精确制导炸弹坐标转换技术

将制导炸弹的SINS/GPS组合导航系统输出的导航信息进行坐标转换,产生制导控制系统所需要的发射坐标系下的信息,以实现制导炸弹的制导与控制功能.针对某型制导炸弹的工程化研制,研究了制导炸弹在飞行过程中不同坐标系间的转换关系,分析了方位角误差对制导炸弹坐标转换精度的影响,推导了一个新的方位角计算方法.提出了一种递推的坐标转换方法,并与传统的坐标转换方法和基于迭代的坐标转换方法进行了比较.仿真结果表明,该方法可对坐标转换过程中产生的误差进行相应的修正,并且误差不会积累,该方法的转换精度最高.仿真结果验证了该方法的正确性和可行性.     

基于横向地球坐标的惯性导航方法

针对极区经线迅速收敛于极点造成的传统惯导机械编排在极区不适用问题,提出了CGCS2000地球椭球体模型下基于横向地球坐标的惯性导航方法。在构建横向坐标系及伪经纬网的基础上,给出了横向惯导与传统惯导间导航参数的转换关系,推导了横向地理坐标系机械编排,建立了系统误差模型,并以某型船舶为例,通过系统性能的静基座、动基座仿真分析,研究了基于横向地球坐标的惯性导航方法在极区的适用性。仿真分析表明,基于横向地球坐标的惯性导航方法可以克服传统惯导在极区存在的问题,在极点处不存在计算溢出,并可为载体穿越极点时提供高精度的姿态、位置信息,适用于极区。     

内压载荷作用下薄膜椭球的稳定性分析

超弹性橄榄状和南瓜状薄膜椭球在内压载荷作用下存在不同的分岔形式.对橄榄状薄膜椭球来说,细长比大于某一临界值时,在一定内压作用下会发生梨形分岔;小于该临界值时,薄膜椭球的分岔行为与圆管的局部起鼓现象相类似.对南瓜状薄膜椭球,无论圆扁,当内压达到某载荷值时都会发生梨形分岔.本文采用能量判据,分析了在压强控制和质量控制两种加载方式作用下,不同形状的薄膜椭球的均匀解及分岔解的稳定性.通过计算要考察的平衡状态及施加小扰动之后状态的能量差来判断当前状态是否稳定,结果表明,在压强控制下,P-V曲线下降段的均匀解和分岔解均为不稳定解.但在质量控制下,在P-V曲线下降段中只有均匀解出现时,均匀解为稳定解;而在均匀解和分岔解共存的区间内,均匀解为不稳定解,分岔解为稳定解.另外,P-V曲线两个上升段的均匀解则均为稳定解.     

用点系笛卡尔坐标表示的刚体模型

本文叙述刚体的一种非传统模型,即利用刚体内若干参考点的笛卡尔坐标表示刚体的空间位置和姿态.与利用欧拉角或欧拉参数表示姿态的传统刚体模型比较,点系模型的主要优点是所有约束方程的Jacobi矩阵均为坐标的线性函数,从而使数值计算的效率明显提高,尤其适合应用于多体系统的建模.     

模糊约束集合下结构疲劳寿命估计方法

针对刚性凸集模型在表达实际参数不确定性时的局限,提出了寿命参数的模糊集合模型及寿命估计方法。将超椭球模型的尺度参数作为一个正模糊数,根据区间模型的内切和外接椭球确定了模糊集合边界的内、外缘及超椭球尺度参数的隶属函数,从而确定了疲劳寿命估计的模糊约束集。提出了基于Taylor二次展式和Lagrange条件极值法的寿命估计方法,构建了疲劳寿命的模糊极大集和模糊极小集。通过超椭球凸集的归一化和球坐标转换,实现了模糊集合域内样本点的抽取和模糊约束下的疲劳寿命估计。通过工程算例,对模糊集合方法、凸模型方法和概率方法进行了比较,结果表明当统计数据缺乏时,模糊集合方法更贴切实际,计算结果更准确合理,是对凸模型方法和概率方法的发展和完善。     

一种助推–滑翔飞行器全程运动模型

建立了一种助推–滑翔飞行器的全程运动模型,首先给出了笛卡尔坐标发射系下主动段和极坐标地心系下滑翔段的质心运动学方程,然后推导了不同坐标系之间衔接点坐标转换模型,构成封闭的全程运动模型。最后开展了助推–滑翔全弹道仿真,验证了衔接点前后不同坐标系下弹道变化连续性。在给定发射点参数和弹道控制变量的条件下,基于全程运动模型可获得全程弹道及滑翔段机动覆盖范围,用于支撑助推–滑翔全程弹道优化设计以及助推–滑翔飞行器的全程机动能力快速评估。

     

绕椭球的低速流动研究

理解和预测绕椭球的流动对指导飞行器和潜艇等交通工具的设计具有很强的工程意义. 近年来, 针对椭球绕流开展了大量的实验和数值模拟研究. 对有攻角下椭球绕流分离的定性描述和定量研究, 促进了对三维分离的辨识和拓扑研究. 文章对流场特性进行了分析, 介绍了分离对气动力、噪声、尾迹的影响, 以及实验条件对流动的影响. 上述定常流动与非定常机动过程之间存在明显差异, 非定常机动过程不能作为定常或准定常问题处理, 在机动过程中, 分离出现明显延迟, 气动力出现明显变化. 随后介绍了数值模拟在求解绕椭球流动中的进展, 当前求解雷诺平均的N-S方程湍流模式仍然是解决绕椭球大范围分离流动的主要工程方法, 大涡模拟和分离涡模拟等也逐渐得到了广泛应用. 受限于计算能力, 直接数据模拟只能用于较低雷诺数, 在高雷诺数流动中还不适用. 非定常机动过程的数值模拟较定常状态, 与实验结果的差距要大一些. 最后, 介绍了对椭球绕流场转捩的研究进展, 对T-S转捩与横流转捩的机理和辨识已经较为准确, 数值模拟结果与实验结果基本相符, 但对再附转捩的认识还不够清晰, 尤其是迎风面, 因此椭球绕流转捩的研究还需要依靠实验.      

细长椭球体在水中自由下落的运动特性实验研究

固体颗粒在液体中的运动现象在日常生活和工业应用领域广泛存在,其中因蕴含着丰富的流体力学现象而受到学者们的广泛关注.本文通过实验研究了细长椭球体在水中受浮力影响的下落特性.实验中采用带有两台相互垂直的高速摄像机和光源组成的运动跟踪平台并结合荧光染色技术对细长椭球体下落过程中的运动轨迹和尾涡结构进行研究.文中选用的细长椭球体与环境流体的密度比为1.2,其长短轴比范围为2～10,相应的阿基米德数范围为400～1400,对应实现的终态雷诺数范围为120～1350.实验过程中我们观察到细长椭球体在水中下落过程中产生的5种典型路径,分别为:小振幅不规则运动、小振幅高频振荡运动、大振幅低频振荡运动、高度非线性运动以及直线运动,并得到了对应的速度振荡以及倾斜角的演化规律.进一步地,分析了细长椭球体运动过程中受到的阻力系数与雷诺数之间的关系.随后采用荧光可视化技术清晰获得了颗粒下落过程中的尾涡结构特性,并结合颗粒的运动状态详细分析了涡脱落过程对颗粒运动状态转捩的影响.最后,通过对比前人关于圆柱体下落的运动特性的相关结果,获得了细长椭球体和细长圆柱体运动特性之间的异同点以及其潜在的物理机理.     

细长椭球体在水中自由下落的运动特性实验研究

固体颗粒在液体中的运动现象在日常生活和工业应用领域广泛存在, 其中因蕴含着丰富的流体力学现象而受到学者们的广泛关注. 本文通过实验研究了细长椭球体在水中受浮力影响的下落特性. 实验中采用带有两台相互垂直的高速摄像机和光源组成的运动跟踪平台并结合荧光染色技术对细长椭球体下落过程中的运动轨迹和尾涡结构进行研究. 文中选用的细长椭球体与环境流体的密度比为1.2, 其长短轴比范围为2$\sim $10, 相应的阿基米德数范围为400$\sim$1400, 对应实现的终态雷诺数范围为120$\sim$1350. 实验过程中我们观察到细长椭球体在水中下落过程中产生的5种典型路径, 分别为: 小振幅不规则运动、小振幅高频振荡运动、大振幅低频振荡运动、高度非线性运动以及直线运动, 并得到了对应的速度振荡以及倾斜角的演化规律. 进一步地, 分析了细长椭球体运动过程中受到的阻力系数与雷诺数之间的关系. 随后采用荧光可视化技术清晰获得了颗粒下落过程中的尾涡结构特性, 并结合颗粒的运动状态详细分析了涡脱落过程对颗粒运动状态转捩的影响. 最后, 通过对比前人关于圆柱体下落的运动特性的相关结果, 获得了细长椭球体和细长圆柱体运动特性之间的异同点以及其潜在的物理机理.      

有多余坐标完整系统的自由运动

对于完整力学系统,若选取的参数不是完全独立的,则称为有多余坐标的完整系统. 由于完整力学系统的第二类Lagrange 方程中没有约束力,故为研究完整力学系统的约束力,需采用有多余坐标的带乘子的Lagrange方程或第一类Lagrange 方程. 一些动力学问题要求约束力不能为零,而另一些问题要求约束力很小. 如果约束力为零,则称为系统的自由运动问题. 本文提出并研究了有多余坐标完整系统的自由运动问题. 为研究系统的自由运动,首先,由d'Alembert-Lagrange 原理, 利用Lagrange 乘子法建立有多余坐标完整系统的运动微分方程;其次,由多余坐标完整系统的运动方程和约束方程建立乘子满足的代数方程并得到约束力的表达式;最后,由约束系统自由运动的定义,令所有乘子为零,得到系统实现自由运动的条件. 这些条件的个数等于约束方程的个数,它们依赖于系统的动能、广义力和约束方程,给出其中任意两个条件,均可以得到实现自由运动时对另一个条件的限制. 即当给定动能和约束方程,这些条件会给出实现自由运动时广义力之间的关系. 当给定动能和广义力,这些条件会给出实现自由运动时对约束方程的限制. 当给定广义力和约束方程,这些条件会给出实现自由运动时对动能的限制. 文末,举例并说明方法和结果的应用.      

Applications of fractional exterior differential in three-dimensional space

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New mixed plate-bending elements with shear strain interpolations

This paper is concerned with two mixed plate-bending elements with shear strain interpolations, a quadrilateral element and an 8-node serendipity-type element based on discussions on the element proposed in Ref.[1]. The shear strains and inner-forces in the natural coordinates are interpolated in an element and then transformed into Cartesian coordinates in accordance with covariant and contravariant tensor transformations, respectively. The quadrilateral element coincides with the element in Ref.[1] when it is rectangular. Numerical examples show that the two new elements are free from shear locking and spurious kinematic modes under regular and irregular meshes and have the advantages of being insensitive to element distortion and able to give fairly accurate results.The Project supported by National Natural Science Foundation of China.     

Dynamic Analysis of Spatial Linkages: A Recursive Approach

In this paper, recursive equations of motion of spatial linkages are presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. Closed-chain system is transformed to open-chain by cutting suitable kinematic joints and introducing cut–joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.     

A velocity transformation method for the nonlinear dynamic simulation of railroad vehicle systems

The solution of the constrained multibody system equations of motion using the generalized coordinate partitioning method requires the identification of the dependent and independent coordinates. Using this approach, only the independent accelerations are integrated forward in time in order to determine the independent coordinates and velocities. Dependent coordinates are determined by solving the nonlinear constraint equations at the position level. If the constraint equations are highly nonlinear, numerical difficulties can be encountered or more Newton–Raphson iterations may be required in order to achieve convergence for the dependent variables. In this paper, a velocity transformation method is proposed for railroad vehicle systems in order to deal with the nonlinearity of the constraint equations when the vehicles negotiate curved tracks. In this formulation, two different sets of coordinates are simultaneously used. The first set is the absolute Cartesian coordinates which are widely used in general multibody system computer formulations. These coordinates lead to a simple form of the equations of motion which has a sparse matrix structure. The second set is the trajectory coordinates which are widely used in specialized railroad vehicle system formulations. The trajectory coordinates can be used to obtain simple formulations of the specified motion trajectory constraint equations in the case of railroad vehicle systems. While the equations of motion are formulated in terms of the absolute Cartesian coordinates, the trajectory accelerations are the ones which are integrated forward in time. The problems associated with the higher degree of differentiability required when the trajectory coordinates are used are discussed. Numerical examples are presented in order to examine the performance of the hybrid coordinate formulation proposed in this paper in the analysis of multibody railroad vehicle systems.     

SIMILARITY SOLUTIONS FOR CREEPING FLOW AND HEAT TRANSFER IN SECOND GRADE FLUID

IntroductionTheconceptofthesecondgradefluidcanbedevelopedasanexpansionintermsoffadingmemorytotheNewtonianfluid .Insodoing ,higherorderderivativesofthevelocityfieldarerequired.However,secondorderfluidmayprovideonlyanapproximationtorealviscoelasticbehavior.Thephysicalmeaning ,ifany ,ofthehighorderderivativesisunclearnevertheless,theRivlinEricksensecondorderfluidiscommonlyusedandfurtherstudyseemswarranted .TheStokesflowsolutionsandthecreepingsecondgradefluidflowsolutionsarepresentedqualitativel…     

Dynamic modelling of the double wishbone motor-vehicle suspension system

In this paper the dynamic analysis of the double wishbone motor-vehicle suspension system using the point-joint coordinates formulation is presented. The mechanical system is replaced by an equivalent constrained system of particles and then the laws of particle dynamics are used to derive the equations of motion. Due to the presence of large number of geometric and kinematic constraints the velocity transformation approach is used to eliminate some constraints. The equations of motion in terms of the Cartesian coordinates of the particles are transformed to a reduced set in terms of relative joint variables by defining differential-algebraic equations in terms of the joint variables are equal to the number of degrees of freedom of the whole system plus the number of cut-joint constraints corresponding to cut of kinematical closed loops. Use of both the Cartesian and relative joint variables produces an efficient set of equations without loss of generality. The chosen suspension includes open and closed loops with quarter-car model.     

A derivation of the Mehrabadi-Cowin equations

An alternative derivation to that given by Mehrabadi and Cowin (1978) is presented here for a pair of kinematic equations governing a certain class of flows in the plastic deformation of dilatant granular materials. This class has been described by Spencer (1981) as double shearing flows. In their derivation Mehrabadi and Cowin (1978), prior to presenting the equations relative to rectangular Cartesian coordinates, obtained an intermediate pair of equations relative to a non-orthogonal network of characteristic coordinates. The essential difference between the original and present derivation is that here, the flow rule, expressed relative to rotating, rectangular Cartesian coordinates, is transformed directly to obtain the kinematic equations relative to fixed rectangular Cartesian coordinate axes, without the need to obtain the characteristic equations.     

Canonical moduli and general solution of equations of a two-dimensional static problem of anisotropic elasticity

Equations of a two-dimensional static problem of anisotropic elasticity are brought to a simple form with the use of orthogonal and affine transformations of coordinates and corresponding transformations of mechanical quantities. It is proved that an arbitrary matrix of elasticity moduli containing six independent components can be always converted by a congruent transformation to a matrix with two independent components, which are called the canonical moduli. Depending on the relations between the canonical moduli, the determinant of the matrix of operators of equations in displacements is presented as a product of various quadratic terms. A general presentation of the solution of equations in displacements in the form of a linear combination of the first derivatives of two quasi-harmonic functions satisfying two independent equations is given. A symmetry operator (i.e., a formula of production of new solutions) is found to correspond to each presentation. In a three-dimensional case, the matrix of elasticity moduli with 21 independent components is congruent to a matrix with 12 independent canonical moduli.     

On the theory of one-dimensional unsteady motions of an ideal compressible fluid

A transformation is constructed of the independent variables and the unknown functions for the momentum and continuity equations of which one-dimensional unsteady motions of a perfect gas, relative to which the governing system of equations is invariant.When this transformation is used, the governing equation of state of the gas is transformed into a new equation which contains arbitrary parameters. This may enable approximation of the complex equation of state of a given medium to be carried out by selection of the parameters (in particular, for gases with respect of the equilibrium reactions taking place therein), and the use of this transformation may make it possible to reduce the problem to one with a simpler equation of state, for which the corresponding problem is more easily solved.The transformations investigated do not have singularities and do not impose any significant limitations on the hydrodynamic quantitiesthey are applicable both for variable entropy and for flows with shock waves.     

On the formulation of the planar ANCF triangular finite elements

In this paper, new planar isoparametric triangular finite elements (FE) based on the absolute nodal coordinate formulation (ANCF) are developed. The proposed ANCF elements have six coordinates per node: two position coordinates that define the absolute position vector of the node and four gradient coordinates that define vectors tangent to coordinate lines (parameters) at the same node. To shed light on the importance of the element geometry and to facilitate the development of some of the new elements presented in this paper, two different parametric definitions of the gradient vectors are used. The first parametrization, called area parameterization, is based on coordinate lines along the sides of the element in the reference configuration, while the second parameterization, called Cartesian parameterization, employs coordinate lines defined along the axes of the structure (body) coordinate system. The fundamental differences between the ANCF parameterizations used in this investigation and the parametrizations used for conventional finite elements are highlighted. The Cartesian parameterization serves as a unique standard for the triangular FE assembly. To this end, a transformation matrix that defines the relationship between the area and the Cartesian parameterizations is introduced for each element in order to allow for the use of standard FE assembly procedure and define the structure (body) inertia and elastic forces. Using Bezier geometry and a linear mapping, cubic displacement fields of the new ANCF triangular elements are systematically developed. Specifically, two new ANCF triangular finite elements are developed in this investigation, namely four-node mixed-coordinate and three-node ANCF triangles. The performance of the proposed new ANCF elements is evaluated by comparison with the conventional linear and quadratic triangular elements as well as previously developed ANCF rectangular and triangular elements. The results obtained in this investigation show that in the case of small and large deformations as well as finite rotations, all the elements considered can produce correct results, which are in a good agreement if appropriate mesh sizes are used.