运载火箭伺服机构故障检测与诊断的扩展多模型自适应方法

针对运载火箭伺服机构故障,提出一种基于扩展多模型自适应估计的故障检测与诊断算法。建立考虑伺服机构故障的运载火箭姿态动力学模型;将故障角度作为状态变量得到增广状态空间模型;利用扩展卡尔曼滤波器进行状态向量和故障参数的非线性估计,并基于传感器测量数据采用假设检验算法在线计算故障发生的概率;给出基于扩展多模型自适应估计的故障检测与诊断算法流程。仿真结果表明,该方法在无故障时可对伺服机构进行健康监测;在单台伺服机构故障下,可以及时准确判断出哪一台芯级伺服机构发生故障,并可准确估计出伺服机构故障下的发动机摆角角度。

网球精英运动员赛间训练调控影响因素SEM分析

为定量解释精英运动员重大比赛期间竞技状态显性和隐性影响因素间相互关系,运用文献资料、层次分析、模糊评价、数理统计等研究方法,基于国家队、省市运动队295名网球教练员、运动员调研数据,提出精英网球运动员重大比赛期间竞技状态影响因素假设命题,再引入SEM概念模型,对假设命题进行验证。结果表明(1)竞技状态SEM概念模型中,体能训练整合度、技能训练整合度、心智训练整合度、适应度与保障度可作为隐性自变量,且均对竞技状态因变量有正向影响作用,H1、H2、H3、H4假设命题得到验证;(2)经SEM检验,依影响因素权重,精英网球运动员赛间竞技状态调控依次表现为技能训练整合度、心智训练整合度、体能训练整合度、适应度与保障度;(3)精英网球运动员的参赛表现,虽主要取决于竞技训练因子,但对于适应度与保障度中自然环境、社会环境和规程规则等非训练因子,同样不容忽视。

重庆市渝北区4500例居民中医体质分布规律

目的:研究重庆市渝北区4500例居民的中医体质分布规律。方法:选取2021年3-12月在重庆市渝北区中医院体检科接受健康体检的4500例居民。采用问卷调查法,编制量表对入组者体质进行分析。统计重庆市渝北区居民中医体质分布情况,体质兼夹情况。分析重庆市渝北区居民不同性别体质分布情况。结果:4500例居民中平和质2142例,占比为47.60%,偏颇体质2072例,占比为46.04%。在偏颇体质中占比最高的为气虚质,其次为湿热质,占比最低的是特禀质,其次是阴虚质。可见重庆市渝北区居民中医体质多为平和质,常见偏颇体质为气虚质、湿热质、痰湿质、阳虚质、血瘀质及气郁质。4500例居民中单一体质共3945例,占比为87.67%,体质兼夹共555例,占比为12.33%。体质兼夹中以2种兼夹体质最为常见,占比为5.31%,其次为3种兼夹体质,占比为3.38%,7种兼夹体质最少,占比为0.60%,可见重庆市渝北区居民体质情况中多见单一体质,兼夹体质以2种兼夹较为多见,>2种兼夹体质较少。平和质、湿热质、阴虚质占比中,男性占比高于女性;气虚质、阳虚质、痰湿质、血瘀质、特禀质及气郁质占比中,女性占比高于男性。结论:重庆市渝北区居民虚性体质较多,居民的中医体质与区域性、性别存在一定联系,依据中医体质的辨识可为重庆市渝北区居民进行体质分类,从而进行更具针对性的中医干预,以发挥出中医管理模式的优势,更好地服务社区居民。

口岸远程辐射巡检及处置系统的设计与验证

目的 研制一款口岸辐射远程巡检及处置系统,能够对放射性物质进行远程巡测、图像定位、远程处置和远程上报。方法 针对智能辐射远程处置和人身安全保护的需求,整合机械移动底盘、放射性物质图像定位单元、核素识别单元、机械抓取装置,工作人员可远程控制地面车接近被测物,环境和货物图像、可视化辐射图像、监测数据通过无线模块传输至远程监控单元,工作人员可实时查看测量过程和测量数据,并能完成对已识别的放射源的抓取、转移。结果 经过测试,该系统能够实时对放射性物质有效成像和跟踪,成像时间在1~15s之间,图像跟踪速度达到4帧/s,核素识别测试正确率100%,并能对放射源进行初步处置。结论 研发的系统能够满足边境口岸对辐射监测的要求,是固定式辐射监测系统和手持监测仪的有力补充,极大提高了监测效率和人员安全性。

Improved differential geometric guidance commands for endoatmospheric interception of high-speed targets

Pure proportional navigation(PPN) is suitable for endoatmospheric interceptions,for its commanded acceleration is perpendicular to interceptor velocity.However,if the target is much faster than the interceptor,the homing performance of PPN will be degraded badly.True proportional navigation(TPN) does not have this problem,but its commanded acceleration is perpendicular to the line of sight(LOS),which is not suitable for endoatmospheric interceptions.The commanded acceleration of differential geometric guidance commands(DGGC) is perpendicular to the interceptor velocity,while the homing performance approximates the LOS referenced guidance laws(PPN series).Therefore,DGGC is suitable for endoatmospheric interception of high-speed targets.However,target maneuver information is essential for the construction of DGGC,and the guidance commands are complex and may be without robustness.Through the deep analysis of three-dimensional engagement,a new construction method of DGGC is proposed in this paper.The target maneuver information is not needed any more,and the robustness of DGGC is guaranteed,which makes the application of DGGC possible.

Algebraic solution of differential geometric guidance command and time delay control

According to the three-dimensional geometry of the engagement,the explicit algebraic expression of differential geometric guidance command(DGGC)is proposed.Compared with the existing solutions,the algebraic solution is much simpler and better for the further research of the characteristics of DGGC.Time delay control(TDC)is a useful method to tackle the uncertainty problem of a control system.Based on TDC,taking the target maneuvering acceleration as a disturbance,the estimation algorithm of the target maneuvering acceleration is presented,which can be introduced in DGGC to improve its performance.Then,the augmented DGGC(ADGGC)is obtained.The numerical simulation of intercepting a high maneuvering target is conducted to demonstrate the effectiveness of ADGGC.

Survey of orbital dynamics and control of space rendezvous

Rendezvous orbital dynamics and control （RODC） is a key technology for operating space rendezvous and docking missions. This paper surveys the studies on RODC. Firstly, the basic relative dynamics equation set is introduced and its improved versions are evaluated. Secondly, studies on rendezvous trajectory optimization are commented from three aspects： the linear rendez- vous, the nonlinear two-body rendezvous, and the perturbed and constrained rendezvous. Thirdly, studies on relative navigation are briefly reviewed, and then close-range control methods including automated control, manual control, and telecontrol are analyzed. Fourthly, advances in rendezvous trajectory safety and robust analysis are surveyed, and their applications in trajectory optimization are discussed. Finally, conclusions are drawn and prospects of studies on RODC are presented.

A new approach for teleoperation rendezvous and docking with time delay

Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.

Planning for space station long-duration orbital mission under multi-constraints

An integrated nonlinear planning(NLP) model is built for space station long-duration orbital missions considering both the vehicle visiting schedules and the interaction effects between target phasing,vehicle return adjusting and Earth observation aiming.A two-level optimization approach is proposed to solve this complicated problem.The up-level problem employs the launch times of visiting vehicles as design variables,considers the constraints of crew rotations,resource resupplies and rendezvous launch windows,and is solved by a genetic algorithm.The low-level problems employ the maneuver impulses and burn times within each orbital mission as design variables,and a high-efficient shooting iteration method is proposed based on an analytical equation for the phase angle correction considering the J 2 perturbation.The results indicate that the integrated NLP model for space station long-duration orbital missions is effective,and the proposed optimization approach can obtain the optimal solutions that satisfy the multiple constraints and reduce the total propellant consumption.

Robust nonlinear control of spacecraft formation flying using constraint forces

A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the DAE.Because the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.

Nonlinear control of multiple spacecraft formation flying using the constraint forces in Lagrangian systems

Getting inspiration from the constraint forces in the classical mechanics, we presented the nonlinear control method of multiple spacecraft formation flying to accurately keep the desired formation arrays. Considering nonlinearity and perturbation, we changed the question of the formation array control to the Lagrange equations with the holonomic constraints and the differential algebraic equations (DAE), and developed the nonlinear control for design of the follower spacecraft tracking control laws by solving the DAE. Because of using the idea of the constraint forces, this approach can adequately utilize the characteristic of the dynamic equations, i.e., the space natural forces, and accurately keep the arbitrary formation array. Simulation results of the circular formation keeping with the linear and nonlinear dynamical equations were included to illuminate the control performance.

Finite element method for viscoelastic medium with damage and the application to structural analysis of solid rocket motor grain

This paper studies the damage-viscoelastic behavior of composite solid propellants of solid rocket motors(SRM).Based on viscoelastic theories and strain equivalent hypothesis in damage mechanics,a three-dimensional(3-D)nonlinear viscoelastic constitutive model incorporating with damage is developed.The resulting viscoelastic constitutive equations are numerically discretized by integration algorithm,and a stress-updating method is presented by solving nonlinear equations according to the Newton-Raphson method.A material subroutine of stress-updating is made up and embedded into commercial code of Abaqus.The material subroutine is validated through typical examples.Our results indicate that the finite element results are in good agreement with the analytical ones and have high accuracy,and the suggested method and designed subroutine are efficient and can be further applied to damage-coupling structural analysis of practical SRM grain.

Reachable set modeling and engagement analysis of exoatmospheric interceptor

A novel reachable set（RS） model is developed within a framework of exoatmospheric interceptor engagement analysis. The boost phase steering scheme and trajectory distortion mechanism of the interceptor are firstly explored. A mathematical model of the distorted RS is then formulated through a dimension–reduction analysis. By treating the outer boundary of the RS on sphere surface as a spherical convex hull, two relevant theorems are proposed and the RS envelope is depicted by the computational geometry theory. Based on RS model, the algorithms of intercept window analysis and launch parameters determination are proposed, and numerical simulations are carried out for interceptors with different energy or launch points. Results show that the proposed method can avoid intensive on-line computation and provide an accurate and effective approach for interceptor engagement analysis. The suggested RS model also serves as a ready reference to other related problems such as interceptor effectiveness evaluation and platform disposition.