Table of Content

30 April 2020, Volume 41 Issue 4

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Contents

2020, 41(4):  0. 

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Paper

Dynamic Modeling and Simulation for Penetration Warhead-fuze System

CHENG Xiangli, LIU Bo, ZHAO Hui, LIU Jun

2020, 41(4):  625-633.  doi:10.3969/j.issn.1000-1093.2020.04.001

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The mechanical vibration theory is introduced into theoretical analysis and calculation of penetration process, and a simplified dynamic model of penetration warhead-fuze system is proposed with the purpose of revealing the dynamic response mechanism of circuit module of fuze in penetration process. On the basis of analysis of loading transfer relation, a dynamic differential equation is established based on multi-DOFs spring-mass-damper system, and the dynamic parameters, such as natural frequency and damping ratio, are determined by the harmonic response analysis. Then the dynamic characteristics under different penetration conditions are predicted by numerical integration method, and the reason why the predicted dynamic characteristics differ greatly from the calculated result of the traditional empirical formula is analyzed from the amplitude-frequency response.The credibility of the proposed model was verified through artillery test, and the overload signal in penetration process was collected. The calculated value of overload signal is in agreement well with measured result. The result shows that the proposed model is more suitable to predict the dynamic characteristics of warhead or fuze in penetration process. It is shown that penetration warhead exhibits obvious vibration amplificatory characteristics and periodic oscillation characteristics in considering the axial vibration effect, and the dynamic characteristics of warhead are the most important factor affecting the dynamic characteristics of circuit module in fuze.Key

Test Method for Judging Kill Probability of Anti-aircraft Artillery by Quantity of Killed Targets

XIE Jietao， WU Juan， WANG Shu'en， FAN Zhaojun， HAN Baigang

2020, 41(4):  634-640.  doi:10.3969/j.issn.1000-1093.2020.04.002

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The anti-aircraft artillery kill probability is mainly tested by indirect test method, and the direct test method with the highest credibility is studied. For the direct test, the definition of kill probability is determined, various test methods are analyzed, the direct test method with the quantity of killed targets as the criterion should be selected, and a detectable definition of the kill event is presented. The test design for judging kill probability by quantity of killed targets is made. Instead of finding the results in a table, the recursive calculation model is derived to achieve higher calculation accuracy. It is proved that the maximum likelihood estimation of kill probability cannot be simply used as the criterion. The relationship among indicator, test risk and the minimum kill frequency is analyzed. The total number of tests and the minimum quantity of targets to be destroyed are calculated for a weapon system. The results show that the direct test method is feasible and can support the optimization of test design. Key

Anti-DRFM-jamming Method Based on Averaging of Range Side Lobes for Hybrid Modulation Radio Fuze

QIAO Caixia, HAO Xinhong, CHEN Qile, KONG Zhijie, WANG Xiongwu

2020, 41(4):  641-648.  doi:10.3969/j.issn.1000-1093.2020.04.003

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To enhance the anti-digital radio frequency memory (DRFM)-jamming performance of hybrid modulation continuous waveform detectors, the binary phase-coded chirp waveforms which are aperiodic are designed, and an anti-DRFM-jamming method based on averaging of the range side lobes is proposed. The chaotic codes vary with the linear frequency modulation (LFM) period to make the binary phase-coded chirp waveforms be aperiodic, and the range side lobes are used to suppress the influence of the DRFM. The proposed method is proven to be feasible and effective through numerical simulations. Key

Integrated Design of Guidance Law， Fuze and Warhead for Maneuvering Target Interception

WANG Jinkui, LOU Wenzhong, LIU Weitong, SU Zilong

2020, 41(4):  649-655.  doi:10.3969/j.issn.1000-1093.2020.04.004

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An integrated design method of guidance law， fuze and warhead for conventional fragment warhead is studied to achieve the reliable interception of high maneuvering target in space in the presence of guidance blind zone of air defense missile. Under the condition that the maximum maneuverability of target is known as prior information, the potential motion state set of target in blind guidance zone is estimated from maximum maneuverability of target, a mathematical model of fragment dispersion is established, and the optimal intersection state of air defense missile and the optimal detonate time of fuze are solved according to the target state and the characteristics of fragment dispersion. The Gauss pseudo-spectral method is used to solve the real-time optimal control problem of missile with the constraints of the relative position of terminal missile and target, the line-of-sight angle of missile and the angle of velocity vector, so that the air defense missile can reach the optimal interception state. The simulation analysis shows that the integrated design method of guidance law, fuze and warhead can realize the optimal control of fuze and the reliable interception of target, and provide the basis for warhead design. Key

Deep Learning-based Reentry Predictor-corrector Fault-tolerant Guidance for Hypersonic Vehicles

YU Yue， WANG Honglun

2020, 41(4):  656-669.  doi:10.3969/j.issn.1000-1093.2020.04.005

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A deep learning-based predictor-corrector fault-tolerant guidance method is proposed for fault-tolerant guidance of hypersonic vehicles. In the design of longitudinal guidance law, the trimmable angle of attack profile and the coefficients of lift and drag in case of fault are calculated. A deep neural network which inputs contain variations of lift and drag coefficients is developed to predict landing point, thus avoiding large quantities of integral operations in traditional predictor-corrector guidance method. A bank angle reversal logic based on heading angle error corridor is designed for the lateral guidance. Extended state observer is constructed to estimate the variations of lift and drag coefficients, and the estimates are input into the deep neural network. Simulated result shows that the proposed fault-tolerant guidance algorithm has high guidance precision and excellent real-time characteristics and can calculate guidance command which meets flight requirements in real time. Key

The Design Method of Multi-source Redundant Fuzzy Fault-tolerant Navigation System for Aerospace Vehicles

JING Yiming， WANG Rong， XIONG Zhi， ZHAO Yao， LIU Jianye

2020, 41(4):  670-680.  doi:10.3969/j.issn.1000-1093.2020.04.006

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The multi-mission and multi-working mode of aerospace vehicles requires the navigation system to be flexible, accurate and stable. In aerospace vehicles, a variety of navigation sensors are often used to form a multi-source fault-tolerant integrated navigation system. A multiple source redundancy design method of fuzzy fault-tolerant navigation system is proposed. On the basis of designed fault diagnosis and isolation of each redundant system, the quality factor of each navigation system is calculated through fuzzy evaluation, thus effectively diagnosing and isolating the failure of inertial navigation system and ensuring its accuracy and reliability.The proposed method has good processing capacity for soft and hard faults. The simulated results show that the proposed method-based navigation system has the fault-tolerant performance. In the case of system malfunction, it has better performance compared to the traditional multi-source navigation system and good applicability in different flying stages. Key

Two-dimensional Numerical Research on Two-phase Rotating Detonation Waves

WANG Fang, WENG Chunsheng, WU Yuwen, BAI Qiaodong, ZHENG Quan

2020, 41(4):  681-691.  doi:10.3969/j.issn.1000-1093.2020.04.007

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In order to investigate the gasoline/oxygen-enriched air continuously rotating detonation engines(RDE), the conservation elements and solution elements method (CE/SE method) based on the unstructured triangular meshes is used for the simplified 2D simulation of two-phase continuously RDE. The different propagation modes of rotating detonation waves (RDW) were obtained. The influences of total inlet pressure and equivalent ratio were studied and the operating performance of RDE was analyzed. The results show that the evaporation and stripping of droplets delay the combustion of fuel, which leads to the incomplete coupling of detonation peak pressure and peak temperature. The equivalent ratio has a great influence on the propagation mode of rotating detonation waves. A single-wave RDW is easily generated under low equivalent ratio,and a multiple RDW is generated under higher equivalent ratio. The detonation wave pressure and velocity fluctuations of single-wave mode are the smallest, those of double-wave mode are moderate and those of three-wave mode are the largest, but the thrust fluctuation law of propagation mode is opposite to that of pressure fluctuation. The thrust fluctuation of single-wave mode is the largest, followed by double-wave mode, and the thrust fluctuation of three-wave mode is the smallest. The calculated velocity and flow field of the rotating detonation agree well with the experimental results. The numerical research is meaningful for the development of unstructured-mesh CE/SE method. The calculated results have a guidance effect on the experimental research and engineering application of two-phase RDE. Key

Uncertainty Quantification of Detonation with High-dimensional Parameter Uncertainty

LIANG Xiao, CHEN Jiangtao, WANG Ruili

2020, 41(4):  692-701.  doi:10.3969/j.issn.1000-1093.2020.04.008

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Different types of dependent uncertainties exist in detonation system since the random vibration of physical parameters in measurement technique, and the equation of state (EOS) and the reaction rate equation are empirical modeling. And these random variables are not independent and identically distributed. Assessing the impact of these input uncertainties on the output result of system has important theoretical significance and practical value. The corner effect in detonation diffraction is studied. The non-intrusive polynomial chaos based on regression method is used for uncertainty quantification. Rosenblatt transformation is used to transform the dependent random variables into independent random variables satisfying standard uniform distribution. Under-determined linear equations are derived from the sampling method. Optimization method is chosen to solve the regression equation. The basis pursuit is applied to change the optimization problem into linear programming. The expectation and confidence interval of velocity components, horizontal positions, and pressures of two Lagrangian reference points near the corner are given by using the method mentioned. The results show that the trajectories of two Lagrangian reference points are dramatically different although they are not far from each other. It is difficult to judge the long time dynamical behavior since the uncertainty is becoming large over time. The method can also be applied to other detonation problems. Key

Cooperative Time Synchronization Optimization Algorithm for Wireless Ad Hoc Networks

LIU Dakun， CHEN Guifen， WANG Yijun

2020, 41(4):  702-710.  doi:10.3969/j.issn.1000-1093.2020.04.009

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The time synchronization algorithm for wireless ad hoc networks has some problems including large synchronization error and high energy consumption. A cooperative time synchronization optimization algorithm for wireless ad hoc networks is proposed on the basis of analyzing the network time synchronization models. In the proposed algorithm, an exponential delay model is used to estimate the clock offset and clock drift of pairwise nodes by constructing time synchronization likelihood function. Then the network is triangulated. The reference node is determined by dyeing, and the master node is selected by the reference node. The whole network node clock synchronization is realized by using the adaptive change of topology structure. The cooperative time synchronization optimization algorithm is established by clock joint estimation and adaptive topology, and its overall execution ensures the time synchronization of node communication link. The simulated results show that,compared with the traditional clustering topology, the proposed algorithm has achieved performance improvement in two aspects of average synchronization error and energy consumption under the control of triangulation topology proposed in this paper. Key

Study of Characteristics of Inception Cavitating Flows around an Axisymmetric Blunt Body at Different Angles of Attack

YANG Long， HU Changli， LUO Qian

2020, 41(4):  711-719.  doi:10.3969/j.issn.1000-1093.2020.04.010

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The inception cavitating flows around an axisymmetric blunt body at different angles of attack are simulated to investigate the influence of near-wall flow structure on the characteristics of inception cavitation. The large eddy simulation (LES) method coupled with the Zwart cavitation model is applied based on the homogeneous flow model in the simulation of inception cavitation. The results show that the LES method gives good predictions of the incipient cavity shape and its time-evolution process. The inci-pient cavities exhibit irregularly bubble structures and are asymmetrically distributed in the separation vortex area at the shoulder of axisymmetric blunt body. As the angle of attack increases， the distribution area of incipient cavities in the incident flow region gradually decreases but increases in the backflow region. The distribution of incipient cavities is closely related to the time-averaged separation vortex structure. The vortex scale in the incident flow gradually decreases and tends to be close to the head and wall of axisymmetric blunt body. However， the separation vortex scale of the backflow gradually increases with the increase in the angle of attack. Especially for the larger angle of attack， a secondary separation phenomenon occurs near the reattachment point of the backflow， which induces the formation of inception cavitation. Key

Effect of Fluid Compressibility on High-speed Water-entry of Revolutionary Body

LI Guoliang, YOU Tianqing, KONG Decai，LI Jing，ZHOU Weijiang

2020, 41(4):  720-729.  doi:10.3969/j.issn.1000-1093.2020.04.011

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A set of simulation methods for high-speed (≥100 m/s) water-entry is developed for both cavitation and compressible effects in the numerical simulation of multi-phase flow at water-air interface. The revolutionary body is used as a computing model, and the turbulence models, including SST k-ω, Standard k-ε, RNG k-ε, and Realizable k-ε, are utilized for simulation. The change results of velocity damping and water-entry depth with time are obtained. The cavitation configuration at 1 ms is outlined. The simulated results are compared with the theoretical solutions, and the simulated results by SST k-ω agree with the theoretical solutions. The set of methods is used for the reference experiments in Refs. ［15］ and ［17］. Compared with experimental results, the set of methods is validated in terms of velocity damping and cavitation development. Some different water-entry velocities, including 50 m/s, 100 m/s, 200 m/s, 400 m/s and 800 m/s, are regarded as initial condition to be computed. The compressibility of water has no effect on the water-entry impact basically when water-entry velocity is less than 100 m/s. Beyond that, the compressibility of water has much effect on the water-entry impact, which can lessen the impact and delay the time of peak value. In addition, the cavitation configuration has shrunk, especially in the water-air area. With the increase in water-entry velocity, the velocity damping becomes quicker. The acceleration is relatively higher in the beginning of water-entry. During the period of the model covered by supercavitation, the acceleration gradually declines and changes gently with the increase in water-entry depth. Key

Integrative Stealth Method of Corrosion-related Static and Shaft-rate Electric Fields

SUN Qiang, JIANG Runxiang, YU Peng, CHENG Jinfang

2020, 41(4):  730-736.  doi:10.3969/j.issn.1000-1093.2020.04.012

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To decrease the ship's corrosion-related electric field, the effects of the current compensation technology on shaft-rate electric field and the active shaft ground technology(ASG) on the static electric field are analyzed, respectively. An integration method of decreasing both static electric field and shaft-rate electric field is proposed based on the correlation between current compensation and active shaft ground. In the proposed method, the compensation ASG current is regarded as the shaft current, and the ratio between compensation current and shaft current is used as the controlling parameter of current compensation, thus realizing the stealth of shaft-rate electric field firstly and then that of static electric field. Finally, a prototype of this new method is developed, and its effectiveness is examined by ship model experiment and sea trial, respectively. The results show that the proposed method is effective in decreasing both static electric field and shaft-rate electric field. Key

Kinematic Modeling and Collision Interference Detection of Cable-driven Rigid-flexible Wave Motion Compensation Mechanism

WANG Lidong， CHEN Yuan

2020, 41(4):  737-749.  doi:10.3969/j.issn.1000-1093.2020.04.013

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A 6-DOF cable-driven rigid-flexible hybrid wave motion compensation mechanism is proposed for multi-dimensional wave motion compensation at sea. The functional requirements of the wave compensation device are analyzed according to the motion characteristics of sea wave, and an inverse attitude model of the mechanism is constructed by the closed vector loop method. The velocity Jacobian matrix of the mechanism is calculated, the velocity and acceleration models on the drive cable and the intermediate rigid branched chain are derived, and the correctness of the established mathematical model is verified by ADAMS simulation software simultaneously. A statics model of the whole mechanism is established, and the force distribution algorithm is used to calculate the tension distributions on the flexible drive cable and the rigid central branched chain. The effectiveness of the algorithm is verified by the established compensation system prototype. The detection of collision interference between the components in this mechanism is analyzed based on the geometric vector method. The feasibility of cable-driven rigid-flexible hybrid wave compensation mechanism for multi-dimensional wave motion compensation is verified through the numerical simulation and experimental verification analysis, which has certain reference significance for further research on tension distribution algorithm optimization and tension control of wave compensation mechanism. Key

A Novel Distance Regularized Hybrid Level Set Method for AUV Multi-destination Route Planning

SHENG Liang， QIU Zhiming， YU Shaozhen， JIAO Junjie

2020, 41(4):  750-762.  doi:10.3969/j.issn.1000-1093.2020.04.014

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To further enhance the computational efficiency of level set method for solving AUV time-optimal route, a hybrid level set method for AUV multi-destination route planning is proposed by combining the localization and the polynomial distance regularized equation. The new level set evolution equation is derived and the numerical implementation method is given by introducing a simple polynomial distance regularized term and fusing the ocean current model. The proposed method can be used to obtain all the optimal routes to all destinations in one evolution without re-initialization of narrowband, and solve the problems of low computational efficiency and long-time multi-destination route planning of AUV. The simulated results show that the computational efficiency of the proposed method is 6.4 times of that of the ant colony algorithm, and 1.6 times of that of the quantum particle swarm algorithm in multi-destinations route planning of AUV, and it also has better robustness. Key

Design and Trajectory Optimization of an Object Loading Robot

ZHENG Yu， GUANG Chenhan, LI Qian, YANG Yang

2020, 41(4):  763-770.  doi:10.3969/j.issn.1000-1093.2020.04.015

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An object loading robot used in limited space inside a vehicle is proposed to improve the loading efficiency, and the motion trajectory of its joint is optimized. An overall design scheme of loading robot is presented, in which the requirements for conveying of cylindrical materials and in-vehicle limited workspace are considered. A flow chart of joint movement is also worked out. Then a kinematic model of robot is established. Based on the kinematic model, the robot’s workspace is calculated. Higher order polynomial function is adopted to mimic the motion trajectory of robot joint. The particle swarm algorithm is utilized to optimize the parameters of higher order polynomial function, and the optimization progress is simplified by replacing the coefficient variations with interpolation time variables. Research results show that the robot’s workspace could cover the whole space inside vehicle, and satisfy the requirements for in-vehicle limited space. After optimizing the motion trajectory of joints, the robot can load materials smoothly, quickly and steadily. Key

DesignSimulation and Test Study of an All-metal Mesh Tire

ZHAO Zhenglong, SONG Bin, L Jiangang, HE Zhongbo, DAI Zhiguang

2020, 41(4):  771-782.  doi:10.3969/j.issn.1000-1093.2020.04.016

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A new non-inflatable all-metal tire structure is designed to prevent the tire burst due to puncture and shrapnel penetration. Theoretical models of vertical stiffness prediction and vertical vibration are established. A tire simulation model is built using 3D modelling software Pro/E, finite element preprocessing software ANSA and fimite element simulation software Abaqus. A metal tire prototype which has the same size as the pneumatic tire (235/70 R16) was made, and the plate loading test and vehicle ride comfort test were carried out. Simulated results show that the metal tire is not plastically deformed under the action of force in each direction, which meets the strength requirement. The accuracy of the simulation process and the strong bearing capacity of the tire are verified by the vertical stiffness test results. The ride comfort test results show that the metal tire is slightly worse than the pneumatic tire in vibration damping performance, but has better grip characteristics. Key

Multi-physical Field in IEG and Micro-dimple Forming in Ultrasonic Rolling Electrochemical Micromachining

WANG Minghuan， WANG Jiajie， TONG Wenjun， CHEN Xia， XU Xuefeng， WANG Xindi

2020, 41(4):  783-791.  doi:10.3969/j.issn.1000-1093.2020.04.017

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For the complex physical change and poor observability of the radial ultrasound rolling eletrochemical micromachining (RUR-EMM) gap physics field, the coupling effect of multi-physical field in machining gap is studied based on the numerical simulation method. A multi-field coupling theory model of electric field, two-phase flow field, temperature field and sound field in machining gap is established. Based on the proposed model, the variation rule of multi-field coupling interaction and the forming rule of micro dimple under multi-field coupling are obtained by numerical simulation method. Results show that the electrolyte in the gap flows into and out of the machining zone with vibration frequency of 20 kHz, amplitude of 10 μm, machining gap of 50 μm, cathode rotating angular velocity of 0.6°/s, and electrode conductivity of 7.9 S/m. The current density periodically changes with vibration cycle, and the temperature of electrolyte increases with the combined action of ultrasonic vibration and electrochemical reaction. Compared with rolling electrochemical micromachining (R-EMM), the gap temperature and current density of RUR-EMM are increased by 3.63% and 1.45 times, respectively, and the dimple depth of RUR-EMM is increased by 14.21%. This is because the pulsating flow field in the gap promotes the discharge of products effectively. The experimental results of micro-dimple machining verify the correctness of the theoretical model. The error between the simulated and experimental machining depths is less than 17.07%. Key

Research on Reliability Analysis of Multi-state System Based on UGF and GO Methodology

CAO Hui， DUAN Fuhai， JIANG Xiuhong

2020, 41(4):  792-798.  doi:10.3969/j.issn.1000-1093.2020.04.018

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To solve the complex reliability analysis problem of basic GO methodology, a UGF-GO methodology based on the universal generating function (UGF) and GO methodology is proposed to analyze the reliability of complex multi-state system. The proposed methodology can be used to analyze the structure relation among various operators in GO chart and obtain the system reliability based on the corresponding universal generating function (UGF). The UGF-GO methodology can not only reduce the computational complexity of GO chart, but also simplify the correction process of shared signals. The simplicity and effectiveness of UGF-GO methodology are proved by comparing the reliability analyses of UGF-GO methodology and probability formula algorithm. The UGF-GO methodology is applied to analyze the degradation reliability of an aircraft power supply system. The simulated results show that UGF-GO methodology can be used completely to analyze the reliability of system with degradation behavior from failure mechanism to degeneration modeling. Key

On-line Rapid Assessment Method for the Positions of Equally Distributed Circumferential Holes Based on Multi-channel Inductance Measurement

LI Bing, FAN Yinbin, SUN Bin, LAN Menghui, LONG Xingyuan, HOU Ying

2020, 41(4):  799-809.  doi:10.3969/j.issn.1000-1093.2020.04.019

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A positional polar angle dichotomy search optimization algorithm is proposed for on-line measuring the machining accuracies of planetary carrier and cycloid of precision parts in industrial robot RV reducer. An on-line rapid measuring instrument for the positions of equally distributed circumferential holes is proposed, which combines position measuring meter, coordinate measurement technology and multi-channel inductance collaborative measurement technology. The multi-channel inductive sensor is used to collect the coordinate data of the measured hole of the part, and the optimal position error can be quickly and accurately obtained by the “hole-centered polygon” rotation transformation and the polar angle dichotomy iterative optimization. The measuring time of a single part is less than 10 s, which is suitable for measuring requirements on the production line. The sensor static calibration experiments and nonlinear error compensation were completed by analyzing the error source of measuring meter. Through algorithm simulation experiment, repetitive experiment and precision comparison test, the accuracy of the proposed algorithm is less than 1.4 μm, which has high accuracy; the repeatability of the measuring instrument is less than 1.5 μm, and the reproducibility is less than 1.0 μm; and the comparison error between the measuring instrument and the coordinate measured results is less than 2.6 μm on average, which proves that the position measuring instrument has high stability and reliability. Key

Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism

HAN Bo， XU Yundou， YAO Jiantao， ZHENG Dong， LI Yongjie， ZHAO Yongsheng

2020, 41(4):  810-821.  doi:10.3969/j.issn.1000-1093.2020.04.020

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A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program.Key

Comprehensive Review

A Systematic Review of Vehicle ISD Suspension Configuration Design

XU Long, MAO Ming, CHEN Yijie, DU Fu, DAI Jianjian

2020, 41(4):  822-832.  doi:10.3969/j.issn.1000-1093.2020.04.021

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High mobility tracked vehicle suspension system is important to realize the off-road maneuverability of the vehicle, which plays the roles of bearing, buffering and damping for the vehicle. Since the inerter was proposed, it has been widely used in passive vibration isolation networks and has shown excellent vibration isolation performance. This paper reviews the configuration and design method of inerter-spring-damper (ISD) suspensions. Starting from the basic method of suspension design, two kinds of suspension design methods are analyzed. Based on the comprehensive introduction of the development process of traditional passive suspension design method, the developments of electrical-mechanical analogies and the progress of ISD suspension design techniques are discussed, and the development direction of ISD suspension technology is proposed to be the engineering and integration of ISD suspension, the design of ISD suspension configurations based on multiple inerters, and the optimized matching of suspension system. Key