带有攻击角约束的多导弹协同制导律

针对带有攻击角约束的多导弹同时攻击机动目标问题,提出了一种带有攻击角约束的协同制导律。首先基于平面内的导弹-目标相对运动方程,建立了带有攻击角约束的协同制导模型;其次,把协同制导律的设计过程分离为两个部分:一是基于图论的有关内容,运用有限时间一致性理论设计沿着视线方向上的加速度指令来保证所有导弹与目标的相对距离在有限时间内到达一致,进而保证所有的导弹同时击中机动目标;二是利用非齐次干扰观测器对机动目标的加速度进行估计,并运用滑模控制设计视线法向上的加速度指令来保证每枚导弹与目标间的视线角速率收敛到零和视线角收敛到期望的终端视线角,即每枚导弹以期望的终端视线角成功击中目标;最后,对三枚导弹同时打击同一机动目标的情况进行仿真,仿真结果表明本文设计的带有攻击角约束的协同制导律的有效性和正确性。     

考虑输入受限和自动驾驶仪延迟的自适应滑模制导律

在输入受限的情况下,为了满足导弹拦截机动目标时高精度制导的需求,首先建立了满足输入受限和考虑导弹自动驾驶仪一阶动态特性的制导模型,其把目标加速度视为未知有界的外界干扰,通过设计自适应控制估计干扰的上界来避免对干扰上界的先验要求,同时结合滑模控制,设计了一种考虑输入受限和自动驾驶仪延迟的自适应滑模制导律,并且基于Lyapunov稳定性理论证明了制导系统状态渐进收敛到零。最后,在所设计的制导律下,对目标余弦机动和阶跃机动两种情况进行了仿真,得到的脱靶量分别为0.040 m和0.036 m,拦截时间分别为6.460 s和7.833 s。仿真结果表明所设计的制导律不仅保证导弹有效击中目标,并且具有较高的制导精度。     

带落角约束的多导弹分布式协同制导律

为实现多枚导弹协同攻击机动目标,基于具有推力可控能力的导弹,提出了一种带落角约束的多导弹分布式协同制导律。将制导律的设计分离为视线方向和视线法向上两个部分:视线方向上基于多智能体协同控制理论和超螺旋控制算法,设计制导律控制导弹剩余时间在有限时间内趋于一致;视线法向上运用零化视线角速率思想和有限时间滑模控制理论,设计制导律控制导弹击中目标的同时满足落角约束。并针对两部分制导律中存在的目标机动信息,分别设计非齐次干扰观测器进行估计。仿真结果表明,提出的制导律能够有效完成协同攻击任务,脱靶量和落角误差分别控制在0.13 m和0.02°以内,并且有效抑制了抖振现象,有利于提高导弹自动驾驶仪的跟踪精度。     

多导弹攻击时间协同的滑模制导律

针对多导弹攻击时间协同的高价值或大型目标攻击问题,基于滑模控制方法,提出了一种非奇异的滑模制导律,并设计了一种适用于机动目标的导弹剩余飞行时间估计方法。通过对滑模制导律切换控制部分的合理设计,保证了系统的Lyapunov稳定性,且避免了滑模面的收敛和保持受到弹道收敛的影响总是可达的。适用于机动目标的剩余飞行时间估计方法采用虚拟目标的设计思路,将目标加速度和速度对弹目相对运动关系的影响投影到弹目视线方向上,从而实现目标的虚拟静止。针对目标固定、非机动和机动三种情况,进行了多枚导弹飞行时间协同攻击的数字仿真。仿真结果表明所估计的剩余飞行时间可以快速收敛到真值,且误差趋近于零。所设计的多导弹攻击时间协同滑模制导律在完成目标攻击的同时,实现了导弹间在攻击时间上的协同。     

有界控制导弹攻击防御性飞机的制导律

为提高攻击导弹同时面对目标飞机及其防御导弹情况下的命中概率,基于微分对策理论,对攻击导弹的制导律进行了设计。应对独立控制的多对象博弈问题,微分对策理论具有天然的优势,且相比于最优制导律,微分对策制导律对于目标机动估计误差和机动策略具有更强的鲁棒性。所推导的微分对策制导律进一步考虑了攻击导弹的控制有界性,且适用于攻击导弹、目标飞机和防御导弹具有高阶线性控制系统动态的情形。为验证制导律性能,进行了非线性系统仿真,结果表明该制导律在成功归避防御导弹的同时可实现趋于零脱靶量的目标拦截。攻击导弹为实现规避和攻击的双重任务,仅需要保持相比于防御导弹两倍左右的机动优势。     

双导弹拦截角度协同的微分对策制导律

为提高命中高价值目标的概率,基于线性二次型微分对策理论,对两枚导弹协同拦截单个目标的制导律进行了研究。单枚导弹在最小化自身脱靶量的同时,与另一枚导弹实现拦截角度上的协同,从而构成特定的拦截态势,以提高拦截机动目标的性能和末制导尾端对目标的可观测性。所推导的微分对策制导律考虑到了对策三方的控制系统动态,且具有解析解,形式上为零控脱靶量和零控协同拦截角误差的线性组合。基于推导结果完成了微分对策制导律的制导增益和对策空间分析,给出了鞍点解的存在条件,并进行了分析。非线性系统仿真结果表明由于导弹间存在显式的协同关系,拦截目标所需的加速度较低,且在设定的协同拦截角度收敛后,加速度会进一步减小。     

拦截高超声速飞行器的三维有限时间制导律设计

由于高超声速飞行器具有飞行速度快、机动能力强等特点,因此,传统的制导方式难以保证拦截弹拦截高超声速飞行器时的制导精度。为了减小弹目相对速度,降低对拦截弹的过载能力要求,按照前向制导方式,设计了有限时间收敛的三维前向滑模制导律。该制导律采用了连续的快速双幂次趋近律,不仅保证收敛速度快,同时削弱了传统制导律中存在的抖振现象。在此基础上为了处理系统扰动的上界未知的问题,又设计了自适应滑模制导律,该制导律既可以处理未知上界的外部扰动又可以保证第一种制导律所具有的良好特性。运用李雅普诺夫稳定性理论对所设计的滑模制导律进行了理论证明,最后,通过数值仿真验证了所设计制导律的有效性及优越性。     

一种带有末端弹体姿态角约束的非线性制导律

针对带有末端多约束的三维非线性制导问题,设计了一种通用模型预测静态规划制导算法。该制导算法通过向后迭代求解权矩阵微分方程对控制量进行更新,将动态优化问题转化为静态优化问题,计算效率得以提高。阐述了通用模型预测静态规划制导算法的基本原理,详细给出了基于通用模型预测静态规划算法的制导律设计过程。所设计的制导律满足末端法向加速度约束,因此,间接满足末端弹体姿态角约束。仿真时考虑目标的机动方式和落角约束,仿真结果表明,末端位移偏差小于0.5 m,末端落角可控制在0.01°范围内,末端法向加速度小于0.01 m/s2,该制导律能够很好地满足末端位移、落角和法向加速度约束。     

基于反演高阶滑模的飞行器最优末制导律

针对传统最优末制导律鲁棒性能较弱,且对参数摄动及外扰敏感的不足,而滑模控制对扰动具有较强鲁棒性的优点,提出一种新的基于反演准连续高阶滑模的最优末制导律,其中反演控制能够有效保证系统全局稳定性,而准连续高阶滑模控制则用于消除扰动影响。为了去除抖振效果,引入自适应超螺旋算法在线更新控制参数以消除符号函数导致的高频抖振影响。仿真结果表明:飞行器在该末制导律导引下,弹目视线角速率快速收敛,从而保证飞行器有很高的命中精度;鲁棒性较强;能够较好的满足约束条件要求。     

基于微分包含镇定的固体运载火箭上升段轨迹跟踪

针对传统固体运载火箭（SLV）上升段轨迹跟踪方法无法适应大范围参数不确定性的问题,提出一种基于微分包含镇定的上升段轨迹跟踪控制器。首先,将不确定性与动力学方程相结合,建立关于状态偏差的微分包含系统;其次,设计一种基于线性矩阵不等式（LMI）的状态反馈律,对微分包含系统中的多胞体部分进行镇定,用以解决大范围参数不确定性问题;然后,将攻角和侧滑角的修正量幅值约束转化为线性矩阵不等式进行求解;最后,对微分包含系统中的扰动部分设计自适应律进行估计,结合状态反馈律与控制量约束,构造微分包含自适应饱和跟踪控制器。仿真结果表明,在给定的参数不确定性范围内,终端状态偏差收敛且满足终端精度。与基于扩张状态观测器的跟踪控制器相比,所提出的控制器拓宽了不确定性的适用边界。     

Electrohydrodynamics in Porous Media

In this work we develop the volume averaged form of the frequency-dependent governing equations for electrohydrodynamics in a saturated porous medium. The concept of local electrical equilibrium is identified, and when this condition is valid we obtain a one-equation model describing the coupled transport of momentum and electric charge. When local electrical equilibrium is not valid, separate forms of Maxwell's equations must be developed for both the fluid and solid phases.     

On the general form of the law of dynamics

The dynamics of Lagrangian systems is formulated with a differential geometric approach and according to a new paradigm of the calculus of variations. Discontinuities in the trajectory, non-potential force systems and linear constraints are taken into account with a coordinate-free treatment. The law of dynamics, characterizing the trajectory in a general non-linear configuration manifold, is expressed in terms of a variational principle and of differential and jump conditions. By endowing the configuration manifold with a connection, the general law is shown to be tensorial in the velocity of virtual flows and to depend on the torsion of the connection. This result provides a general expression of the EULER-LAGRANGE operator. POINCARÉ and LAGRANGE forms of the law are recovered as special cases corresponding, respectively, to the connection induced by natural and mobile reference frames. For free motions, the geodesic property of the trajectory is directly inferred by adopting the LEVI-CIVITA connection induced by the kinetic energy.     

Derivation of the Forchheimer Law via Homogenization

In this paper we derive the Forchheimer law via the theory of homogenization. In particular, we study the nonlinear correction to Darcy's law due to inertial effects on the flow of a Newtonian fluid in rigid porous media. A general formula for this correction term is derived directly from the Navier–Stokes equation via homogenization. Unlike other studies based on the same approach that concluded for the nonlinear correction to be cubic in velocity for isotropic media, the present work shows that the nonlinear correction is quadratic. An example is constructed to illustrate our theory. In this example, the analytic solution to the Navier–Stokes equation is obtained and is utilized to show the validity of the quadratic correction. Both incompressible and compressible fluids are considered.     

多孔介质结构对渗流惯性效应的影响规律研究

本文通过局部展开算法研究了多孔介质中排列结构对非线性渗流规律的影响．计算结果表明：规则排列结构的渗流标度律和渗流方向相关，然而非规则排列结构的渗流标度律不依赖于渗流方向而只依赖于多孔介质的几何结构．伴随着排列结构的非规则程度增强，不同方向的渗流阻力变化规律的差异性减小．当流场输运区域较为复杂且不存在较宽直通道时，渗流阻力在较宽雷诺数范围内体现出较为明显的标度律特性．周期性强非规则排列结构中不同区域大小的模型却具有相似的渗流阻力的标度律特性，同时标度律特性与孔隙度的大小相关性不大．阻力非线性标度律由多孔介质结构的不同而取值为2至3之间．     

Capillary bridges and capillary forces between two axisymmetric power–law particles

Capillary interactions are fundamentally important in many scientific and industrial fields. However, most existing models of the capillary bridges and capillary forces between two solids with a mediated liquid, are based on extremely simple geometrical configurations, such as sphere–plate, sphere–sphere, and plate–plate. The capillary bridge and capillary force between two axisymmetric power–law profile particles with a mediated constant-volume liquid are investigated in this study. A dimensionless method is adopted to calculate the capillary bridge shape between two power–law profile particles based on the Young–Laplace equation. The critical rupture criterion of the liquid bridge is shown in four forms that produce consistent results. It was found that the dimensionless rupture distance changes little when the shape index is larger than 2. The results show that the power–law index has a significant influence on the capillary force between two power–law particles. This is directly attributed to the different shape profiles of power–law particles with different indices. Effects of various other parameters such as ratio of the particle equivalent radii, liquid contact angle, liquid volume, and interparticle distance on the capillary force between two power–law particles are also examined.     

Potential flow around a deforming bubble in a Venturi

The differential pressure between the entrance and throat of a Venturi will fluctuate if the liquid flowing through the Venturi contains bubbles. This paper reports computations of the pressure fluctuation due to the passage of a single bubble. The liquid is assumed inviscid and its velocity, assumed irrotational, is computed by means of a boundary integral technique. The liquid velocity at the entrance to the Venturi is assumed constant and uniform across the pipe, as is the pressure at the outlet. The bubble is initially far upstream of the Venturi and moves with velocity equal to that of the liquid. Buoyancy is neglected. If the bubble is sufficiently small that interactions with the Venturi walls may be neglected, a simple one-dimensional model for the bubble velocity is in good agreement with the full boundary integral computations. The differential pressure (taken to be positive) decreases when the bubble enters the converging section of the Venturi, and then increases to a value higher than for liquid alone as the bubble passes the pressure measurement position within the throat. The changes can be estimated using the one-dimensional model, if the bubble is small. The bubble is initially spherical (due to surface tension) but is perturbed by the low pressure within the Venturi throat. In the absence of viscosity, the bubble oscillates after leaving the Venturi. The quadrupole oscillations of the bubble are similar in frequency to those of a bubble in unbounded fluid; the frequency of the monopole oscillations is modified by the presence of the pipe walls. Numerical results for the frequency of monopole oscillations of a bubble in a uniform tube of finite length are in good agreement with analytic predictions, as is the computed drift of the oscillating bubble.     

Extended self-similar scaling law of multi-scale eddy structure in wall turbulence

ＩｎｔｒｏｄｕｃｔｉｏｎＭｕｃｈｗｏｒｋｈａｓｂｅｅｎｄｅｖｏｔｅｄｉｎｔｈｅｌａｓｔｆｅｗｄｅｃａｄｅｓｔｏｔｈｅｍｅａｓｕｒｅｍｅｎｔａｎｄｍｏｄｅｌｉｎｇｏｆｔｈｅｓｃａｌｉｎｇｌａｗｏｆｓｔｒｕｃｔｕｒｅｆｕｎｃｔｉｏｎｏｆｔｕｒｂｕｌｅｎｔｆｌｏｗｓ.Ｔｈｅｓｏ＿ｃａｌｌｅｄ“ｖｅｌｏｃｉｔｙｓｔｒｕｃｔｕｒｅｆｕｎｃｔｉｏｎｏｆｏｒｄｅｒｎ”ｆｏｒｔｕｒｂｕｌｅｎｔｆｌｏｗｓｉｓｄｅｆｉｎｅｄａｓ〈ΔＶ(ｒ) ｎ〉 ,ｗｈｅｒｅΔＶ(ｒ) =Ｖ(ｘ ｒ) -Ｖ(ｘ)ｉｓｔｈｅｖｅｌｏｃｉｔｙｃｏｍｐ…     

Scaling law of resolved-scale isotropic turbulence and its application in large-eddy simulation

Eddy-damping quasinormal Markovian （EDQNM） theory is employed to calculate the resolved-scale spectrum and transfer spectrum, based on which we investigate the resolved-scale scaling law. Results show that the scaling law of the resolved-scale turbulence, which is affected by several factors, is far from that of the full-scale turbulence and should be corrected. These results are then applied to an existing subgrid model to improve its performance. A series of simulations are performed to verify the necessity of a fixed scaling law in the subgrid modeling.