面向对象的燃气发生器地面试验柔性控制模型与实现

根据燃气发生器地面试验对控制的需求,分析了其控制行为,提出了面向对象的燃气发生器地面试验柔性控制模型。模型先进合理,符合目前测控技术发展的方向。在该模型基础上实现了柔性控制系统,能够满足各种型号的燃气发生器地面试验对控制的需求,并在试验中得到了成功的应用。与以前的控制系统相比,该系统具有可靠性高、结构简单、操作简单灵活等特点。     

Resale price maintenance contracts with retailer sales effort: Effect of flexibility and competition

In Resale Price Maintenance (RPM) contracts, the manufacturer specifies the resale price that retailers must charge to consumers. We study the role of using a RPM contract in a market where demand is influenced by retailer sales effort. First, it is well known that RPM alone does not provide incentive for the retailer to use adequate sales effort and some form of quantity fixing may be needed to achieve channel coordination. However, when the market potential of the product is uncertain, RPM with quantity fixing is a rigid contract form. We propose and study a variety of RPM contracts with quantity fixing that offer different forms of flexibility including pricing flexibility and quantity flexibility. Second, we address a long‐time debate in both academia and practice on whether RPM is anti‐competitive in a market when two retailers compete on both price and sales effort. We show that depending on the relative intensity of price competition and sales effort competition, RPM may lead to higher or lower retail prices compared to a two‐part tariff contract, which specifies a wholesale price and a fixed fee. Further, the impact of RPM on price competition and sales effort competition is always opposite to each other. © 2006 Wiley Periodicals, Inc. Naval Research Logistics, 2006     

航天器编队飞行构形保持与重构的继电型控制

研究小偏心参考轨道航天器编队飞行构形保持与重构控制的工程实现技术。首先给出相对运动状态转移矩阵,并推导出常推力控制情况下相对运动状态递推的解析表达式;进而给出脉冲推力、连续变推力和继电型推力三种发动机的推力模型和示意图。分别将等速度冲量的三种推力模型代入相对运动状态转移矩阵中,比较相同条件下相对运动控制作用效果的差异,理论推导结果表明:在一阶意义上,三种推力模型对相对运动控制作用等效,因而航天器编队构形保持与重构控制可以基于继电型推力模型来实现。     

挠性胶管动态特性参数的辨识

建立了挠性胶管的物理模型 .以此为基础提出了用系统辨识的方法识别其动态特性参数 ,并推导出相应的计算公式     

Opportunistic retooling of a flexible machine subject to failure

A set of jobs can be processed without interruption by a flexible machine only if the set of tools required by all jobs can be loaded in the tool magazine. However, in practice the total number of tools required by a job set would exceed the tool magazine capacity. In such situations, the job set has to be carefully partitioned at the start of the production run such that each partition can be processed without interruption. During the production run, if there are unscheduled machine downtimes due to machine failure, this provides an additional opportunity to optimally retool the magazine for a smaller job set consisting of just the unprocessed jobs. In this paper, we study job sequencing rules that allow us to minimize the total expected cost of machine down time due to machine failures and magazine retooling, assuming a dynamic re‐sequencing of the unprocessed jobs after each machine failure. Using these rules, we develop a branch‐and‐bound heuristic that allows us to solve problems of reasonable size. © 2001 John Wiley & Sons, Inc. Naval Research Logistics 48: 79–97, 2001     

虚拟环境下柔性线缆建模方法

研究了虚拟环境下柔性线缆建模方法，给出了离散控制点线缆简化模型和计算各离散控制点坐标值的算法。针对柔性线缆在虚拟环境中的碰撞检测问题，具体分析了从物体侧面绕过和从物体上表面经过2种碰撞检测情况，基于深度矢量和体矢量碰撞检测算法，给出了碰撞检测响应算法。     

飞船返回再入制导方法研究

本文分析研究了飞船离轨返回制动段的制导方法,提出了一种消除制动段误差对再入点状态参数影响的制动发动机综合关机方法,并对再入段的制导方法进行了分析讨论,最后进行了数值仿真分析,论证了方法的可行性。     

树形挠性多体系统的 Kane 动力学方程 ——一种面向计算机的建模方法

本文针对具有树形结构的空间挠性多体系统,建立了Kane 动力学模型。挠性多体系统由任意数目的挠性体或刚体组成,假定铰链点之间具有三自由度相对转动和平动,选取相对平动速度和转动角速度,以及模态坐标的导数为系统的广义速度,建立了系统的最小维数运动方程,所得结果便于计算机自动生成和进行数值仿真。     

Adaptive sliding mode control of modular self-reconfigurable spacecraft with time-delay estimation

The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.     

几何非线性机械臂有限段传递矩阵法

提出了几何非线性柔性机械臂动力学有限段传递矩阵建模方法,该方法既保留了有限段法自动计及几何非线性和动力刚化的优势,又保留了传递矩阵法建模的方便灵活.算例表明,计算时间与自由度成正比,在已知运动规律的情况下,可直接求得所需的驱动力矩,反之亦然.该方法无需建立系统总体动力学方程,易于工程技术人员掌握,具有一定实用价值.