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°.     

Tethered space orientation via adaptive sliding mode

Here, we study the problem of a rotating tethered satellite system (TSS) orientation. The rotation TSS is used for propellantless delivery of the payload from low earth orbits to geostationary orbits or other transfer orbits. Driving the angular positions to correct desired orientation in rendezvous and tossing moments, in fact, is important operation in many real sceneries. We suggest the mathematical model describing the dynamics of TSS and catch mechanism/payload rendezvous with external disturbance terms. Here is shown that using sliding mode control (SMC), we are able to control successfully the position of TSS. The conventional and adaptive versions of SMC are considered. We show that SMC with the gain matrix adaptation based on the equivalent control method can significantly reduce the undesirable chattering effect provoking possible damages of TSS. Copyright © 2015 John Wiley & Sons, Ltd.     

带可控臂的绳系卫星短距释放实验研究

通过绳系卫星轨道面内运动的天-地动力学相似,利用地面物理仿真平台实验研究绳系卫星短距离释放的控制问题.首先建立带控制臂的绳系卫星系统非线性动力学方程,获得天-地动力学相似条件,采用比例-微分反馈控制方法,对受控绳系卫星的姿态运动进行数值仿真.其次,利用地面物理仿真平台实现绳系卫星的天-地动力学相似环境,通过单根刚性臂实现卫星姿态运动和系绳摆动的两自由度运动控制.实验和数值对比结果表明,借助控制臂可以有效的对绳系卫星的释放进行控制.     

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Stabilization control is an essential mission for the tethered space robot‐target combination during the postcapture phase of tethered space robot (TSR). In this paper, the stabilization problem of such a tumbling combination is studied. With the consideration of the space tether and the attitude of the TSR's gripper, the dynamic model of the combination is first derived using Lagrange method. Then a robust nonlinear controller for the combination is proposed based on the backstepping control method. Considering the constraint on the velocity of the space tether, command filter method is utilized to guarantee the velocity of the space tether within a permitted range. A feedback term is designed to compensate the saturation of the thruster. Moreover, an adaptive law is designed to estimate the disturbance of parameter uncertainties and this disturbance is compensated in the proposed controller. Numerical simulations suggest that the proposed robust controller can realize the orbit and attitude stabilization of the combination; besides, the velocity of the space tether is effectively constrained and the parameter uncertainties of the combination can be compensated via the adaptive law. Copyright © 2016 John Wiley & Sons, Ltd.     

The Transfer of Fibres in the Carding Machine

The problem of understanding the transfer of fibres between carding-machine surfaces is addressed by considering the movement of a single fibre in an airflow. The structure of the aerodynamic flow field predicts how and when fibres migrate between the different process surfaces. In the case of a revolving-flats carding machine the theory predicts a “strong” aerodynamic mechanism between taker-in and cylinder and a “weak” mechanism between cylinder and removal cylinder resulting in effective transfer in the first case and a more limited transfer in the second.     

系留气球球体结构独立监测系统研究

系留气球经历了较长时间的研制和使用,但是设计师在设计过程中通常只考虑风速风向仪、温湿度传感器、GPS等装机设备用于保障系留气球正常工作,而对于验证设计过程中分析和仿真正确性的监测系统很少涉及.本文参照飞机试飞时加装试飞监测系统的方式,加装一套独立于系留气球装机设备之外的监测系统,来监测空中系留时尾翼和挂架的工作状态、地...     

基于拓扑优化的某系留气球设备挂架优化设计

文中针对某型系留气球设备挂架尺寸大,承载重、自重和刚强度要求严苛等特点,开展了挂架结构的优化设计工作.基于拓扑优化技术对设备挂架的结构形式,特别是主要承力部件的布局进行了重新设计,并对新设计方案进行了有限元分析和静力加载试验.结果显示,新设计方案在结构刚强度和重量上都优于原设计方案,且各种指标均满足设计要求.     

浮空器囊体膜材力学性能试验研究

对三种浮空器气囊膜材Uretek3216L、3216A、3224进行了一系列力学性能试验研究,包括单向拉伸试验、往返加载试验和徐变试验,得到了完整的强度、变形、往返荷载滞回环曲线、徐变等材料力学性能试验数据,提出了膜材在单向拉力作用下的三线段应力—应变模型.同时对有无焊缝试验结果进行比较,考察了高频焊缝对膜材力学性能的影响,最后根据往返荷载试验结果,计算出膜材的弹性模量.通过本研究得到的材料力学性能参数为浮空器复杂构型的验证、结构分析和裁剪分析提供支持.     

Viscoelastic behavior of fullerene end-capped linear polymers

Viscoelastic behavior of C₆₀-end-capped linear polybutadiene and C₆₀-end-capped poly(butadiene-co-styrene) with molecular weight (M_n) ranging from 30 to 130 kg/mol and with polydispersity index (M_w/M_n) ranging from 1.02 to 1.08 was investigated. These polymers were synthesized through anionic polymerization of butadiene and styrene in hexane, in which the living ends were capped with the C₆₀ via an alcoholate bridging. Rheological measurements showed that the polymer dynamics in the terminal zone were profoundly affected by the presence of fullerene, while the dynamics in the entanglement-plateau and at the terminal relaxation were nearly unaffected.     

浮空器在军事斗争中的应用及发展趋势

介绍了浮空器的定义、基本组成和发展历史,详细地分析了浮空器应用于军事斗争中的优势所在,举出浮空器在现代军事斗争中具体应用的实例,并结合浮空器的诸多优点展望了其发展趋势。