窄流道整体叶盘定轨迹数控抛光技术研究

为了实现对窄流道整体叶盘的数控抛光,在采用复杂母线超硬磨料柔性抛光轮的基础上,开展了针对叶盘型面、流道及叶根的抛光轮形状与尺寸设计研究,确定了用于整体叶盘高效率抛光的鼓型抛光轮和球头抛光轮尺寸设计原则,实现了大尺寸鼓形半径的优选。随后,针对型面、流道、叶根圆弧不同区域的抛光需求,利用选定工具对某型号整体叶盘全型面进行定轨迹抛光试验,抛光后表面粗糙度R a≤0.4μm,完全去除精铣刀纹,达到了替代人工抛光的要求。

定轨迹球转子延期解除保险技术研究

针对球转子隔爆机构延期解除保险时间较短,无法满足小口径引信延期解除保险的安全要求的问题,提出了定轨迹球转子延期解除保险技术。利用ADAMS软件对定轨迹球转子机构进行了动力学仿真,验证了机构的合理性,分析了导向槽不同参数对延期解除保险时间的影响。

一类圆锥曲线定点定值的代数本质

圆锥曲线是解析几何的重要内容之一,是高考的重点考查内容.这部分内容综合性较强,计算能力要求很高.文章探讨圆锥曲线中的定点与定值及定轨迹问题规律.

具有误差修正功能的叶片变预压量抛光技术

针对目前部分叶片铣削后具有较大轮廓度误差以及微小进排气边,采用力控抛光方法难以达到预定要求的状况,提出了一种利用柔性金刚石抛光轮的变预压量误差修正抛光方法。首先,利用在机快速测量装置测量获取叶片待加工余量情况,然后通过分析测量数据确定叶片抛光轨迹和抛光预压量,从而达到对抛光去除量大小的控制,实现叶片型面自适应抛光的结果。最后,利用常规3轴机床对某型号叶片进行了包含叶根过渡圆弧的全型面抛光试验,试验结果表明,用该方法抛光后,叶片型面轮廓度由抛光前的0.02~0.12mm改变为–0.04~–0.005mm,余量稳定控制到了公差带内。与传统的方法相比,采用高精度超硬磨料复杂母线弹性抛光轮可以实现叶片非均匀去量,有效地改善了叶片型面轮廓度。该技术可以广泛用于中小叶片的低成本高精度抛光加工。

一种三轮无碳小车的车体结构设计

设计了一辆三轮无碳小车,其驱动力仅由质量为1kg的准50mm×65mm普通碳钢圆柱体铅垂下降400mm来获得,并且能够按照定轨迹前进。该研究为大学生们参加全国大学生工程训练综合能力竞赛提供了理论参考。

叶片进排气边抛光工艺及其参数优化

叶片是航空发动机关键零部件之一,具有复杂的几何形状、极高的几何精度和表面质量要求。其中,叶片进排气边作为影响整机性能的关键区域,其较小的半径尺寸、急剧的曲率变化使得数控自动化抛光难以实现。为此,提出一种采用电镀超硬磨料柔性抛光轮定轨迹抛光的方法。通过优化线速度和预压量等抛光工艺关键参数,建立相应的抛光去除量和表面粗糙度变化曲线。实验结果表明,随着线速度和预压量的增加,进排气边的去除量也随之增加。不同尺寸半径试件(R2 mm,R1.5 mm,R1 mm)表面粗糙度在线速度为12.56 m/s和预压量为0.3 mm时呈现出最低值(Ra1.05μm,Ra 0.86μm,Ra 0.81μm)。通过不同尺寸半径试件抛光参数优化方法研究,为实现叶片进排气边的高精度数控自动化抛光提供了有利支撑。

Modeling and simulation of quadrotor UAV based on Simscape

In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.

Geomagnetic Orbit Determination Using Fuzzy Regulating Unscented Kalman Filter

Geomagnetic orbit determination fits for nanosatellites which pursue low cost and high-density ratio,but one of its disadvantages is the poor position accuracy introduced by magnetic bias.Here,a new method,named the fuzzy regulating unscented Kalman filter(FRUKF),is proposed.The magnetic bias is regarded as a random walk model,and a fuzzy regulator is designed to estimate the magnetic bias more accurately.The input of the regulator is the derivative of magnetic bias estimated from unscented Kalman filter(UKF).According to the fuzzy rule,the process noise covariance is adaptively determined.The FRUKF is evaluated using the real-flight data of the SWARMA.The experimental results show that the root-mean-square(RMS)position error is 3.1 km and the convergence time is shorter than the traditional way.

Comparative mapping of QTLs for Al tolerance in rice and identification of positional Al-induced genes

Aluminum (Al) toxicity is the major factor limiting crop productivity in acid soils. In this study, a recombinant inbreed line (RIL) population derived from a cross between an Al sensitive lowland indica rice variety IR1552 and an Al tolerant upland japonica rice variety Azucena, was used for mapping quantitative trait loci (QTLs) for Al tolerance. Three QTLs for relative root length (RRL) were detected on chromosome 1, 9, 12, respectively, and 1 QTL for root length under Al stress is identical on chromosome 1 after one week and two weeks stress. Comparison of QTLs on chromosome 1 from different studies indicated an identical interval between C86 and RZ801 with gene(s) for Al tolerance. This interval provides an important start point for isolating genes responsible for Al tolerance and understanding the genetic nature of Al tolerance in rice. Four Al induced ESTs located in this interval were screened by reverse Northern analysis and confirmed by Northern analysis. They would be candidate genes for the QTL.

Consensus and formation control of discrete-time multi-agent systems

Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.

Global Inverse Optimal Tracking Control of Underactuated Omni-directional Intelligent Navigators （ODINs）

This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator （ODIN） under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle＇s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov＇s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.

红山水库大坝防渗工程实践与思考

以1998年红山水库大坝人工压力灌浆成功止住漏水的效果为基础,对灌浆实施后仍然存在的土体孔道(隙)的客观情况加以分析,提出下一步的灌浆施工思路应以灌浆量为依据,从而确定土体孔道(隙)的位置,为克服工程施工中压力灌浆的盲目性情况提供操作参考。

Trajectory tracking and formation control based on consensus in high-dimensional multi-agent systems

This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.

Feasibility study on posterior laminar screw fixation techniques in the axis

Objective： To get morphologic parameters of Chinese adults through observation and measurement on axial laminas, to evaluate the feasibility of placing axial laminar screws and to introduce the technique. Methods： Relative parameters of 28 sets of fresh Chinese adults＇ axial specimens, including distance from the superior and inferior entry points of axial laminar screws to the superior margins of axial laminas, superior, middle, inferior thickness and height of the axial laminas, length and angle of the axial laminar screw trajectories, distance from the entry points of axial laminar screws to the transverse foramen and central points of the inferior articular process, were measured with a digital caliper and a goniometer. Data were statistically analyzed. Results： Averagely, distance from the superior and inferior entry points of axial laminar screws to the superior margins of axial laminas was 5 mm and 9 mm, superior, middle, inferior thickness and the height of the axial laminas were 3.2 mm, 6.7 mm, 5.5 mm and 12.8 mm respectively, and the length of the superior and inferior axial laminar screw trajectories was 26.2 mm and 25.5 ram, respectively. Conclusions： It is feasible and reliable to apply posterior laminar screw fixation techniques to the axes of Chinese adults. Also the C2 laminar screw fixation technique can be taken as a supplementary to conventional posterior screw fixations of C2.

Metamorphism and zircon U–Pb dating of garnet amphibolite in the Baoyintu Group, Inner Mongolia

Garnet amphibolite in the Baoyintu Group, Inner Mongolia, is mainly composed of garnet, hornblende, plagioclase, quartz and minor rutile/ilmenite. Garnet occurs as porphyroblasts surrounded by plagioclase, forming typical ＂white-eye socket＂ texture. Garnet shows grossular content of 0.26-0.28 and pyrope of 0.11-0.13, without significant zoning. Plagioclase is generally zoned with anorthite （An） increasing from core to rim. The P-T pseu- dosection calculated using THERMOCALC in the system MnNCKFMASHTO shows that the garnet amphibolite experienced a clockwise P-T path with a peak at 1.3 GPa/725 ℃ defined from the minimum An content in plagioclase and maximum pyrope content in garnet, followed by an isothermal decompression. LA-ICP-MS zircon dating for the garnet amphibolite indicates metamorphic ages of 399 ± 6 Ma. The peak P-T condition corresponds to a thermal gradient of ～ 18 ℃/km, indi- cating typical medium-pressure type that commonly occurs in orogenic process with crustal thickening. We prefer to interpret this orogenic event to be a result of collision, following the closure of the Paleo-Asian Ocean before the early Devonian although there is a popular view that the Paleo-Asian Ocean may have lasted to the early Mesozoic.

TRAJECTORY TRACKING THEORY OF QUANTUM SYSTEMS

The orbit tracking problem of a free-evolutionary target system in closed quantum systems is solved by changing it into the state transferring problem with the help of unitary transformation.The control law designed by the Lyapunov stability theorem employs a carefully constructed virtual mechanical quantity P to ensure the system convergence.The virtual mechanical quantity P is chosen by two approaches according to the forms of limit set,where P = —pf is suitable for regular limit set and a new different P is constructed for irregular one.The proposed tracking control theory is demonstrated on a four-level quantum system by means of numerical simulation experiments.

Quaternion-based robust trajectory tracking control for uncertain quadrotors

This paper presents a robust nonlinear controller design approach for uncertain quadrotors to implement trajectory tracking missions. The quaternion representation is applied to describe the rotational dynamics in order to avoid the singularity problem existing in the Euler angle representation. A nonlinear robust controller is proposed, which consists of an attitude controller to stabilize the rotational motions and a position controller to control translational motions. The quadrotor dynamics involves uncertainties such as parameter uncertainties, nonlinearities, and external disturbances and their effects on closed-loop control system can be guaranteed to be restrained. Simulation results on the quadrotor demonstrate the effectiveness of the designed control approach.