仿昆扑翼飞行器全解耦控制

针对仿昆扑翼飞行器飞行控制所面临的欠驱动问题,基于平均理论,提出采用周期时变反馈策略控制仿昆扑翼飞行器的策略,并给出了设计周期时变反馈控制器的输入参数化设计方法．该方法对飞行昆虫的扑翼运动进行仿生模拟,通过调整根翅运动参数,实现了对6个方向气动力和力矩的独立控制．本质上就是用参数表示欠驱动系统的输入,并以此构造周期时变反馈函数;从而在原系统中引入更多数目的独立控制量,将原系统转化为完全能控系统．然后,将此可控系统线性化,并利用线性反馈控制器设计工具设计其反馈控制律．仿真结果表明,基于该策略设计的控制器具有响应速度快、稳定误差小、鲁棒性强等特点．     

时变不确定非线性系统自适应滑模跟踪控制

针对一般的具有时变且界未知的非线性不确定性的单输入多输出非线性系统,提出一种自适应滑模跟踪控制器的框架.在该框架内,系统的时变且界未知的非线性不确定性可以通过函数逼近技术(FAT)表示成为一组正交基函数序列的组合,并通过滑模控制技术和直接Lyapunov方法获得基函数系数的更新律以及对不确定性逼近误差的在线自适应补偿,从而得到自适应的滑模控制律.所提出的基于函数逼近技术的自适应滑模跟踪控制策略在直流电机跟踪控制系统实验装置上进行了实际控制实验,并进行了性能的对比与分析.     

含离散和分布时变时延神经网络系统的指数稳定性

针对一类含有离散和分布时延神经网络,在神经激活函数较弱的约束条件下,通过定义一个更具一般性的Lyapunov泛函,使用凸组合技术,得到了新的基于线性矩阵不等式表示的指数稳定性判据.与现有结果相比,这些判据具有较小的保守性.仿真算例表明,得到的结果是有效的且保守性小.     

Vibration analysis of cable-driven parallel manipulators

A cable-driven parallel manipulator is a manipulator whose end-effector is driven by a number of parallel cables instead of rigid links. Since cables always have more flexibility than rigid links, a cable manipulator bears a concern of possible vibration. Thus, investigation of vibration of cable manipulators caused by cable flexibility is important for applications requiring high system stiffness or bandwidth. This paper provides a vibration analysis of general 6-DOF cable-driven parallel manipulators. Based on the analysis of the natural frequencies of the multibody system, the study demonstrates that a cable manipulator can be designed stiff enough for special applications like the cable-manipulator based hardware-in-the-loop simulation of contact dynamics. Moreover, under an excitation, a cable may vibrate not only in its axial direction, but also in its transversal direction. The paper also analyzes the vibration of cable manipulators caused by cable flexibilities in both axial and transversal directions. It is shown that the vibration of a cable manipulator due to the transversal vibration of cables can be ignored comparing to that due to the axial flexibility of cables.     

Viscoelastic material design with negative stiffness components using topology optimization

An application of topology optimization to design viscoelastic composite materials with elastic moduli that soften with frequency is presented. The material is a two-phase composite whose first constituent is isotropic and viscoelastic while the other is an orthotropic material with negative stiffness but stable. A concept for this material based on a lumped parameter model is used. The performance of the topology optimization approach in this context is illustrated using three examples.     

基于重要目标区的三维地形快速渲染方法

三维地形的显示需要绘制大量的三角形网格,为了提高地形显示速度目前广泛采取了三角形网格简化技术。针对弹道导弹作战区域地形的特殊性,提出了一种基于重要目标区的网格简化方法。从BMP位图读取地形高度信息,以四叉树保存网格数据,按照区域重要性静态确定地形网格疏密程度。并采用DirectX平台,实现了导弹战区三维地形显示,提高了渲染效率。     

细分曲面求交交线计算方法的研究

主要针对三角网格的细分曲面求交提出了一种有效的交线计算的方法,该方法适用于任意三角网格的细分曲面中.在利用AABB和二部图进行初始控制网格相交性检测后,利用该方法快速有效地求出细分曲面的交线.     

光电转台轻量化几何形状优化研究

对光电转台进行轻量化,首先需要进行几何形状进行优化.筋板如何布置才能使转台的动态刚度达到最优,在设计中一直是一个难点.基于此,通过对转台的连接部件、止推轴承及径向轴承进行有效简化,建立起了光电转台的动力学模型,结合模型.对转台内部的筋板布置形式进行了详尽的研究比较.研究结果表明,要想获得满意的动态刚度,单纯地增加筋板数量并不能达到要求,而应该根据其具体的振动情况来选择合理的筋板布置形式,并且在平行于振型方向的筋板上,开孔时的动刚度效果相对地比未开孔时的动刚度效果要好.     

基于图像建模的多视图模型合并

通过基于单幅图像的建模方法或者基于立体像对的建模方法,可以重建图像序列中每一幅图像或者立体图像对对应的模型。但所得的是局部模型,并非物体的完整模型。针对这一问题,提出了一种基于序列图像建模的多视图模型合并方法。基于已重建出的同一物体不同角度的三角形网格模型,在统一坐标系下,对相邻角度下的三角形网格模型求取其重合区域,记录刚好包围重合区域的原始网格区域,对该区域重新进行网格划分,最后得到物体完整的三角网格模型。实验结果表明,该方法是可行的、有效的。     

Non-Hierarchical Architected Materials with Extreme Stiffness and Strength

Stretch-dominated truss and plate microstructures are contenders in the quest for realizing architected materials with extreme stiffness and strength. In the low volume fraction limit, closed-cell isotropic plate microstructures meet theoretical upper bounds on stiffness but have low buckling strength, whereas open-cell truss microstructures have high buckling strength at the cost of significantly reduced stiffness. At finite volume fractions, the picture becomes less clear but both are outperformed by hollow truss lattice and hierarchical microstructures in terms of buckling strength. Despite significant advances in manufacturing methods, hollow and multi-scale hierarchical microstructures are still challenging to build. The question is if there exist realizable microstructures providing stiffness and strength matching or even beating hard-to-realize hollow or hierarchical microstructures? Herein, single-scale non-hierarchical (first order) microstructures that beat the buckling strength of hollow truss lattice structures by a factor of 2.4 and first- and second-order plate microstructures by factors of 5 and 1.4, respectively, are systematically designed, built, and tested. Stiffness of the microstructures is within 40% of theoretical bounds and beats both truss and second order plate microstructures. The microstructures are realized with 3D printing. Experiments validate theoretical predictions and additional insight is provided through numerical modeling of a CT-scanned sample.