武器自动机光电测速技术研究

本文在科研样机研制的基础上,深入探讨了武器自动机光电测速系统的原理、设计思想及具体实现方法,对系统的主要技术指标进行了分析评估.     

液压驱动型四足机器人对角小跑步态本体水平位置控制方法

为了对对角小跑中四足机器人本体的水平位置进行控制,建立基于沿支撑线方向运动分解的机器人近似动力学模型,将本体和对角支撑腿简化为一个七连杆结构和一个线性倒立摆,并且基于线性倒立摆解析模型提出摆动腿落足点位置计算方法,进而实现对本体水平位置的控制。针对液压作动器伸缩速度受限的问题,利用单腿冗余关节将关节角速度优化问题转化为标准二次型规划问题,通过设计二次型规划问题解法,降低对摆动腿关节角速度的需求,并且避免了传统伪逆方法可能产生的腿部奇异位型。仿真和实验结果表明:该方法能够实现在关节角速度受限的情况下,有效跟踪本体水平位置的期望轨迹。     

平板湍流边界层内气泡流流动实验研究

在低湍流度水槽里 ,利用片光源显示了平板气液两相湍流边界层内气泡流的流场结构 ,研究了平板安装位置、来流速度、喷气方式等参数对湍流边界层内气泡流的影响 .利用激光测速技术测量了平板水平放置时气泡流最外缘处的水平速度及厚度 .结果表明 :平板喷气减阻的原因在于喷气改变了平板湍流边界层的流动结构 ,抑制了湍流     

大型光学表面纳米精度制造

纳米精度光学表面在光刻技术、同步辐射、空间观测和惯约聚变等领域有重大需求。随着装备性能需求的不断提升,这些光学系统对光学零件面形精度和表面质量的要求几乎接近于物理极限,对光学制造技术提出了更高挑战,使光学制造成为纳米制造技术的发展前沿。通过攻克纳米量级材料去除的稳定性、复杂曲面可控补偿和装备运动轴性能设计等关键问题,掌握了以磁流变和离子束抛光技术为代表的可控柔体抛光技术,利用自主研发的抛光制造装备和工艺实现了典型光学零件的纳米精度制造,为国家相关科技项目的顺利实施提供有力的制造技术支撑。     

油水两相分层流层流流速分布计算分析

利用剪切力比模型,进一步讨论了油水两相分层流层流流动的速度分布规律,将水相流速假设为抛物线形式分布与实验结果有较大偏差,将水相分为拖曳和返流两段更接近实际情况,模型所得水相计算结果更接近实验数据。指出剪切力比模型能否适合于油水两相分层流动计算理论需要更多实验结果验证。     

均匀设计法在建立PELE爆裂效应关系模型中的应用

为了研究钢壳体PELE爆裂效应与影响因素之间的数学关系,对钢壳体PELE侵彻钢板进行了数值仿真和试验。采用均匀设计法设计仿真工况,将仿真结果进行回归分析,得出爆裂效应与影响因素之间的数学关系式,实弹侵彻实验结果与仿真结果基本吻合。研究表明,影响因素均与壳体爆裂长度成非线性关系,增大靶板厚度、弹芯长度和着速或减小壳体厚度均有利于提高钢壳体的爆裂效应。相关结论为PELE的工程设计和应用提供了理论基础。     

A three-stage model for the perforation of finite metallic plates by long rods at high velocities

A three-stage theoretical model is presented herein to predict the perforation of a thick metallic plate struck normally by a long rod at high velocities. The model is suggested on the basis of the assumption that the perforation of a thick metallic plate by a long rod can be divided into three stages: (1) initial penetration; (2) plug formation and (3) plug slipping and separation. Various analytical equations are derived which can be employed to predict the ballistic limit, residual velocity and residual length of the long rod. It is demonstrated that the present model predictions are in good agreement with available experimental results for the perforation of finite steel targets struck normally by steel as well as tungsten alloy long rods at high velocities. It is also demonstrated that the dynamic maximum shear stress of a plate material has strong effect on plug formation and plug thickness which, in turn, exerts considerable influence on the residual velocities and lengths of a long rod at impact velocities just above the ballistic limit.     

A bicriterion approach to common flow allowances due window assignment and scheduling with controllable processing times

We investigate a single‐machine scheduling problem for which both the job processing times and due windows are decision variables to be determined by the decision maker. The job processing times are controllable as a linear or convex function of the amount of a common continuously divisible resource allocated to the jobs, where the resource allocated to the jobs can be used in discrete or continuous quantities. We use the common flow allowances due window assignment method to assign due windows to the jobs. We consider two performance criteria: (i) the total weighted number of early and tardy jobs plus the weighted due window assignment cost, and (ii) the resource consumption cost. For each resource consumption function, the objective is to minimize the first criterion, while keeping the value of the second criterion no greater than a given limit. We analyze the computational complexity, devise pseudo‐polynomial dynamic programming solution algorithms, and provide fully polynomial‐time approximation schemes and an enhanced volume algorithm to find high‐quality solutions quickly for the considered problems. We conduct extensive numerical studies to assess the performance of the algorithms. The computational results show that the proposed algorithms are very efficient in finding optimal or near‐optimal solutions. © 2017 Wiley Periodicals, Inc. Naval Research Logistics, 64: 41–63, 2017     

时间跨度对GPS坐标序列噪声模型及速度估计影响分析

选取全球范围内72个基准站的坐标序列,采用改进的赤池信息量准则、贝叶斯信息量准则对不同噪声模型组合进行噪声分析,得到基准站坐标序列的最优噪声模型及速度参数,探讨时间序列跨度对噪声模型及速度估计的影响。结果表明,基准站坐标序列噪声模型不能由单一的噪声模型表述,其呈现出多样性特征,主要表现为幂律噪声、高斯马尔科夫噪声、闪烁噪声+白噪声特征,且三坐标分量表现出不同的噪声特性;随着时间跨度的增加,坐标时间序列的最优噪声模型、GPS站速度及其不确定度逐渐由发散趋于收敛,随机游走噪声模型的比重有所增加。结果表明10 a以上的时间跨度是较为理想的噪声模型估计尺度。     

基于高阶滑模微分器的增广比例导引律

导引律的设计在导弹制导与控制中具有重要作用,为了解决增广比例导引中导弹-目标视线角速度和视线角加速度不易获得的问题,设计了一种基于高阶滑模微分器的增广比例导引律。首先,根据高阶滑模微分器的数学模型建立视线角速度和视线角加速度的估计模型;其次,根据视线角速度和视线角加速度的估计值,利用一种光滑无抖阵滑模微分器构造增广比例导引律。最后,通过仿真验证表明,具有滑模微分器结构的增广比例导引律导引性能良好。