基于多功能数据采集卡和变速PID的转台控制系统设计

为了提高采用转台对惯导系统和惯性仪表进行误差模型标定时的可靠性和精度,对角位置转台的控制系统进行了研究。首先借助NI公司PXI-8101控制器和功能强大的数据采集卡PXIe-6363对转台控制系统进行了硬件设计。随后在对转台常规PID控制方法研究的基础上提出了一种能随系统调节偏差自动改变积分项累加速度的变速PID控制方法。接着又对基于软件实现的双通道旋转变压器轴角解调算法进行了研究并提出了一种粗精组合角纠错方法。最后对本文设计的转台控制系统进行了测试实验,结果表明提出的轴角解调算法具有较好的解码速度和精度,并且变速PID控制方法大大提高了转台控制系统的自学习能力和鲁棒性,显著地改善了转台控制过程的稳定性。     

基于单目视觉的姿态自动测量方法

提出一种将EPnP算法和SoftPOSIT算法融合的单目视觉姿态自动测量方法.首先,利用EPnP算法计算得到立体靶标的位姿参数,并将该位姿参数作为SoftPOSIT算法的迭代初始值带入.其次,将SoftPOSIT算法计算位姿的的迭代过程与立体靶标结合,实现姿态的自动测量,并仿真验证了拓扑确定位姿的有效性.最后,为了验证姿态测量结果的精度,以高精度二维转台为基准,将立体靶标安装在二维转台中,通过控制转台转动角度得到靶标姿态的测量数据.实验结果表明,当转台转动角度在[-20°,20°]时,靶标姿态角α的测量结果标准差为0.20°,姿态角β的测量结果标准差为0.27°.     

察打型无人机攻击航迹控制算法研究

固定翼无人机自身携带激光制导导弹进行对地攻击,需要自身携带的光电转台稳定跟踪目标并进行激光照射,指引导弹命中目标。为满足光电转台稳定跟踪目标的角速度限制及导弹可发射的限制条件,设计一种新型的航迹控制算法。利用基于李雅普诺夫向量场的导航算法,实现无人机从盘旋搜索到发现目标后转入导弹可攻击区并实施攻击的自动航迹控制,并保证无人机在调整姿态的同时光电转台稳定跟踪目标。利用某察打型无人机进行飞行验证,结果证明设计的算法能够较好完成无人机的攻击航迹控制,保证导弹发射。     

光纤陀螺在转台测试中的应用

光纤陀螺是一种速率陀螺,其适合用来对转台作低速测试.根据转台所用编码器的参数,分析了转台不同角速率下光纤陀螺所需的数据刷新率及陀螺零偏稳定性对测量结果的影响.用光纤陀螺测量了转台以1°/s角速率转动时的角速率波动,对陀螺输出数据作了功率谱分析,并与示波器直接测量的结果进行了对比,结果表明光纤陀螺的测量结果是正确的;应用光纤陀螺对转台以(0.05°/s,1°/s)范围内固定角速率转动时的角速率波动进行了测量,通过对测量结果的分析表明:光纤陀螺可以用于转台的测试,它能测量出转台低速转动时的角速率波动;最后给出了光纤陀螺对转台角速率测试的下限.     

光学相关论题 空间光学

TP273 2005010788 一种提高转台伺服系统精度的方法=A method of improving tracking accurscy of turntable servo system[刊,中]/ 谢慕君(长春工业大学电气与电子工程学院.吉林,长春 (130012)),王志乾…∥光电工程．-2004,31(7).-12-14 针对转台正弦摇摆时换向误差较大,影响系统的跟踪精度问题,提出了一种变增益算法,将速度回路的前向通道放大倍数设计为一个以系统输入速度作为自变量的函     

一种外场天线测试转台设计

为了满足天线在野外的测试需要,提出了一种外场天线测试转台的结构设计;该转台采用蜗轮蜗杆传动方式,可实现天线的俯仰和方位运动;文中对转台的组成进行了描述,并针对俯仰部件和方位部件的结构设计分别进行了详细说明,同时分析了转台的受力情况,对驱动力矩和惯量匹配进行了校核计算,从理论上分析了传动精度和测角精度;实际测试表明,该转台结构设计完全达到技术指标要求,能够满足天线外场测试的需要。     

X射线CT转台单侧两次螺旋扫描单层重排重建算法

锥束计算机断层成像(CT)在临床医学及工业无损检测等诸多领域获得了越来越广泛的应用。但是,受面阵探测器尺寸等硬件条件限制,锥束CT的成像视野有限,难以满足实际应用中对大尺寸物体成像的需求。为了扩展锥束CT的视野,提出了锥束CT转台单侧两次螺旋扫描单层重排重建算法。该算法在转台的同一侧进行两次螺旋扫描,通过统一成像几何条件,将两组螺旋锥形束投影重排为多层平行束投影,利用平行束投影的对称性去除数据的横向截断,得到一组完全覆盖物体横截面的平行束投影数据,再通过滤波反投影方式得到重建图像。实验结果表明,该方法的成像视野扩展率可达2.56,且成像质量与传统全覆盖算法相当。     

基于变结构控制的旋转调制激光惯导伺服控制系统设计

调制转台的到位精度以及速度平稳性直接影响舰载旋转调制激光陀螺惯性导航系统的导航定位精度。摩擦会使调制转台产生极限环现象,进而严重影响调制转台的到位精度以及速度平稳度。针对上述问题,基于变结构控制策略设计了旋转调制激光陀螺惯性导航系统旋转调制转台伺服控制系统,可以有效克服由于摩擦、未建模误差以及电机力矩波动产生的极限环现象。仿真结果表明,存在摩擦、未建模误差等外界干扰的条件下,调制转台的到位精度以及速度平稳度均能得到较为满意的结果。     

基于精密测角法的测绘相机分组渐进标定算法

针对精密测角法标定测绘相机内方位元素中理论误差和观测点分布状态对标定精度影响的问题,提出了一种基于精密测角法的分组渐进标定算法。提出的算法包括2个部分：采用分组渐近方式调整精密转台零点位置,减小了理论误差;对每组观测数据引入了数据一致性约束,消除观测值分布、数量对标定结果的影响。最后,给出了分组渐进算法的精度分析。实验数据显示,在相同试验环境条件下,分组渐进标定算法中主点、主距标定精度比精密测角算法分别提高了2.43倍和2.00倍,可达到2.12 μm和4.02 μm,表明分组渐进标定算法提高了标定精度。     

新型等高仪转台运动控制系统设计

新型等高仪是一种具有特殊应用功能的高精度天体测量望远镜。在简要介绍新型等高仪及其转台运动控制系统的要求后,提出了仪器转台运动控制系统的总体设计方案。以可编程多轴运动控制器(PMAC)为核心,构建了仪器转台运动控制系统硬件,并开发了相关的控制软件。介绍了该仪器转台运动控制系统的主要硬件模块、系统配置、控制系统PID参数整定和调节方法、运动控制系统上位机和下位机的软件设计方法以及各功能的具体实现过程、系统测试和运行情况。     

Finding the Hamiltonian for Cosmological Models in Fourth-Order Gravity Theories Without Resorting to the Ostrogradski or Dirac Formalism

The Hamilton formalism of cosmological models in fourth-order theories of gravity is considered. An approach to constructing the Hamilton function is presented which starts by replacing the second order derivatives of configuration space coordinates by functions depending on these coordinates, its first order derivatives, and additional variables playing the role of configuration space coordinates. This formalism, which does not resort to the Ostrogradski or Dirac formalism, is elucidated and applied to examples. For a special class of Lagrange functions, it is demonstrated that the canonical coordinates of the considered formalism and of the Ostrogradski formalism are related via a canonical transformation. The canonical transformation is a transformation of the configuration space coordinates and a transformation of momentum components induced by the transformation of the configuration space coordinates for a special element of the class of Lagrange functions mentioned. The Wheeler-DeWitt equations belonging to this Lagrange function are related via minisuperspace coordinate transformations.     

Stochastic models for the depolarization of immobile spins by single diffusing impurities

The structure of one-dimensional systems with a half-filled band is discussed. In addition to lattice coordinates several intramonomer coordinates are considered. It is found that the system distorts and dimerizes (Peierls distortion). The distortions can be caused by lattice coordinates, by intramonomer coordinates or by both types of coordinates simultaneously. Thereby the various intramonomer degrees of freedom act cooperatively. The interplay between the intramonomer and lattice coordinates may induce new types of phase transitions with critical temperatures below the usual Peierls transition. Depending on the values of the effective matrix elements up to two of these new transitions may occur for a given system. The impact of these additional phase transitions on the specific heat, energy gap and lattice structure is discussed.     

采用RBF神经网络求解反向条纹的研究

提出了一种利用RBF神经网络来确定摄像机和投影器坐标映射关系的方法。首先在投影器坐标系中将数据分为若干个16×16的子区域,然后以（l,m,lm,l2,m2）为输入层的5个神经元（其中l、m为投影器像素坐标）,以摄像机像素坐标i为输出层的神经元,建立RBF神经网络。利用RBF神经网络求解在投影器坐标系中摄像机像素坐标的分布模型,最后得到投影器像素点对应的摄像机像素坐标值。计算机模拟和实验结果表明,与已有的算法相比,该方法能更有效地提高反向条纹投影的求解精度。为反向条纹的求解提供了新方法。     

圆柱坐标下的多孔径拼接测量三维面形

直角坐标下的拼接方法在测量三维物体特虽是回转特体时碰到了困难。把拼接方法推广到圆柱坐标可以解决这一难题。验证了这种方法的正确性。最后给了实际测量结果。     

The shallow water equations in Lagrangian coordinates

Recent advances in the collection of Lagrangian data from the ocean and results about the well-posedness of the primitive equations have led to a renewed interest in solving flow equations in Lagrangian coordinates. We do not take the view that solving in Lagrangian coordinates equates to solving on a moving grid that can become twisted or distorted. Rather, the grid in Lagrangian coordinates represents the initial position of particles, and it does not change with time. We apply numerical methods traditionally used to solve differential equations in Eulerian coordinates, to solve the shallow water equations in Lagrangian coordinates. The difficulty with solving in Lagrangian coordinates is that the transformation from Eulerian coordinates results in solving a highly nonlinear partial differential equation. The non-linearity is mainly due to the Jacobian of the coordinate transformation, which is a precise record of how the particles are rotated and stretched. The inverse Jacobian must be calculated, thus Lagrangian coordinates cannot be used in instances where the Jacobian vanishes. For linear (spatial) flows we give an explicit formula for the Jacobian and describe the two situations where the Lagrangian shallow water equations cannot be used because either the Jacobian vanishes or the shallow water assumption is violated. We also prove that linear (in space) steady state solutions of the Lagrangian shallow water equations have Jacobian equal to one. In the situations where the shallow water equations can be solved in Lagrangian coordinates, accurate numerical solutions are found with finite differences, the Chebyshev pseudospectral method, and the fourth order Runge–Kutta method. The numerical results shown here emphasize the need for high order temporal approximations for long time integrations.     

Fermi coordinates in Schwarzschild spacetime: closed form expressions

Fermi coordinates are constructed as exact functions of the Schwarzschild coordinates around the world line of a static observer in the equatorial plane of the Schwarzschild spacetime modulo a single impact parameter determined implicitly as a function of the latter coordinates. This illustrates the difficulty of constructing explicit exact Fermi coordinates even along simple world lines in highly symmetric spacetimes.     

机载光电系统的地面多目标定位算法

传统的单目标地理定位方法无法适应现代战场态势实时多变、目标数量多的情况。为了提高目标定位效率,在单目标地理定位的基础上,给出一种适用于机载光电侦察系统的半主动多目标定位算法。通过建立初始东北天坐标系、飞机东北天坐标系、飞机机轴坐标系、光电稳瞄坐标系和多目标投影坐标系,同时结合目标相对方位、俯仰角度,得到了一系列欧拉角坐标转换公式,可以同时计算出多个地面目标的经纬度。计算机仿真结果表明:该算法能够对同一视场内的多个目标同时进行定位,即具有多目标定位功能。由于像素偏差增加了坐标转换累积误差,次目标定位精度略低于主目标定位精度。     

Quantum description of five-particle systems in principal-axis hyperspherical coordinates

To describe a 5-particle system, ‘principal-axis hyperspherical’ coordinates (made up of one hyperradius and eight angles as internal coordinates) and three Euler angles as external (rotational) coordinates are used. A mathematical procedure to derive, in a systematic manner, the exact quantum mechanical Hamiltonian of the system in terms of these coordinates is presented. A generalized angular momentum vector operator, which allows the generation of a profitable standard representation for the angular part of the problem, is introduced.     

Relativity of the metric

Although the form of the metric is invariant for arbitrary coordinate transformations, the magnitudes of the elements of the metric are not invariant. For Cartesian coordinates these elements are equal to one and are on the diagonal. Such a unitary metric can also apply to arbitrary coordinates, but only for a coordinate system inhabitant (CSI), to whom these coordinates would appear to be Cartesian. The meaning for a non-Euclidean metric consequently appears to be a simple coordinate system transformation for the appropriate CSI. The conversion of arbitrary coordinates to the flat Cartesian ones can be accomplished by a sequence of isomorphic mappings linking the arbitrary coordinates to the flat Cartesian ones. This is shown for two, three, and four-dimensional spaces. It is also applied to toroidal metrics and fluidfilled spaces for toroidal vortices that are discontinuous, half-wavelength, electromagnetic dipole field distributions. A number of other applications are discussed.     

Hawking Temperature of a Static Black Hole in Harmonic Coordinates

Hawking radiation is usually studied in standard coordinates. In this paper, we calculate the Hawking temperature of a Schwarzschild black hole in harmonic coordinates, as well as that of a Reissner-Nordström black hole. The action of a scalar field near the event horizon can be formulated exactly without omitting some high-order terms. We show dimensional reduction for Hawking temperature is also valid for harmonic coordinates, and verify further that the results are independent on concrete coordinates. With the help of Lorentz transformation, our work might also serve as a basis to investigate the thermal radiation from a moving black hole.