Stability of bars with variable rigidity

A variable cross-section bar is considered. The bar is not uniform in length. The bar axis through the mass centers of all cross sections is a straight line. The bar is compressed by a longitudinal force applied to the mass center of the boundary cross section. The stability loss of the straight-line shape of the bar’s equilibrium is discussed when a curved shape is also possible. Approximate analytical formulas are obtained for the critical compressive force when four types of end fixing are used for a periodically nonuniform bar. The numerical results obtained by these formulas are compared with the known exact solutions to the stability equation for a bar whose cross section is stepwise variable and whose nonuniformity consists of only one period (the limiting case).     

Attitude maneuver of liquid-filled spacecraft with a flexible appendage by momentum wheel

Attitude maneuver of liquid-filled spacecraft with an appendage as a cantilever beam by momentum wheel is studied.The dynamic equations are derived by conservation of angular momentum and force equilibrium principle.A feedback control strategy of the momentum wheel is applied for the attitude maneuver.The residual nutation of the spacecraft in maneuver process changes with some chosen parameters,such as steady state time,locations of the liquid container and the appendage,and appendage parameters.The results indicate that locations in the second and fourth quadrants of the body-fixed coordinate system and the second quadrant of the wall of the main body are better choices for placing the liquid containers and the appendage than other locations if they can be placed randomly.Higher density and thicker cross section are better for lowering the residual nutation if they can be changed.Light appendage can be modeled as a rigid body,which results in a larger residual nutation than a flexible model though.The residual nutation decreases with increasing absolute value of the initial sloshing angular height.     

Time-optimal rendezvous transfer trajectory for restricted cone-angle range solar sails

The advantage of solar sails in deep space exploration is that no fuel consumption is required. The heliocentric distance is one factor influencing the solar radiation pressure force exerted on solar sails. In addition, the solar radiation pressure force is also related to the solar sail orientation with respect to the sunlight direction. For an ideal flat solar sail, the cone angle between the sail normal and the sunlight direction determines the magnitude and direction of solar radiation pressure force. In general, the cone angle can change from 0° to 90°. However, in practical applications, a large cone angle may reduce the efficiency of solar radiation pressure force and there is a strict requirement on the attitude control. Usually, the cone angle range is restricted less more than an acute angle （for example, not more than 40°） in engineering practice. In this paper, the time-optimal transfer trajectory is designed over a restricted range of the cone angle, and an indirect method is used to solve the two point boundary value problem associated to the optimal control problem. Relevant numerical examples are provided to compare with the case of an unrestricted case, and the effects of different maximum restricted cone angles are discussed. The results indicate that （1） for the condition of a restricted cone-angle range the transfer time is longer than that for the unrestricted case and （2） the optimal transfer time increases as the maximum restricted cone angle decreases.     

Dynamics of a satellite carrying a point mass moving about it

We study the dynamics of a complex system consisting of a solid and a mass point moving according to a prescribed law along a curve rigidly fixed to the body. The motion occurs in a central Newtonian gravitational field. It is assumed that the orbit of the system center of mass is an ellipse of arbitrary eccentricity.We obtain equations that describe the motion of the carrier (satellite) about its center of mass. In the case of a circular orbit, we present conditions that should be imposed on the law of the relative motion of the mass point carried by the satellite so that the latter preserves a constant attitude with respect to the orbital coordinate system. In the case of a dynamically symmetric satellite, we consider the problem of existence of stationary and nearly stationary rotations for the case in which the carried point moves along the satellite symmetry axis.We consider several problems of dynamics of the satellite plane motion about its center of mass in an elliptic orbit of arbitrary eccentricity. In particular, we present the law of motion of the carried point in the case without eccentricity oscillations and study the stability of the satellite permanent attitude with respect to the orbital coordinate system.     

改变飞艇重心位置控制纵向运动

本文针对目前平流层飞艇的运动控制效率较低的问题,重点研究了改变平流层飞艇重心的轴向位置来控制飞艇的纵向运动。首先讨论了考虑飞艇重心位置的力和力矩平衡,并利用德国斯图加特大学风洞试验的数据,进行了算例分析。然后和常用的升降舵控制进行效率比较,得出了在空气密度较低的平流层采用改变重心位置比舵面控制具有优越性的结论。最后提出了改变飞艇重心位置的方法。     

Error analysis and a new steering law design for spacecraft control system using SGCMGs

Based on the singular value decomposition theory,this paper analyzed the mechanism of escaping/avoiding singularity using generalized and weighted singularity-robust steering laws for a spacecraft that uses single gimbal control moment gyros (SGCMGs) as the actuator for the attitude control system.The expression of output-torque error is given at the point of singularity,proving the incompatible relationship between the gimbal rate and the output-torque error.The method of establishing a balance between the gimbal rate and the output-torque error is discussed,and a new steering law is designed.Simulation results show that the proposed steering law can effectively drive SGCMGs to escape away from singularities.     

Powell dynamic identification of displacement parameters of indeterminate thin-walled curve box based on FCSE theory

The FCSE controlling equation of pinned thinwalled curve box was derived and the indeterminate problem of continuous thin-walled curve box with diaphragm was solved based on flexibility theory. With Bayesian statistical theory,dynamic Bayesian error function of displacement parameters of indeterminate curve box was founded. The corresponding formulas of dynamic Bayesian expectation and variance were deduced. Combined with one-dimensional Fibonacci automatic search scheme of optimal step size,the Powell optimization theory was utilized to research the stochastic identification of displacement parameters of indeterminate thin-walled curve box. Then the identification steps were presented in detail and the corresponding calculation procedure was compiled. Through some classic examples,it is obtained that stochastic performances of systematic parameters and systematic responses are simultaneously deliberated in dynamic Bayesian error function. The one-dimensional optimization problem of the optimal step size is solved by adopting Fibonacci search method. And the Powell identification of displacement parameters of indeterminate thin-walled curve box has satisfied numerical stability and convergence,which demonstrates that the presented method and the compiled procedure are correct and reliable.During parameters’ iterative processes,the Powell theory is irrelevant with the calculation of finite curve strip element(FCSE) partial differentiation,which proves high computation effciency of the studied method.     

条带式太阳帆的结构动力学分析

依靠光压推进,太阳帆被认为是最可行的星际探测航天器,太阳帆结构总体方案主要有两类:桅杆式和旋转式,其中,帆膜被分割成窄条的条带式太阳帆在桅杆式太阳帆中具有较为理想的结构效率,如何准确计算条带式太阳帆的结构动力学特性值得研究.本文对条带式太阳帆结构的振动特性和结构稳定性进行研究,将太阳帆看作是由若干个桅杆-膜带组件依次连接而成的整体结构,桅杆-膜带组件由4根桅杆段和4条薄膜条带组成,分段轴压作用下的桅杆与薄膜条带耦合振动.考虑帆面薄膜条带与支撑桅杆之间的耦合振动,采用分布传递函数法建立了的条带式太阳帆的结构动力学模型,推导了条带式太阳帆结构自由振动和失稳载荷的求解方法.研究表明:条带式太阳帆构型有利于提高太阳帆结构的整体刚度和结构稳定性,随着帆面薄膜条带数目的增加,太阳帆结构的振动频率和失稳载荷增大;随着帆面薄膜预应力的增大,太阳帆结构振动的基频减小,稳定性变差;随着支撑桅杆刚度的提高,太阳帆结构整体的振动频率和失稳载荷增大.本文建立的解析求解方法具有求解效率快和精度高的特点,为条带式太阳帆的结构设计和姿态控制提供了有力的分析工具.      

变截面悬链线无铰拱应变影响线的解析解

针对变截面悬链线无铰拱应变影响线尚无解析解的现状,通过弹性中心法对其力法方程进行简化,利用Ritter截面变化规律简化变截面悬链线无铰拱的曲线积分,从而推导出变截面悬链线无铰拱应变影响线的闭合解表达式,再将解析结果与有限元分析结果进行对比研究,并对轴力参数展开对比分析。研究结果表明,本文推导得到变截面悬链线无铰拱应变影响线的解析解,数值解析解同有限元结果间最大相对误差小于2%,其轴力影响随矢跨比和测点位置变化而变化,本文公式具有较高的工程精度和计算分析参考价值。     

静电加速度计悬浮质量块质心偏移量在轨标定

高精度静电加速度计已广泛地应用于航天任务中,用于测量作用于航天器的非引力加速度。如果静电加速度计悬浮质量块的质心与航天器的质心安装有偏差时,重力梯度力、姿态耦合产生的干扰加速度,静电加速度计控制系统引入的干扰加速度等干扰力会夹杂在测量数据中。针对这一问题,研究了航天器小质量特性变化情况下,当静电加速度计处于动态设计良好并进入稳态后,利用静电加速度计、陀螺仪和磁强计作为敏感元件,基于非线性卡尔曼滤波理论的静电加速度计悬浮质量块质心偏移量的在轨标定。仿真结果表明,该方案的精度J向可以达到0．1mm,Y和Z向能达到0．04mm。     

On the unsteady motion and stability of a heaving airfoil in ground effect

This study explores the fluid mechanics and force generation capabilities of an inverted heaving airfoil placed close to a moving ground using a URANS solver with the Spalart-Allmaras turbulence model. By varying the mean ground clearance and motion frequency of the airfoil, it was possible to construct a frequency-height diagram of the various forces acting on the airfoil. The ground was found to enhance the downforce and reduce the drag with respect to freestream. The unsteady motion induces hysteresis in the forces’ behaviour. At moderate ground clearance, the hysteresis increases with frequency and the airfoil loses energy to the flow, resulting in a stabilizing motion. By analogy with a pitching motion, the airfoil stalls in close proximity to the ground. At low frequencies, the motion is unstable and could lead to stall flutter. A stall flutter analysis was undertaken. At higher frequencies, inviscid effects overcome the large separation and the motion becomes stable. Forced trailing edge vortex shedding appears at high frequencies. The shedding mechanism seems to be independent of ground proximity. However, the wake is altered at low heights as a result of an interaction between the vortices and the ground.     

Asymmetric motion of a two-dimensional symmetric flapping model

A two-dimensional symmetric flapping model is studied in terms of the bifurcation using discrete vortex method. This model consists of two wings attached together at a hinge, and the flapping motion of the wings is symmetric with respect to the horizontal line. The center of mass of this model can move according to the hydrodynamic force generated by an interaction of the wing and vortices separated from boundary layer. The bifurcation parameter is a time scale of the dissipation, which is simplified to contrast the transition of the type of the motion. Bifurcation diagram shows that steady motion of zero-mean velocity (with symmetric flapping) is unstable in a parameter region, and that there is another region where two types of a steady stable flapping motion coexist. We illustrate these types of the motion.     

Regional plantar foot pressure distributions on high-heeled shoes-shank curve effects

Forefoot pain is common in high-heeled shoe wearers due to the high pressure caused by the center of body mass moving forward and the increased arch height with heel elevation.Sufficient arch support could reduce the high pressure over forefoot.However,too much arch support could lead to abnormal foot alignment and pain over midfoot.Little information is reported on the relationship among plantar arch height,shank curve design and plantar pressure.This study aimed at quantifying the plantar arch height changes at different heel heights and investigating the effect of shank curve on plantar pressure distribution.The plantar arch height increased to(7.6±1.3) mm at heel height of 75 mm.The Chinese standard suggests the depth of last should be 8.5 mm for heel height of 75 mm.When a shank curve with higher depth of last(11 mm) was used,the peak pressure over forefoot further decreased in midstance phase,which might ease the forefoot problems,while the peak pressure over midfoot increased but not exceeded the discomfort pressure thresholds.To achieve a more ideal pressure distribution in high-heeled shoes,a higher than expected depth of last would be suggested that would not cause discomfort over midfoot.     

全长粘结锚杆在岩质边坡中的受力形式分析

基于空间一点受力的位移解形式--Mindlin 位移解, 结合已有文献对节理面位置处全长粘结锚杆受力的假想形式, 将边坡下滑力简化为作用在锚杆上的集中力, 推导出锚杆沿杆长方向的轴力、剪应力的表达形式. 将推导结果在岩质边坡中进行应用, 得出不同岩体类型岩质边坡锚杆沿杆长方向受力的轴力、剪应力图示.     

双航海惯导联合旋转调制协同定位与误差参数估计

单轴/双轴旋转调制航海惯导备份配置满足了舰艇对于定位精度、可靠性、成本的综合要求,但系统间缺少信息融合。针对此问题,以单轴旋转惯导的姿态误差、速度误差、位置误差与双轴旋转惯导对应误差的差值以及两套惯导的陀螺常值漂移、水平加速度计常值零偏为系统状态,并以二者间扣除杆臂效应后的速度及位置的差值为观测量,通过联合旋转调制,改变两套系统IMU的相对姿态关系。分段常值可观测性分析表明,所有系统状态完全可观。建立了定位误差预测方程,对单轴旋转惯导方位陀螺漂移造成的定位误差进行预测补偿。实验结果表明,对单轴旋转惯导方位陀螺漂移造成的定位误差预测补偿后,其定位误差减小了30%,不仅满足了高可靠性的要求,而且提高了故障情况下的导航精度。     

Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace

We present an optimum design of lower-dof parallel mechanism, a 3-URU pure rotational parallel mechanism that reflects issues of workspace and the position error of the center of rotation of the platform. The uncompensatable error determined by position error of center of rotation was used as an evaluation index for the design. The uncompensatable error index, an index used in the optimum design, was proposed taking into account four sources of errors, representing errors between adjacent joints. Based on the application of the mechanism and the error index, the effect of the redundant platform orientation parameter was numerically investigated and the design flow of the mechanism was proposed. We made a kinematic design of a mechanism with a large workspace subject to minimization of platform’s position error of the center of rotation. A prototype of mechanism with a large inclination angle of the platform up to 1.3 rad was shown, and its characteristics are also discussed.     

静电加速度计标度因数和零偏误差标定

为了确保静电加速度计长期在轨工作,结合非线性Batch估计算法,研究了静电加速度计标度因数和零偏误差标定。首先,充分考虑静电加速度计量测过程中可能出现的各种误差源并进行分析,建立了静电加速度计在动态设计良好并进入稳态后,卫星姿态稳定度优于0.01°/s,卫星质心保持精度优于2mm的情况下的量测模型。然后,将高精度地球引力场模型和静电加速度计量测数据代入非线性Batch估计算法的的动力学方程中,将GPS量测数据代入非线性Batch估计算法的量测方程中,建立了静电加速度计标定因数和零偏误差标定模型。最后,通过数学仿真验证了该方法的可行性,其标定精度可达到0.2%,具有一定工程应用参考价值。     

纯引力轨道检验质量的相对测量技术

纯引力轨道是物体在太空仅受引力作用的运行轨道, 通过构造纯引 力轨道, 可实现超高精度的空间引力探测, 也可为科学实验提供超稳定卫星 平台. 作为纯引力轨道构造的核心, 检验质量的相对测量不仅提供了部分任 务科学数据, 还为航天器平台的跟踪控制提供输入. 首先, 描述了纯引力轨道 的概念内涵, 总结了它在卫星重力测量、引力波探测等方面的应用情况. 其 次, 综述了不同任务对相对测量的需求, 给出了电容式测量、磁感应测量和 光学测量的原理, 总结了各自的优缺点. 根据检验质量的姿态运动, 将检验质 量质心相对状态解算问题分为3 类, 给出了基于检验质量姿态动力学与表面 建模的典型解算模型和质心速度估计方法. 最后分析了非引力干扰的理论计 算、地面实验验证和在轨实验验证问题.      

A class of exact solutions for the incompressible viscous magnetohydrodynamic flow over a porous rotating disk

The present paper is concerned with a class of exact solutions to the steady Navier-Stokes equations for the incompressible Newtonian viscous electrically conducting fluid flow due to a porous disk rotating with a constant angular speed.The three-dimensional hydromagnetic equations of motion are treated analytically to obtained exact solutions with the inclusion of suction and injection.The well-known thinning/thickening flow field effect of the suction/injection is better understood from the constructed closed form velocity equations.Making use of this solution,analytical formulas for the angular velocity components as well as for the permeable wall shear stresses are derived.Interaction of the resolved flow field with the surrounding temperature is further analyzed via the energy equation.The temperature field is shown to accord with the dissipation and the Joule heating.As a result,exact formulas are obtained for the temperature field which take different forms corresponding to the condition of suction or injection imposed on the wall.     

Dynamic Deformation Behavior of a Golf Ball during Normal Impact

The normal impact between a golf ball and a rigid steel target was studied to examine ball deformation and the contact force during the impact. Using high-speed video images, the normal and tangential compression ratios of the ball were measured to analyze the ball deformation quantitatively. In addition, the inbound and rebound ball velocities, contact time, and coefficient of restitution were determined as basic parameters of the impact. As the inbound ball velocity increased, the maximum normal compression ratio increased while the maximum tangential compression ratio, contact time and coefficient of restitution decreased. The ball center displacements during the impact were measured to determine the ball center velocity and acceleration, and the contact force was calculated by the product of the mass and acceleration. The contact force increased almost linearly with the inbound ball velocity, and its relationship agreed well quantitatively with the results from a load-cell, and also agreed well qualitatively with Hertz contact theory.