略有下降,二阶固有频率略有上升;动力学响应幅度增大.     

机械振动对光学系统指向精度的影响

针对机械振动对光学系统性能影响的预测问题，基于矩阵光学和机械振动学理论，建立了振动响应对光学系统性能失调和光束稳定性的分析模型，并以某光学系统为例，给出了数值仿真方法。数值结果表明，仿真模型是合理的，可用于预测评价光学平台机械结构设计的优劣。     

低耦合损耗的光电混合光纤旋转连接器

设计了一种光电混合光纤旋转连接器,能实现相对旋转的光信号在较大对准误差范围内低损耗连接.旋转状态下的自聚焦透镜准直光纤输出的光信号,并由PIN光电探测器将其转换为电信号,冉由激光器根据电信号再生出原始光信号继续在光纤通讯系统中传输.该光电混合光纤旋转连接器在离轴偏移量至520μm或对准倾斜角至0.5°时的附加耦合损耗为0.3 dB,而采用双自聚焦透镜的光纤旋转连接器要获得小于3 dB的插入损耗,其离轴偏移或倾斜角度必须小于100 μm和0.10°相比之下,本文设计的光纤旋转连接器能降低系统对机械加上及装配精度的要求,具有较高的实用价值.     

H∞滤波和Kalman滤波在初始对准中的比较研究

摇摆状态下的捷联惯导初始对准,由于动基座情况下干扰较大,造成对准精度下降.推导了大失准角误差模型,设计了相关的H∞滤波器和Kalman滤波器,并比较了二者的性能.通过静基座和摇摆动基座初始对准仿真试验分析,得出静基座条件下,Kalman滤波性能较好;而在外界干扰较大或系统模型不准确的环境中,Kalman滤波性能恶化,H∞滤波的对准精度优于Kalman滤波,且实时性好,适合于工程应用.     

推力偏心对导弹弹道仿真的影响

发动机推力偏心的存在导致导弹弹道偏离期望值而产生一定的偏差.为了更好、更逼真地模拟导弹的运动过程,对推力偏心产生的扰动进行仿真就显得很有必要了.应用乘同余法生成的服从均匀分布的随机数列,以及以此为基础生成的服从正态分布的随机数列,来模拟扰动的随机性,取得了较好的效果.通过对有扰动和无扰动两种情况下的弹道仿真结果进行对比可以看出扰动力矩在初始阶段对弹道参数的影响是较大的,符合推力偏心扰动的实际情况.将仿真结果应用到飞行模拟器导弹攻击系统中,取得了较好的效果,对飞行模拟器导弹攻击系统的研制具有重要意义.