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26 December 2022, Volume 48 Issue 6
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Vibration Modal Characteristics Analysis of Flexible Structure with Opening
QIU Zhicheng, ZHU Xuxian
2022, 48(6): 1-11. doi:
10.3969/j.issn.1674 1579.2022.06.001
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In order to reduce the weight of the mechanism and improve the vibration characteristics, the structure with opening which has excellent characteristics has been widely used in many fields such as ship engineering and aerospace. In order to study the vibration modal characteristics of the flexible structure with openings, the analysis model is established based on the finite element analysis method. The vibration modal analysis of the flexible structure with opening is carried out and the low order modal frequencies and mode shapes are obtained. The modal analysis results of the finite element analysis software ANSYS are used to verify the correctness and validity of the modeling method proposed in this paper. The modal analyses under different opening parameters are carried out, such as various opening sizes, different number of openings, different distribution and various opening shapes. And various structural parameters are also analyzed, such as different thickness, aspect ratio, and constraint conditions. The influences of various factors on the vibration modal characteristics are analyzed in this paper, which provide a basis for the design of the flexible structure with opening and it is useful for the active vibration control of it.
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Neural Network Control of Space Manipulator Based on Velocity Observer
ZHANG Wenhui, SHEN Jinmiao, YOU Zhangping, YE Xiaoping, ZHOU Shuhua
2022, 48(6): 12-21. doi:
10.3969/j.issn.1674 1579.2022.06.002
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An adaptive neural network control method based on speed observer is proposed for the control of flexible joint space robot without speed feedback. Based on singular perturbation theory, the dynamic model of space manipulator with flexible joints is decomposed into two subsystems,fast and slow subsystems; Using neural network to approximate the unknown nonlinearity in the controller and observer, a speed observer and a controller based on adaptive neural network are designed to dynamically counteract the influence of model uncertainty on the system. Using Taylor linearization method, an on line adaptive learning law of weight, basis function center and width is designed, which improves the control accuracy and does not need the off line learning stage. A controller based on velocity difference is designed to suppress the elastic vibration in the model of the rapidly varying subsystem. Based on Lyapunov stability theory, the uniform ultimate boundedness of the closed loop system is proved. Simulation results show the effectiveness of the proposed control strategy.
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Mobile Gait Analysis and Control of on Orbit Service Tripod Robot
TIAN Yan, ZHOU Lisha, GONG Wenbin, LIN Baojun, ZHANG Huibo
2022, 48(6): 22-31. doi:
10.3969/j.issn.1674 1579.2022.06.003
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In order to solve the problem of high cost of satellite repair or reproduction caused by high frequency and variety of artificial satellite faults in space, an on orbit service tripod robot system is proposed, which is attached and moved on the satellite by bionic claws and dry adhesion and can repair most of the satellite faults via relying on the various load mechanisms carried by itself. This system contains the design of the body structure, the five degree of freedom manipulator, the paw stab foot and a variety of terminal loads, and also gives the working angle range and working space size of the tripod robot manipulator. Through the analysis of various complex road conditions, four gaits of the tripod robot are determined, designed and simulated. Finally, the optimal control algorithm based on circulating neural networks is proposed. The three dimensional model is established by Solidworks, and the joint simulation of WALK gait is completed by Matlab and Adams software. The joint motion of the manipulator and the end load is simulated. The working torque of each joint and the quality displacement of the robot are measured and analyzed. The results show that the designed tripod robot system meets the corresponding index requirements.
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Relational Reasoning Using DNN Based on Semantic Information and Location
XING Xiaoyu, WANG Shuyi, LIU Wenjing
2022, 48(6): 32-39. doi:
10.3969/j.issn.1674 1579.2022.06.004
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Because of its powerful semantic processing function and fast analysis ability, knowledge graph has been widely used in search, question and answer, diagnosis, etc. in recent years. However, the existing technology can't automatically build a complete knowledge graph, and the relational reasoning technology is needed to fill in the missing relationships of knowledge graph. Based on the spacecraft fault knowledge graph, this paper proposes a relational reasoning method which combines representation learning and deep neural network, and takes the semantic information and position information of entities and relationships into the calculation range. Firstly, the representation learning model is used to process triples to obtain semantic vectors. Secondly, the principal component analysis method is used to reduce the dimension of semantic vector in order to reduce the difficulty of subsequent calculation. Then, according to the global position of the entity in the knowledge graph, the position vector of the entity is obtained via Boolean data markers. Finally, the semantic vector and position vector are spliced as the input of the deep neural network, and the relational prediction vector is output. This method effectively solves the problems of complex physical relations, scarce samples and incomplete knowledge base of spacecraft fault knowledge graph. Experimental results show that the prediction accuracy of this method is higher than that of single representation learning reasoning and path reasoning, and it can effectively improve the relationship of spacecraft fault knowledge graph.
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An Attitude Control Method Based on Pseudo Rate Modulator for Eliminating Self Excited Oscillation
LIN Bo, CHANG JianSong, LIU Xinyan
2022, 48(6): 40-45. doi:
10.3969/j.issn.1674 1579.2022.06.005
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A closed loop control system based on pseudo rate modulator (PRM) may frequently oscillate due to its strongly nonlinear feature and uncertainty. And propellants exhausts extra when control system oscillates. A method is given to eliminate self excited oscillation via identifying the self excited oscillation period. The control parameters are modified according to the identification results. Finally the simulation results show that the given method is valid.
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Sensorless Control Starting Strategy of Hydrodynamic Air Bearing PMSM
LI Yumeng, MA Guanying, HUI Xin, WANG Yue
2022, 48(6): 46-52. doi:
10.3969/j.issn.1674 1579.2022.06.006
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For the sensorless control of hydrodynamic air bearing permanent magnet synchronous motor (PMSM), the start control strategy is presented, and the three stage method is designed in this paper. In the static state, the rotor position is unknown, but it can rotate to a definite position by pre setting. At the low speed, the speed information is difficult to obtain because the amplitude of back EMF is too little to get the zero crossing pulse. To overcome this problem, a speed open loop acceleration is proposed. A certain speed is obtained with open loop acceleration, and then the speed loop is closed via the zero crossing pulse signal of back EMF. At last, the synchronous speed control is realized. Under the constant current drive, the open loop acceleration curve of PMSM can be approximated to a linear law,and this is verified by simulation and experiment. After the open loop acceleration stage is completed, the closed loop control can be established via the obtained back EMF, and the motor can be accelerated to a given speed. The test results confirm that this strategy is feasible.
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Fusing Locking/Anlocking Device for Micro Magnetically Suspended Flywheel
YU Jianrong, CUI Gang, LIU Qiang, FAN Yahong, XI Jun
2022, 48(6): 53-59. doi:
10.3969/j.issn.1674 1579.2022.06.007
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According to the locking problem of the active section of the micro magnetically suspended flywheel (MSFW) launching the micro nano satellite, a one off fusing locking /unlocking mechanism for micro MSFW is proposed. Its main structure and working principle are introduced. According to the requirements of flywheel locking force, the static analysis and calculation of locking mechanism are carried out. In order to ensure that the flywheel can meet the environmental mechanical conditions of satellite launch after locking and avoid resonance with the lock post after unlocking, the dynamics simulation of the locking mechanism is carried out via the finite element software. Both the statics and dynamics calculation results meet the mechanical requirements of the active phase of the satellite launch. The results show that fusing locking/unlocking mechanism can effectively protect the micro MSFW.
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An Antenna Phase Center on Orbit Calibration Method for K Band Gravity Field Measurement
JIAO Zhongke, ZHANG Yuansheng, LIU Xuan, WANG Dengfeng, ZHONG Xingwang, WANG Nan, WANG Xiaoliang
2022, 48(6): 60-66. doi:
10.3969/j.issn.1674 1579.2022.06.008
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Aiming to the on orbit calibration of K band microwave antenna phase center for low low tracking gravity spacecraft formation mission, the formation ranging system composition and the far field radiation model of K band antenna phase center are analyzed, and the on orbit calibration period maneuver design of phase center is given; the on orbit calibration algorithm is designed by using batch estimation theory, and the optimal fusion estimation method under the condition of multiple maneuver data is given. The simulation results verify the effectiveness of the proposed on orbit calibration algorithm for K band antenna phase center.
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Characteristics of Pulse Detonation Rocket Engine with High Specific Impulse and Small Thrust Demand
LIU Xiang, NIE Wansheng, ZHANG Haoha, ZHOU Siyin
2022, 48(6): 67-75. doi:
10.3969/j.issn.1674 1579.2022.06.009
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The problem of continuous thrust orbit transfer has become one of the research hotspots in the aerospace field in recent years.This problem has also promoted the development of high specific impulse and small thrust engines. The pulse detonation engine based on detonation combustion has the characteristics of high thermal efficiency, high specific impulse and simple structure. The related performance research is carried out. First, the mathematical model of the detonation technology is given, and the analysis method of the equal volume cycle model is introduced. Then the numerical results of the CEA model and the simulation results are compared to verify the reliability of the designed detonation model. And different external gas working fluids, nozzle configurations, and respective simulation analysis of engine internal flow field and performance analysis are carried out under 0.1atm, 0.01atm, 0.001atm ambient pressure. The result analysis shows that the pulse detonation engine can meet the requirements of high specific impulse and small thrust, and the convergent expansion nozzle has the greatest gain in engine performance. As the ambient pressure decreases, the engine thrust increases.
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Experimental Research on Thermal Induced Vibration Based on Optical Fiber Sensor
ZHANG Zihao, WANG Jing, YU Xinyu, FAN Dian, ZHOU Ciming
2022, 48(6): 76-80. doi:
10.3969/j.issn.1674 1579.2022.06.010
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Most spacecrafts vibrate when subjected to alternating heat and cold during operation, which causes the spacecraft failing to work properly or even damage. At present, there are more theoretical researches on this phenomenon called thermally induced vibration in the industry, and fewer experimental studies. This is mainly due to the lack of high precision measurement methods. Based on the common thermal vibration model, the structure of the flexible boom is built in this paper, and fiber grating strain sensor and fiber Fabry Perot acceleration sensor are used to measure its thermal vibration characteristics. The experimental results show that the flexible boom has thermally induced vibration under the radiation of the heat source. The strain and acceleration of the flexible boom obtained by the fiber grating strain sensor and the fiber acceleration sensor are consistent with the theoretical analysis. The proposed sensor can accurately measure the thermally induced vibration without affecting the structural characteristics.
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Design Method of Error Correctable Time Tagged Data
LYU Da, WANG Qining, HAN Yandong, LI Guojun, LI Zhigang
2022, 48(6): 81-87. doi:
10.3969/j.issn.1674 1579.2022.06.011
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The time tagged data are directly related to whether the task can be realized, which is very important for a satellite. The time tagged data are executed according to the timetable and often stored in on board computer for a long time. Fault tolerance design is needed to mitigate the influence of single event upsets. By function,the time tagged data which has different length can be classified as Time Tagged Telecommand, Time Tagged Data Block, and Relative Time Tagged Telecommand. An SEU mitigation method of time tagged details is proposed. Error correction coding and frame annotation for time tagged data of different length are done on the ground, and the information bits and the supervision bits are checked by the on board computer periodically or before the data to be used. The error correcting capability of the new method does not rely on hardware and is better than the traditional three mode redundancy method, and the memory space can be saved greatly.
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Low Overhead Memory and Fast File Management Method Based on Binary Group Index
JIANG Jingjing, QIAO Lei, YANG Mengfei, MIAO Zhifu, ZHOU Yukui, LIU Bo, TIAN Fei
2022, 48(6): 88-95. doi:
10.3969/j.issn.1674 1579.2022.06.012
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Flash equipment is used as the storage medium on spacecraft, and file system is needed to manage the storage equipment. In the space embedded system, the scale of data storage is becoming larger and larger, and the amount of data generated by the acquisition task will reach the level of TB. For the sake of security, the memory capacity of spacecraft embedded system is limited, and the real time requirement is very high. Common embedded system is different from aerospace embedded system in memory capacity and real time requirements, so it is not suitable for aerospace embedded system. In order to meet special requirements of limited spacecraft system resources, and to resolve the problem that the space occupied by file index structure in memory increases linearly with the amount of file data in YAFFS2 which is a commonly used embedded file system, a new index method called BLOF(low overhead and fast file management based on binary group) is proposed in which continuous FLASH pages are indexed uniformly by introducing binary group structure based on B+ tree, and the file read and file write algorithms according to the index structure are designed. So that the file system can implements fast file reading and writing, and low memory footprint. The experimental results show that compared with the YAFFS2 index method, BLOF is more effective in the following cases: 1) when the number of FLASH pages for storing file data reaches an average of six or more consecutive pages, BLOF takes less memory footprint than YAFFS2, and maximum saving is 55.55%; 2) when the file size is greater than 512KB, the file reading and writing time of the BLOF method is always less than that of YAFFS2, and the value of YAFFS2 file writing time minus BLOF file writing time increases linearly with the file size. BLOF method is more suitable for the situation where the file data is large and stored in a large number of continuous pages.