MEMS陀螺在航天器控制系统中的应用评述

在分析MEMS陀螺在空间应用优势基础上,对MEMS陀螺的空间适应性进行了分析,提出了其在空间系统中的应用途径,通过国内外应用情况表明:MEMS陀螺能够广泛应用于航天器控制系统,并随着工艺水平的提高,将成为航天器控制系统的最佳选择.     

步进电机控制系统的设计

系统由单片机产生数字脉冲信号,通过ULN2003驱动芯片控制电机的运行。由于脉冲信号的频率决定电机的转动速度,所以要改变转速就需要改变脉冲频率。系统采用定时中断的方法改变脉冲频率,而按键次数主要控制外部中断用以改变存储区中的速度值,步进电机的输出脉冲频率就发生相应的改变,最终达到改变转速的效果。     

基于MIMU和磁力计的姿态更新算法研究

针对传统人体姿态解算算法中存在MEMS陀螺误差发散快的问题,提出一种基于微惯性测量单元( MIMU)及磁力计信息融合的姿态解算算法。该算法利用互补滤波结合PI调节控制完成陀螺零偏校正,然后在加速度计和磁强计的辅助校正下,通过EKF( Expand Kalman Filter)滤波器更新四元数法实现陀螺姿态解算。本算法采用MPU9150传感器模块完成测试实验,实验中对比分析了单独扩展卡尔曼滤波算法与本算法的滤波效果。实验结果表明,本算法能够有效地抑制陀螺的发散,实现稳定地输出高精度姿态数据。     

基于玻尔兹曼的微机械陀螺温度误差补偿

使用最优拟合的方法,在一定的温度范围内,对微机械陀螺仪温度误差建模,通过温度误差模型对陀螺仪输出进行温度误差补偿。应用线性拟合和玻尔兹曼拟合方法对实验数据进行按拟合修正,该方法减小了温度对微机械陀螺仪的影响,并验证玻尔兹曼误差模型的正确性与可实用性。补偿后的数据较陀螺原始数据零偏,提高了1~2个数量级。在工程实际中有一定的实用参考价值。     

DRILLING CHARACTERISTICS OF COMBINATIONS OF DIFFERENT HIGH PRESSURE JET NOZZLES

The high speed fluid jet for directly or indirectly breaking rock is one of the most effective ways to improve the deep penetration rate.In order to maximize the efficiency of energy use,the flow characteristics of different combinations of high pressure jet nozzles are analyzed through numerical simulations.According to the velocity vectors at the bottom and the bottom hole pressure diagram,the effects of the high pressure nozzle combinations on the flow structure and the penetration rate are analyzed.It is shown that the combination of three vertical edge nozzles is very efficient,but inefficient in cleaning the bottom hole and eroding the wall.The jet velocity is 400 m/s and the radius is 5 mm,with a center nozzle added,the problem can be solved,but the high-pressure fluid displacement would increase.The center nozzle’s jet velocity is 200 m/s and the radius is 8 mm,the combination of two vertical edge nozzles and a center tilt nozzle or that of a vertical edge nozzle and a center tilt nozzle would provide a flow structure favorable for drilling.The angle of inclination is 10o.To take advantage of high pressure jet energy to improve the efficiency of drilling,it is important to select a suitable nozzle combination according real conditions.     

基于混合高斯模型的目标差分自适应背景模型

提出一种自适应背景更新率的方法。在混合高斯背景模型基础上。通过混合高斯匹配将前后两帧分割出的运动目标作差分。差分后再次采用混合高斯匹配分辨出过去目标区和当前目标区。在背景更新的过程中,加大过去目标区的更新率,让运动目标在出现停滞状态时给背景模型带来的干扰区域得到快速恢复。试验结果表明,该方法有效地提高背景模型的鲁棒性。     

气/液两相流相关法测速系统的仿真研究

气/液两相流是自然界和工业过程中广泛存在的一种非常典型、复杂的两相流形态。本文以气液两相凝固流为模型将电容层析成象(ECT)技术和相关流速测量技术相结合,针对采样运算所得的电容信号分别采用象素相关、归一化互相关、差动自相关和极性互相关四种相关算法进行了相关测速系统的Matlab仿真。结果表明采用相关测量技术可较好的实现两相流离散相速度的测量。     

Evalvid-RA: trace driven simulation of rate adaptive MPEG-4 VBR video

Due to the increasing deployment of conversational real-time applications like VoIP and videoconferencing, the Internet is today facing new challenges. Low end-to-end delay is a vital QoS requirement for these applications, and the best effort Internet architecture does not support this natively. The delay and packet loss statistics are directly coupled to the aggregated traffic characteristics when link utilization is close to saturation. In order to investigate the behavior and quality of such applications under heavy network load, it is therefore necessary to create genuine traffic patterns. Trace files of real compressed video and audio are text files containing the number of bytes per video and audio frame. These can serve as material to construct mathematical traffic models. They can also serve as traffic generators in network simulators since they determine the packet sizes and their time schedule. However, to inspect perceived quality, the compressed binary content is needed to ensure decoding of received media. The EvalVid streaming video tool-set enables this using a sophisticated reassembly engine. Nevertheless, there has been a lack of research solutions for rate adaptive media content. The Internet community fears a congestion collapse if the usage of non-adaptive media content continues to grow. This paper presents a solution named Evalvid-RA for the simulation of true rate adaptive video. The solution generates real rate adaptive MPEG-4 streaming traffic, using the quantizer scale for adjusting the sending rate. A feedback based VBR rate controller is used at simulation time, supporting TFRC and a proprietary congestion control system named P-AQM. Example ns-2 simulations of TFRC and P-AQM demonstrate Evalvid-RA’s capabilities in performing close-to-true rate adaptive codec operation with low complexity to enable the simulation of large networks with many adaptive media sources on a single computer.     

VANET无线链路质量的测量与分析

目前对移动自组织网络的研究很少涉及现实环境里的测量问题。该文对不同环境下无线链路丢包率、信号强度等参数进行了测量和分析。结果表明,环境对链路质量有较大影响,在郊区环境下,丢包率较低,链路质量较好,信号强度反应链路质量的能力有限,连续丢包概率的变化与丢包率平均值的变化基本一致。分析结果对预测无线链路质量和设计VANET网络协议具有重要意义。