变速鱼雷推进器动态模型理论研究

传统鱼雷推进器静态模型已无法满足变速鱼雷的建模需要，为了解决这一问题，在国内外学者研究的基础上，运用流体动力学方法，建立了鱼雷推进器比较精确的动态模型。该模型是以推进器来流速度和螺旋桨转速为状态变量，以电机施加转矩为输入，螺旋桨推力和转矩为输出的。     

一种特殊卫星推力器矢量测量方法

常规卫星推力器的总装精度测量是通过经纬仪系统准直测量立方镜工装实现的.某卫星上出现了一种带有一个135°拐角的特殊推力器,受其结构及安装位置的限制,使用常规的经纬仪,现有的精度测量软件和立方镜精测工装无法直接测得此特殊推力器在卫星坐标系下的角度.设计了一种新型精测工装,并提出了基于该精测工装的特殊卫星推力器矢量的测量方法.该测量方法已经过验证和认可,并应用到后续型号的此种特殊推力器矢量测量工作中.     

考虑空间系绳释放特性的空间绳系机器人协调耦合控制

针对空间绳系机器人的轨迹跟踪控制问题,提出考虑系绳释放特性的跟踪轨迹协调控制方法.该方法考虑系绳释放的动力学特性,在最优轨迹规划过程中将系绳释放速度作为一个规划量,将系绳释放机构的转矩作为一个控制输入,结合操作机器人上推力器控制输入设计协调耦合位姿控制器.该方法的优点是控制输入易于施加,可工程实现系绳协调控制.仿真结果表明,操作机器人能精确跟踪最优轨迹,末端误差为±0.1 m,且能有效跟踪期望姿态,精度在±0.2°.     

Adaptive multi-mode switching strategy for the spherical underwater robot with hybrid thrusters

The conventional autonomous cruise and tracking system cannot transition and change its motion mode according to the underwater environment during operation, so it is of great significance to study the multi-mode switching of cruise control for Autonomous Underwater Vehicles (AUVs). In this paper, a Multi-Mode Adaptive Switching (MMAS) strategy for the Spherical Underwater Robot with Hybrid Thruster (HPSUR) was proposed, which provided the possibility for the robot to choose optimal control mode according to the unpredictable operating environment. Then, the dynamic and force of the hybrid thruster are analyzed to improve the accuracy of multi-mode switching, and the MMAS strategy is developed linking the attitude adjustment and switching problems. Furthermore, a series of multi-mode switching experiments were conducted using water-jet mode, propeller mode and hybrid mode. Finally, the experimental result was discussed, which verified the effectiveness and accuracy of the proposed MMAS strategy. The proposed control strategy has a certain reference value for the multi-mode switching of propulsion devices.     

二维完整配置下刚性航天器姿态角速度的渐近镇定

讨论了以非完整配置的单向推力器系统为执行机构时,刚性航天器姿态角速度的镇 定问题.针对一类特殊的有扰量非完整配置的情况--共面扰量二维完整配置,基于滑动控 制律实现了姿态角速度的镇定.仿真结果证实了所述方法的有效性.     

CAN总线在波动仿生推进器中的应用

波动仿生推进器是一种依据鱼类仿生学原理设计的新型水下推进器。控制器局域网(ControllerAreaNetwork,即CAN总线)是一种能有效地支持具有很高安全等级的分布实时控制的串行通信协议。基于波动仿生推进器内部环境及多电机独立控制结构的特点,采用CAN总线来构建波动仿生推进器内部的通信网络。文章对CAN总线在波动仿生推进器上的应用方案进行了系统阐述,提出了具体的软硬件解决方案,并对其中的一些关键点进行了说明。此外,对波动仿生推进器的波动控制技术,即多电机的协调控制方法也作了相应论述。     

航天器电推进技术现状与发展趋势

航天器的发展趋势极大地促进了电推进技术在航天器入轨、离轨、状态保持、精确定位及复定位、姿态控制、行星探测一次、二次推进中的应用。概述了俄罗斯和美国当前的电推进活动，重点对霍尔发动机、离子发动机、脉冲等离子体发动机等进行了分析；对电推进相关的重要关键技术，如阴极技术、先进高功率概念、羽流效应、热效应、场效应及供应系统技术进行了介绍；对航天器电推进项目未来发展方向进行了分析展望。     

Development of a new hybrid plasma torch for materials processing

The main objectives of this study were to construct a plasma generator device and to investigate its applications in welding, cutting, and surface hardening. The device was derived from the union of two plasma-generating technologies, non-transferred-arc plasma and magnetoplasmadynamic thruster (MPDT), and characterised by the simultaneous formation of two plasma arcs in one device, generating a plasma jet with high energy density. Initially, trials were conducted to analyse the influence of the physical variables (gas flow rate and electric current intensities – primary and secondary) on the plasma jet, for which the thruster and the length of the plasma jet expulsed from the chamber were determined. The relevant parameters for welding, cutting and surface hardening were determined by trial and error, in which the trials were conducted using various plate thicknesses and materials. The results have shown that this device can be used for welding, cutting and surface hardening.     

Particle-in-cell simulation for effect of anode temperature on discharge characteristics of a Hall effect thruster

Propellant gas flow has an important impact on the ionization and acceleration process of Hall effect thrusters (HETs). In this paper, a particle-in-cell numerical method is used to study the effect of the anode temperature, i.e., the flow speed of the propellant gas, on the discharge characteristics of a HET. The simulation results show that, no matter the magnitude of the discharge voltage, the calculated variation trends of performance parameters with the anode temperature are in good agreement with the experimental ones presented in the literature. Further mechanism analysis indicates that the magnitude of the electron temperature is responsible for the two opposing variation laws found under different discharge voltages. When the discharge voltage is low, the electron temperature is low, and so is the intensity of the propellant ionization; the variation of the thruster performance with the anode temperature is thereby determined by the variation of the neutral density that affects the propellant utilization efficiency. When the discharge voltage is high, the electron temperature is large enough to guarantee a high degree of the propellant utilization no matter the magnitude of the anode temperature. The change of the thruster performance with the anode temperature is thus dominated by the change of the electron temperature and consequently the electron-neutral collisions as well as the electron cross-field mobility that affect the current utilization efficiency.     

An Impulse Thruster for Radial Thrust Trajectory Correction

A prototype of impulse thruster for radial thrust trajectory correction munitions is designed. It adopts semiconductor bridge （SCB） as ignition element, Ti/KClO4 （TK） as ignition charge and ammonium perchlorate/aluminium （NA） or potassium picate/RDX （KR） as main charge. A thrust test device of impulse thruster is also designed. The output performance of the impulse thruster prototype is tested by the device. The tested results show that it can meet the safety requirements of 1A1W/5 min no-fire level and produce 0.2 - 0.6 N·s thrust impulse within 3ms of action time under certain test conditions; the corresponding ignition delay time is less than 0.5 ms.