带三维落角约束的寻的导弹制导与姿控系统设计

针对带三维落角约束的寻的导弹制导与姿态控制系统设计问题,提出一种基于终端滑模控制和扩张状态观测器的六自由度制导控制系统设计方法。建立包含模型不确定项的寻的导弹六自由度质心与绕质心模型,设计内外双层环路六自由度制导控制系统框架;基于弹-目三维相对运动模型和坐标系转移矩阵建立以攻角和侧滑角为输入的三维全耦合导引方程,利用终端滑模控制方法和扩展状态观测器得到期望的攻角和侧滑角并将其转化为对应的俯仰、偏航和滚转角指令;根据线性形式的寻的导弹绕质心动力学方程,设计与俯仰、偏航和滚转角相关的滑模面向量,并利用终端滑模控制方法和扩张状态观测器得到寻的导弹的副翼偏角、方向舵偏角和俯仰舵偏角指令。六自由度数值仿真结果验证了该方法的有效性和鲁棒性,并证明了该制导控制系统设计方法能以较少的控制设计参数完成预设的制导控制任务。     

人手操作的联体计算

机器人的一个重要理论问题是如何控制机械手以获得所需要的运动。本文将人手操作的基本运动,抽象为具有七个构件而有九个自由度的刚体系统,严格地分析了这些运动,并根据实际情况考虑到各构件的重力、控制力和摩擦阻力,因此能完成人手操作的多种功能。而为了便于在计算机上实施运算利用Kane方程建立了以广义坐标表达的运动微分方程,这可作为分析机械手运动的理论依据。     

Kane方程在平面机构动力学中的应用

在平面机构动力学的研究过程中,因其含有闭环结构而使得经典动力学的应用遇到许多麻烦。本文采用近几年发展起来的Kane方程对此进行了研究,给出了任意的平面机构的动力学方程和与之对应的数值计算方法,所得结果程序化。为平面机构的动力学控制与仿真提供了有效的方法。同时使Kane方程得以运用到新的领域。     

奇型偏微分方程的柯西问题

定解条件给在奇线上的偏微分方程的各种定解问题早已有研究^[1～4],多数作者使用了特殊函数作工具。本文用能量不等式组来解决一类奇型双曲型方程的柯西问题。 本文主要讨论如下问题解尚存在唯一性： Lu≡[(t^a/2?_t-λ₁(x,t)?_x)(t^a/2?_t-λ₂(x,t) ?_x)+a(x,t)?_t+b(x,t)?_x+c(x,t)]u(x,t)=f(x,t) (x,t)∈R×(0,T] u∣_t=0=φ(x),limt^a/2u_t=ψ(x) 这是一个二阶偏微分方程,当 α>0时,?_t²的系数当t=O 时变为零,因而这是一个初始值给在奇线上的柯西问题。我们假定： (A) α为常数,0<α<1;所涉及的都是实函数; (B) α(x,t),b(x,t),c(x,t),λ_j(x,t)(j=1,2)∈C¹([0,T],C²(R)),且上述函数的所有可能的导数都有界; (C) φ(x),ψ(x)∈C₀⁴(R)); （D）f(x,t)∈C((0,T],C₀²(R)),且sup{t^a/2(∣f∣+∣f_x∣+∣f_xx∣}＜+∞（Ⅱ） (E)存在常数δ＞0,使当（x,t)∈R×[0,T]时,有：∣λ₁(x,t)-λ₂(x,t)∣≥δ条件（Ⅱ）中关于实函数的假设不是必要的,作此假设仅为方便。本文主要得到：定理1：在（Ⅱ）的假设下,（Ⅰ）存在唯一弱解u,并 u∈C([0,T),H¹(R))∩C¹((0,T),L₂(R)).为证明该定理作了一系列准备,关键是证得引理1,引理2和引理6。     

Partial penetration of annular grooved projectiles impacting ductile metal targets

Changing and optimizing the projectile nose shape is an important way to achieve specific ballistic performance. One special ballistic performance is the embedding effect, which can achieve a delayed high-explosive reaction on the target surface. This embedding effect includes a rebound phase that is significantly different from the traditional penetration process. To better study embedment behavior, this study proposed a novel nose shape called an annular grooved projectile and defined its interaction process with the ductile metal plate as partial penetration. Specifically, we conducted a series of low-velocity-ballistic tests in which these steel projectiles were used to strike 16-mm-thick target plates made with 2024-O aluminum alloy. We observed the dynamic evolution characteristics of this aluminum alloy near the impact craters and analyzed these characteristics by corresponding cross-sectional views and numerical simulations. The results indicated that the penetration resistance had a brief decrease that was influenced by its groove structure, but then it increased significantly-that is, the fluctuation of penetration resistance was affected by the irregular nose shape. Moreover, we visualized the distribution of the material in the groove and its inflow process through the rheology lines in microscopic tests and the highlighted mesh lines in simulations. The combination of these phenomena revealed the embed-ment mechanism of the annular grooved projectile and optimized the design of the groove shape to achieve a more firm embedment performance. The embedment was achieved primarily by the target material filled in the groove structure. Therefore, preventing the shear failure that occurred on the filling material was key to achieving this embedding effect.