航向、航迹自动操舵仪船舵控制系统的研制

给出了采用数字模拟与物理模拟相结合的方法模拟海上实船环境的航向、航迹自动操舵仪船一舵控制系统的设计方案和实现途径，并介绍了该控制系统的软件设计。该系统为航渡任务的安全、顺利完成提供了有力保障。     

航向信息辅助的MIMU/GPS高精度组合导航方法

为了在卫星颗数少于四颗时实现高精度低成本导航,提出了一种基于航向信息辅助的MIMU/GPS高精度组合导航方法。采用MIMU与GPS构成MIMU/GPS组合导航系统;针对GPS卫星颗数少于四颗而无法定位的问题,利用MIMU导航解算获得的位置信息与GPS星历数据信息构造等效伪距,将其与GPS输出的伪距对应相减作为组合导航量测之一;针对组合后航向精度较低甚至发散的问题,利用GPS输出的水平速度计算获得伪航向角,将MIMU导航解算获得的航向角与该伪航向角相减作为量测之二;采用卡尔曼滤波设计组合导航滤波算法。跑车实验结果表明,在多次出现卫星颗数少于四颗时,该组合导航方法的位置精度达到±10.3 m(3σ),水平姿态精度达到±20.1′(3σ),航向精度达到±19.5′(3σ)。因此,该方法有效解决了卫星颗数少于四颗时的高精度导航问题,而且显著提高了航向精度,特别是在失准角较大的情况下也能够实现滤波快速收敛。     

惯导辅助的基于GPS的航向姿态参考系统的设计与实现

描述了一种惯导辅助的基于GPS的航向姿态参考系统的设计与实现,主要工作包括两个方面:第一,采用最小二乘方法和乔里斯基分解,基于基线长度约束设计并实现了实时的GPS定姿系统;第二,采用低成本的光纤陀螺辅助CPS定姿系统,提出了基于姿态角约束的多分辨率方法,用于在GPS定姿失败的情况下,正确求解载体姿态。该系统经过船载航行实验,证明完全能够达到实时计算,在基线长度为3 m的条件下,航向角精度优于0.1°。     

低成本车载GPS/INS组合导航姿态角更新算法

低成本INS系统的元件误差严重影响INS导航精度.针对车载系统,提出一种低成本车载GPS/INS组合导航姿态角更新算法.首先在GPS/INS组合导航Kalman滤波方程基础上,给出两种姿态角更新的观测方程.然后给出利用GPS测速确定航向角的原理,并且对低成本车载INS系统的俯仰角和翻滚角进行了分析,指出由INS随机误差造成的俯仰角和翻滚角误差比其本身量值要大,建议令俯仰角和翻滚角数值保持不变.利用实测算例确定了不同速度下的航向角精度,并且验证了该算法的有效性,以及相对于基于位置、速度组合的Kalman滤波,导航精度有明显提高.     

一种GPS测姿系统的设计及精度分析

为了研究一种适合船用的启动快、全天候、低成本、没有误差积累的测姿系统,根据船体甲板结构布局,设计了一套GPS测姿系统。系统采用4台双频GPS接收机,4天线棱形布局,艏艉基线约33 m,利用GPS载波相位测姿技术确定船舶姿态。海上动态试验时以惯导和光电经纬仪为数据比对基准进行精度分析。结果表明系统已基本达到了全时段测量的能力,其有效数据覆盖率可达94.8%以上,航向角系统误差小于18",纵摇角系统误差小于28",横摇角系统误差小于80"。系统已可作为大型船舶姿态测量的主要测量手段之一,同时由于其航向精度较高,可作为惯导系统航向校准的补充手段。     

基于模糊逻辑控制的舰船组合导航自适应卡尔曼滤波器

双天线GPS提供的载体姿态信息与惯性导航系统信息进行融合可提高组合导航系统的性能。由于在实际应用中,GPS接收机可能会受到某种干扰无法提供舰船航向信息,从而降低传统卡尔曼滤波器的性能。因而提出了一种新的基于模糊逻辑控制的自适应卡尔曼滤波器。改进后的卡尔曼滤波器使用两个模糊逻辑控制器来调整两个系统的组合模式,并且根据卡尔曼滤波器的内部状态、GPS工作状态和舰船运动状态来计算卡尔曼增益。通过使用INS和GPS的实测数据验证,这种基于模糊逻辑控制的自适应卡尔曼滤波器能有效的提高INS/GPS组合导航系统的性能。     

潜艇真航向测量系统

论述了潜艇真航向测量系统(DSSTH)的总体设计和各分系统设计,介绍了系统中采用的时间同步技术和改进的平移不变小波降噪算法。信息组合控制中心子系统采用INS、GPS、计程仪等导航信息组合,利用联邦卡尔曼滤波算法提高了整个系统精度;首次采用了高精度自动跟踪全站仪组成光学校准分系统测量校正导航系统,校正航向精度达到30″;采用多种关键技术和系统的整体优化设计,DSSTH航向动态测量精度达到0.03°。     

低成本GPS/IMU组合导航中的速度匹配对准研究

由于低成本IMU的输出具有较大的偏差和噪声，地球的自转速率完全被淹没在其中，无法实现自对准。因此在低成本IMU／GPS组合导航系统的设计中，初始对准使用GPS提供的速度信息进行纠偏，从而较好的估计了航向误差和IMU参数误差。仿真和实际应用都得到了较好的效果。     

INS/Doppler/GPS组合导航系统中航向误差的辨识

提出了一种INS/Doppler/GPS组合导航系统中航向误差的辨识方法.经过坐标转换得到的Doppler速度中包含了惯导系统航向误差的影响,可以考虑以GPS速度为基准信息,从Doppler速度中解算航向误差.但由于速度噪声的影响,这样得到的航向误差带有大量噪声.该方法用一个以时间为变元的多项式来逼近航向误差,以解算出的航向误差作为观测量,采用递推最小二乘法辨识出该多项式的各次项系数,进而计算出航向误差,达到滤除观测噪声的效果.仿真试验表明,在GPS速度噪声标准差为0.1 m/s、Doppler速度噪声标准差为0.5 m/s的情况下,航向误差的辨识精度优于0.22(2σ),收敛时间不超过120s.     

一种仿生偏振航向测量系统设计与测试

为了利用天空偏振信息实现航向信息获取,设计了一种新型仿生偏振航向测量系统,并对该系统所采用的基于偏光调制原理测量方位角方法等进行研究。首先,介绍了天空偏振模式分布规律,根据瑞利散射原理,待测光束的振动方向垂直于太阳、地面观察点和观察方向所构成的平面,为了研究天空偏振信息建立了地平坐标系;然后,基于偏光调制原理,设计可旋转偏振片测量系统,对天顶区域的光束进行测量,获取天空偏振光束的斯托克斯参数,通过斯托克斯参数计算出偏振方位角,并结合太阳子午线与北向的夹角,得到偏振航向角;最后,为了减少光学元器件噪声对系统测量精度的影响,设计了偏振航向测量系统参数的实验室标定方法。实验结果表明:仿生偏振航向测量系统的室内测量最大误差小于0.2°,室外测量均方误差小于0.6°,基本满足仿生偏振航向测量精度要求。     

Electrogas- and electrohydrodynamic control of gas and liquid jets and flows

The physical and mathematical principles of the method of electrogas-and electrohydrodynamic conversion of electrical signals to pneumatic (hydraulic) signals and vice versa for control of gas and liquid jets and flows in electropneumohydraulic systems are considered. St. Petersburg State Technical University, St. Petersburg 195251. Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 41, No. 2, pp. 25–31, March–April, 2000.     

Fatigue and static strength of notched and unnotched aluminum-alloy and steel specimens

This paper describes a method of presentation of fatigue data on three commonly used aircraft materials, 2024-T3 and 7075-T6 aluminum alloys and normalized SAE 4130 steel, such that variations in fatigue strength with stress-concentration factor can be shown. Comparisons of the fatigue strengths of 2024-T3 and 7075-T6 aluminum are made for the most useful range of stress-concentration factors. Static-strength results of notched and unnotched specimens of the three materials are presented to show how the strength varies with some parameters of the stress concentration. Comparison of the data with one theory for the strength of cracked specimens was made.     

STICTION AND ANTI—STICTION IN MEMS AND NEMS

Stiction in microelectromechanical systems (MEMS) has been a major failure mode ever since the advent of surface micromachining in the 80s of the last century due to large surfacearea-to-volume ratio. Even now when solutions to this problem are emerging, such as self-assembled monolayer (SAM) and other measures, stiction remains one of the most catastrophic failure modes in MEMS. A review is presented in this paper on stiction and anti-stiction in MEMS and nanoelectromechanical systems (NEMS). First, some new experimental observations of stiction in radio frequency (RF) MEMS switch and micromachined accelerometers are presented. Second, some criteria for stiction of microstructures in MEMS and NEMS due to surface forces (such as capillary, electrostatic, van der Waals, Casimir forces, etc.) are reviewed. The influence of surface roughness and environmental conditions (relative humidity and temperature) on stiction are also discussed. As hydrophobic films, the self-assembled monolayers (SAMs) turn out able to prevent release-related stiction effectively. The anti-stiction of SAMs in MEMS is reviewed in the last part. The project supported by the Distinguished Young Scholar Fund of NSFC (10225209), key project from the Chinese Academy of Sciences (KJCX2-SW-L2) and National “973” Project (G1999033103)     

水和水蒸汽热力学物性参数及导数的计算与应用

本文针对现代换热设备设计、两相流动与传热研究的需要,介绍了可供科研使用的水和水蒸汽物性计算方法,完善了计算程序。根据超临界锅炉设计中的超临界水的物性计算,两相流研究和换热设备动态特性研究中对物性导数计算的需要,提供了两个算例,并进行了定性分析。     

Fracture and stability of materials and structural members with cracks: approaches and results

A new alternative approach to fracture problems for materials and structural elements with cracks is set out. It is based on the mechanism of local instability near defects. The approach is used to study the fracture of materials compressed along interacting cracks and the fracture of thin structural members with cracks under tension with allowance for local buckling.__________Translated from Prikladnaya Mekhanika, Vol. 40, No. 12, pp. 18–64, December 2004.     

Fundamental properties of elasto-plastic matrix and existence and uniqueness of elasto-plastic stress and displacement

Based on the assumption that the yield criterionF(,)=0 is a differentiable surface in stress space and by starting from a specially defined real Euclidean space, the fundamental properties of the elasto-plastic matrix in the incremental theory of plasticity is discussed in detail. By using these results, a convex analysis is made to prove the existence and uniqueness of 1) the distribution of incremental elasto-plastic stress for work-hardening materrials; 2) the displacement distribution for work-hardening materials. Material isotropy is assumed in all discussions of relevant problems.     

Drawing and extruding: Theoretical and approximate formulas

Summary The problem of drawing of wires and of strips has been treated in several studies; among these the studies of Sachs seem essential. However, the results deduced according to similar theories are not always in accordance with the experimental results: reduction of area or of thickness are in fact usually smaller than those resulting from the theory. This is in dependance of the fact that Sachs has adopted the Limiting Condition of Yielding by v. Mises, according to which the limit values of stress in traction and compression are equal. More recently other AA. (Alberti, Noto La Diega, Bugini), admitting the Limiting Condition of Yielding by A. (or of the Paraboloid of Revolution) of which we have treated in one of our previous works, attain results tallying with the experience. In the present study the above said subjects are treated as to evidence their unitarian signifiance and clarify their several aspects. The approximate formulas proposed by A. result of easy and quick application. In the same manner are treated other problems, among which the problem of the extrusion (Bagarello, Ammendola).

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Sommario Il problema della trafilatura dei fili metallici e delle strisce di lamiera è stato trattato in diverse Memorie, fra le quali fondamentali sono quelle del Sachs. I risultati dedotti in base a tali studi non sempre però concordano con le risultanze sperimentali: i rapporti di riduzione delle aree o degli spessori sono infatti di norma inferiori a quelli che risultano da tali teorie. Ciò dipende dal fatto che il Sachs ha posto a base dei suoi studi la Condizione di Plastificazione del v. Mises secondo la quale i limiti di resistenza del materiale che si considera alla trazione e alla compressione semplice sono uguali. Più recentemente altri AA. (Alberti, Noto La Diega, Bugini), adottando la Condizione di Plastificazione dell' A. (o del Paraboloide di Rivoluzione), del quale abbiamo trattato in un precedente lavoro, pervengono a risultati più attinenti alla practica. Col presente studio gli argomenti vengono trattati mettendone in evidenza il significato unitario e chiarendone i vari aspetti. Le formule approssimate proposte dall' A. risultano di facile e immediata applicazione. In maniera analoga vengono trattati altri problemi, fra i quali quello dell'estrusione (Bagarello, Ammendola).