汽车交互虚拟装配中的工具与设备操作仿真

工具和设备是交互虚拟装配仿真的重要组成部分,在用于辅助装配工艺规划时尤为重要。由于装配工具和设备在结构和操作功能上复杂多样,在交互式虚拟装配仿真中工具和设备的操作仿真一直是个热点问题。在对汽车装配中的交互操作进行分析的基础上,首先对虚拟装配工具和设备的功能需求进行定义;建立虚拟装配工具与设备的统一模型,该模型能用于表达各类装配工具和设备的结构、功能和操作方式;随后研究并解决了手动、半自动、自动工具的一般操作流程和关键操作方法;最后将所建立的模型和相关方法应用于某型汽车的总装工位交互操作仿真中。结果表明：虚拟装配工具与设备模型及操作方法能够支持交互式虚拟装配操作仿真中的三类典型装配工具表达与操作。

Abstract：

Tools and equipments play an important role in the simulation of virtual assembly,especially in the assembly process simulation and plan.Because of variety in function and complexity in structure and manipulation,the simulation of tools and equipments remains to be a challenge for interactive assembly operation.Based on analysis of details and characteristics of interactive operations for automobile assembly,the functional requirement for tools and equipments of automobile assembly was given.Then,a unified modeling method for information expression and function realization of general tools and equipments was represented,and the handling methods of manual,semi-automatic,automatic tools and equipments were discussed.Finally,the application in assembly simulation of rear suspension and front suspension of an automobile was given.The result shows that the modeling and handling methods are applicable in the interactive simulation of various tools and equipments,and can also be used for supporting assembly process planning in virtual environment.     

面向方面的多智能体分布仿真平台设计优化

围绕大规模多智能体分布仿真平台的软件体系结构设计问题,提出软件设计的关注点空间模型,然后基于关注点设计—实现二元关系形式化描述横切关注点问题;使用面向方面建模方法对仿真平台中交错关注点进行分离;并对具体实现系统使用面向方面编程进行体系结构与代码优化。研究结果表明,方面的使用可以在不同关注点模块化中获得对系统软件系统结构设计的改良,且将使系统具有精简的代码,更少的设计和实现组件和组件间更低的耦合。

Abstract：

To deal with the software architecture problem of designing a large-scale distributed platform for multi-agent simulation, a concerns space model for software design was proposed. Then a binary relationship mapping from design concerns to implemented component was used to formalize the cross-cutting concerns relevant problem. With aspect-oriented modeling techniques, tangling concerns in the simulation platform were separated more explicitly. Finally, architecture and code optimization work was done on the implemented platform with aspect-oriented programming. Results show that the use of aspects allows the construction of target system with a significant improvement in the software architecture. Also, the use of aspects resulted in： fewer lines of code, fewer design and implementation components, and lower coupling between the components.     

Modular flexible “Tetris” microsatellite platform based on sandwich assembly mode

In this paper, a flexible modular “Tetris” microsatellite platform is studied to implement the rapid integration and assembly of microsatellites. The proposed microsatellite platform is fulfilled based on a sandwich assembly mode which consists of the isomorphic module structure and the standard mechanical-electric-data-thermal interfaces. The advantages of the sandwich assembly mode include flexible reconfiguration and efficient assembly. The prototype of the sandwich assembly mode is built for...     

智能无人潜水器半实物仿真平台设计

为了验证无人潜水器系统的软件逻辑及智能控制系统的硬件体系、数据接口和可靠性,通过对其体系结构中的决策层进行实物仿真,对感知层和行为层进行功能性虚拟仿真来构建半实物仿真平台。详细阐述了该平台的硬件和软件体系结构,对虚拟仿真中的运动仿真、传感器仿真以及实物仿真中智能控制系统的设计做出了说明,进行了自主避障仿真试验和远距离航行仿真试验,该半实物仿真平台对实际海试具有重要的参考价值。

Abstract：

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture,data interface and reliability of the intelligent control system,the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer.The hardware and software architecture of the simulation platform were explained in detail.The virtual simulations of motion,sensors and physical simulation of intelligent control system were described.Finally,the obstacle avoidance simulation and long voyage simulation tests were conducted,and the platform is important for the success of sea experiments.     

Shape control on probability density function in stochastic systems

A novel strategy of probability density function （PDF） shape control is proposed in stochastic systems. The control er is designed whose parameters are optimal y obtained through the improved particle swarm optimization algorithm. The parameters of the control er are viewed as the space position of a particle in particle swarm optimization algorithm and updated continual y until the control er makes the PDF of the state variable as close as possible to the expected PDF. The proposed PDF shape control technique is compared with the equivalent linearization technique through simulation experiments. The results show the superiority and the effectiveness of the proposed method. The control er is excellent in making the state PDF fol ow the expected PDF and has the very smal error between the state PDF and the expected PDF, solving the control problem of the PDF shape in stochastic systems effectively.     

列控仿真系统中应答器的定位查找算法研究

在CTCS-3级列控系统的仿真平台中,应答器作为关键的地面设备,需要给车载等地面设备提供定位信息和线路信息等,以保证列车的正常安全行驶,所以在正确的位置给车载设备发送应答器报文信息是很重要的。提出了一种仿真平台中减小应答器定位查找误差的算法,阐述了该算法的实现过程。仿真结果表明该算法减小了应答器定位查找的误差,是仿真中保证列车正常安全行驶的一种重要算法。

Abstract：

In the simulation platform of CTCS-3 system,the balise is the indispensable above-ground equipment which sends the localization information and the line information to the on-board equipment to guarantee traffic safety.It is very important to send the balise text in the correct position and opportunity.An algorithm was developed to reduce the localization search error when a balise was found in the simulation platform and this algorithm’s realizing process in the simulation platform was elaborated on.The result of the simulation indicates this algorithm can reduce the localization search error for balises,which is important in guaranteeing the normal and safe operation for trains.     

Adjustable entropy function method for support vector machine

Based on KKT complementary condition in optimization theory, an unconstrained non-differential optimization model for support vector machine is proposed. An adjustable entropy function method is given to deal with the proposed optimization problem and the Newton algorithm is used to figure out the optimal solution. The proposed method can find an optimal solution with a relatively small parameter p, which avoids the numerical overflow in the traditional entropy function methods. It is a new approach to solve support vector machine. The theoretical analysis and experimental results illustrate the feasibility and efficiency of the proposed algorithm.     

Identification of linear continuous-time system using wavelet modulating filters

An approach to identification of linear continuous-time system is studied with modulating functions. Based on wavelet analysis theory, the multi-resolution modulating functions are designed, and the corresponding filters have been analyzed. Using linear modulating filters, we can obtain an identification model that is parameterized directly in continuous-time model parameters. By applying the results from discrete-time model identification to the obtained identification model, a continuous-time estimation method is developed. Considering the accuracy of parameter estimates, an instrumental variable (Ⅳ) method is proposed, and the design of modulating integral filter is discussed. The relationship between the accuracy of identification and the parameter of modulating filter is investigated, and some points about designing Gaussian wavelet modulating function are outlined. Finally, a simulation study is also included to verify the theoretical results.     

航天器三自由度模拟器自动配平

基于气浮球轴承的航天器模拟器广泛用于研究航天器的姿态动力学与控制,为了在地面模拟太空中的失重环境,必须将重力力矩的干扰减到最小。因此,模拟器的旋转中心要与气浮球轴承的中心重合。提出一种自动配平系统的设计方法,将姿态稳定控制作为系统的内回路,自动配平作为系统的外回路。通过姿态稳定控制,用反作用飞轮反馈的力矩信息,实时计算出模拟器质心位置。通过控制3个正交的配平系统,补偿质心位置偏差。根据实验测得的回路参数,优化设计配平系统控制律。将跟踪微分器应用于力矩信息处理,有效减少电机反复运动,提高配平效率。提出的配平方法成功用于航天器三自由度模拟器的实验中。     

空间飞行器分布式通用组合导航仿真平台方案研究

在研制空间飞行器导航系统的过程中,搭建导航仿真平台能够有效地节约成本并缩短研发周期.在模块化、通用化和标准化设计原则的指导下,利用多台计算机和相应的数据总线开发了空间飞行器分布式通用组合导航仿真平台.在空间飞行器导航系统特性分析的基础上,提出了捷联惯性导航系统、GPS、脉冲星导航系统、磁强计和星敏感器组合导航方案,设计了仿真平台的结构,论述了仿真平台的硬件设计、软件开发和算法,并探讨了仿真平台的扩展性能.试验表明该仿真平台能够逼真地模拟空间飞行器导航系统,并为设计者提供有益的建议.     

基于Matlab/Simulink的航天器姿态动力学与控制仿真框架

搭建了基于Matlab／Simulink的航天器姿态动力学与控制仿真框架；基于该框架和非线性控制设计模块完成了一类带动量轮机构的航天器PD姿态控制器参数优化设计与姿态仿真研究。研究结果表明：1）基于Matlab／Simulink的航天器姿态动力学与控制仿真框架具有可重用性好、继承性强的优点；2）非线性控制设计模块可以有效地完成非线性系统控制器参数优化设计。     

基于m-best算法与rollout策略的平台任务关系优化设计方法#br#

在平台任务关系优化设计中,考虑单个任务资源分配过程中平台资源冗余度对后续任务分配的影响,分析优化设计过程的约束条件,构建了以最大任务执行精度与最小资源冗余度为综合目标函数的平台任务关系设计的问题模型,并使用基于m-best算法与rollout策略的方法对问题模型进行求解。m-best算法生成单个任务的m个平台分配方案,rollout策略用于均衡不同优先级任务之间的任务执行精度。最后,分别通过特殊算例和一般算例验证所提优化设计方法的优越性,算例的结果表明,使用该优化设计方法能够使高优先权任务的资源冗余度降低,从而使得整体任务执行精度提高。     

模具仿真网格及其在优化设计上应用

建立了一个面向优化设计应用的模具仿真网格平台.把该平台划分为仿真网格资源层、基础支持工具层、优化模型资源调度层和仿真网格应用层四个层次,并介绍了各层的主要功能和相关实现技术.基于该平台,发展了一个优化设计网格计算方法,以利用网格环境中充足的仿真资源,协同解决复杂的注塑模优化问题.并利用该算法,对收款机上壳浇口位置进行了优化设计.结果显示:所建立的仿真网格平台能够满足优化设计的需要;所开发的网格算法合理、高效.     

开放式蒸馏过程模拟平台设计与实现

以严格机理模型为基础设计并实现的蒸馏过程模拟平台,提供了进行过程模拟的计算机环境,在平台上可以方便地进行蒸馏过程稳态模型、动态模型、优化模型和控制模型的仿真计算,可针对过程特点进行分析并提供优化操作指导值.平台具有在线过程模拟功能和开放的接口环境,适于各种模拟方案、过程模型和算法的仿真研究,能方便地检验模型和算法的有效性.该平台具有通用性、可视性的特点.     

基于Simulink的机电液系统集成化仿真平台研究

利用多领域软件构建了基于Simulink的机电液一体化系统集成化仿真平台.分析了机电液一体化系统各领域之间的参数关联关系,提出了基于Simulink的集成化仿真平台框架,研究了各软件之间的组织内部协同仿真方法.以液压驱动的大型起竖系统仿真为例验证仿真平台的可行性和有效性,表明该方法能够实现机械,液压、控制系统仿真模型的有机集成,高效、经济、可靠地处理机电液系统非线性建模仿真和优化控制问题,为机电液一体化系统的协同研发搭建一个支撑平台.     

SST-I分布式航天器实时仿真系统

根据现代航天器动力学及控制系统仿真的需要,提出了一个基于dSPACE、Vxworks和xPC平台的分布式航天器实时仿真系统方案。整个系统由一套dSPACE和数台xPC、Vxworks实时机组成,dSPACE提供了丰富的I/O接口用于与航天器星载设备进行连接,xPC用于对各种星载设备和有效载荷以及动力学模型的仿真,Vxworks用于运行各种成熟的传统仿真程序。动力学、控制仿真程序的开发大部分基于Simulink,极大的缩短了开发周期。系统通信总线基于以太网QoS技术,实现了可靠的实时数据通信,整个系统的总通信带宽可以随系统中计算机的数量扩展。系统内的时钟同步信号由dSPACE系统统一生成。对系统的实时性能进行了分析,结果表明该系统可以满足航天器分布式实时仿真的需要。     

混合装配流水线上最小makespan的协同优化

混合装配流水线是实现快速响应的一种多品种小批量的生产组织方式,流水线平衡和产品排序是紧密相关而且对目标值存在交互影响作用的两个NP-hard问题.文章分析了流水线平衡与产品排序对流水线的makespan目标的交互影响,建立了优化模型;基于两个问题的交互影响,采用协同进化算法,并行协同地优化混合装配流水线上的makespan.通过对经典流水线问题的计算实验,并与串行独立优化方法对比,结果表明:并行协同优化是一种全局优化方法,能够克服后者的局限性,改善优化的结果,进一步地,文中对混合装配流水线上makespan的协同优化方法可以推广到Flowshop的优化中去.     

多元精馏体系仿真中的问题及对策

多元精馏体系是典型的多变量系统,而且各变量之间关联严重,对其进行动态建模和仿真,协调各变量之间的关系,有利于先进控制的实施,因为其动态机理模型十分复杂,在其系统建模、模型求解、仿真平台的开发中存在较多的问题,针对这些问题,从实际应用和机理分析出发,将模型中重要状态变量温度的代数方程表达式替换为微分方程形式,更好的反映了精馏塔的动态特性,合理选择了系统模型和微分方程的求解方法,并进行了探讨,开发了与之对应的基于MATLAB/SIMULINK的乙烯精馏塔动态仿真平台,并取得了较好的仿真效果,提高了计算效率而且计算精度合理。