有杆抽油系统动态特性的计算机仿真

本文建立了有杆抽油系统动态特性仿真的综合数学模型．即应用数值积分法建立转子运动规律的仿真模型和应用差分法建立抽油杆柱纵向振动的仿真模型。本文提出了一种叠代方法较好地解决了两子系统之间相互耦合的问题，给出了一种便于应用的井下边界条件的仿真方法。     

破碎发射药形状特征量的计算方法

分析了发射药形状特征量与密闭爆发器试验中发射药的燃烧压力曲线之间的关系,提出了估算破碎发射药形状特征量的方法,并给出了确定发射药形状特征量的详细步骤。对通过落锤实验得到的不同破碎程度的发射药进行了密闭爆发器实验,并利用建立的方法计算了该发射药的形状特征量,计算结果与实验结果吻合较好。     

Identification of the shear parameters for lunar regolith based on a GA-BP neural network

Identifying the mechanical parameters of lunar soil through the rover’s wheel can provide the basic data for path planning, risk avoidance, and traction control. In this paper, the shear parameters of lunar soil are identified by a Back Propagation neural network optimized by Genetic Algorithm (GA-BP) based on a simplified wheel-soil model. For the GA-BP identified model, the input data are driving torque (T), vertical load (W) and slip ratio (s) of the wheel. The output data are internal friction angle (φ) and shear deformation modulus (K). A total of 315 sets of data are used to train GA-BP and BP algorithms. Data from single-wheel soil bin test are put into the trained algorithms to identify φ and K of lunar soil simulant. The test results demonstrate that GA-BP algorithm is accurate and effect to identify shear parameters of regolith online. The comparison between identified results and test results shows that the GA-BP algorithm is better than the BP algorithm. The cohesion is set to 1.5 kPa and then the drawbar pull is predicted according to the identified φ and K of GA-BP. The test results show that the prediction of DP is reasonable.     

基于修正的Rodrigues参数的EKF算法在姿态估计中的应用

以低成本航姿测量系统为研究对象,针对四元数描述姿态时存在冗余的不足,提出使用三维独立矢量的修正的Rodrigues参数进行姿态解算,利用与其影子参数相互切换的方法解决了修正的Rodrigues参数在描述姿态时存在奇异的问题,根据系统中器件的特点,以陀螺零偏和修正的Rodrigues参数为状态向量,以加速度计、磁强计输出为观测向量建立了基于扩展Kalman滤波的姿态估计算法,避免了利用四元数进行姿态估计时状态误差方差阵产生奇异的问题,并在一定程度上减小了估计算法的计算量。最后通过全姿态以及摇摆基座数据仿真验证了算法的有效性。