新型类锥杆式对接机构的碰撞过程分析
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摘要
随着21世纪人类在空间领域的不断突破,日益增长的无人自主在轨服务需求和激烈的国际竞争对空间对接机构的自主性、多样性、稳健性、可靠性及其总体性能提出了越来越高的要求。从美国、俄罗斯、日本等航天大国的已有经验来看,要保证航天器空间对接的高成功率、高可靠性,不但要重视对接机构的设计、研制和试验,还必须十分重视对接机构的仿真研究。本文从提高对接机构的设计水平,改进对接机构的工作性能出发,结合课题组目前正在开展的航天器在轨服务技术研究,对一种新型类锥杆式对接机构的碰撞过程进行了建模与仿真分析。
首先,对空间对接技术新的应用需求、发展特点以及空间对接机构的发展概况等进行了总结,分析了类锥杆式对接机构的优点,并对空间对接过程的建模与仿真技术进行了研究。
其次,针对本文所研究的新型类锥杆式对接机构的结构特点,定义了系统的坐标系,并对系统碰撞过程中各部分之间的运动学关系进行了研究。另外还研究了对接系统的欧拉动力学方程,接触碰撞问题求解模型,碰撞力系数与材料的杨氏模量、泊松比以及侵入量之间的数学关系式等。在此基础上,进一步对碰撞过程的动力学模型进行了综合研究,推导了各种惯性力以及广义力的虚功率形式,并得到了碰撞过程的动力学模型。
然后,采用几何法对类锥杆式对接机构的碰撞点计算模型进行了研究。根据笛卡儿空间坐标系的“点”投影不变性原理和类锥杆式对接机构的结构特点,论文提出将碰撞点的计算分为对接杆中心轴与对接锥中心轴共面和异面两种情况来分别进行研究,并相应得到了这两种情况下的碰撞点计算模型。
最后,研究了对接机构在空间对接过程中不同对接初始条件下的动力学特性,并针对影响对接机构碰撞过程的诸多因素进行了大量的仿真分析,得到了许多有价值的结论。在上述仿真分析的基础上,还对对接锥型面改进设计方法进行了研究,并得到了满足改进设计要求的新型对接锥型面。
论文对类锥杆式对接机构的接触碰撞过程建模理论进行了系统研究,并将其应用于所研究对象的工作特性仿真分析中,为进一步提高结构的总体设计水平奠定了良好的基础。
With mankind ceaselessly breaking new ground in the field of space at the 21st century, the growing demands for autonomous on-orbit servicing and fierce international competitions are putting forward higher and higher requirements to the autonomy, diversity, robustness, reliability and the overall performance of the space rendezvous and docking mechanism. From the existing experience of the United States, Russia, Japan and other space powers, to ensure high success rate and high reliability of the spacecrafts docking process in space, attentions should be paid not only on the design, development and test of the docking mechanism, but also should be paid on the simulation of docking process. In this paper, enhancing the design levels of the docking mechanism and understanding the working conditions of the docking process are aimed at. Combining with our team’s current research on the spacecraft’s on-orbit servicing technology, docking process of a new type quasi probe-cone docking mechanism are analyzed by modeling and simulation.
Firstly, new application requirements and development characteristics of space docking technology are analyzed, development of docking mechanism and merits of the quasi probe-cone docking mechanism are summarized, and the technology of modeling and simulation for space docking process is studied.
Secondly, according to the features of the new type quasi probe-cone docking mechanism, systematic coordinates are defined, and the kinematical relationships of various parts during the collision process are studied, as well as research on the Euler's dynamic equations, the contact-impact solving models, along with the mathematical relationships between the coefficient of collision force and the material Young's modulus, Poisson's ratio, the intrusion amount are done for the docking problem. On that basis, a further comprehensive study of the collision dynamics models is made with the virtual power principle. A variety of inertial force and non-inertial force is deduced to the virtual power form, and a complete dynamic model for the collision process has been studied as a vector form.
Thirdly, detecting and calculating models of the collision points as the quasi probe-cone docking mechanism colliding with each other are studied by geometric methods. According to the principle of "point" projection invariance in the Cartesian space coordinate system and the structural symmetrical characteristics of the quasi probe-cone docking mechanism, for the first time this paper proposes to divide the problem of detecting and calculating the collision points into two kinds of circumstances, that is coplanar and non-coplanar between the centrosymmetric axis of the docking pole and the centerline of the passive docking cone, then the detecting and calculating models of the collision points for the both cases has been deduced.
Finally, the kinematical and dynamic characteristics of the docking mechanism in different initial conditions during the collision process are studied, as well as a large number of simulation analyses are made to understand many factors of impacting the collision process, moreover a number of significant guidance conclusions are acquired as a result. In addition, on the basis of above simulation analyses, the docking cone innovation design technique is studied and a new satisfied doking cone is obtained.
To sum up, the theory of modeling the contact and collision process for the quasi probe-cone docking mechanism is systematically studied in this paper, and it is applied to the simulation analyses of the object’s working characteristics. The research work establishes a good foundation for further improvement of structural system design quality.
首先,对空间对接技术新的应用需求、发展特点以及空间对接机构的发展概况等进行了总结,分析了类锥杆式对接机构的优点,并对空间对接过程的建模与仿真技术进行了研究。
其次,针对本文所研究的新型类锥杆式对接机构的结构特点,定义了系统的坐标系,并对系统碰撞过程中各部分之间的运动学关系进行了研究。另外还研究了对接系统的欧拉动力学方程,接触碰撞问题求解模型,碰撞力系数与材料的杨氏模量、泊松比以及侵入量之间的数学关系式等。在此基础上,进一步对碰撞过程的动力学模型进行了综合研究,推导了各种惯性力以及广义力的虚功率形式,并得到了碰撞过程的动力学模型。
然后,采用几何法对类锥杆式对接机构的碰撞点计算模型进行了研究。根据笛卡儿空间坐标系的“点”投影不变性原理和类锥杆式对接机构的结构特点,论文提出将碰撞点的计算分为对接杆中心轴与对接锥中心轴共面和异面两种情况来分别进行研究,并相应得到了这两种情况下的碰撞点计算模型。
最后,研究了对接机构在空间对接过程中不同对接初始条件下的动力学特性,并针对影响对接机构碰撞过程的诸多因素进行了大量的仿真分析,得到了许多有价值的结论。在上述仿真分析的基础上,还对对接锥型面改进设计方法进行了研究,并得到了满足改进设计要求的新型对接锥型面。
论文对类锥杆式对接机构的接触碰撞过程建模理论进行了系统研究,并将其应用于所研究对象的工作特性仿真分析中,为进一步提高结构的总体设计水平奠定了良好的基础。
With mankind ceaselessly breaking new ground in the field of space at the 21st century, the growing demands for autonomous on-orbit servicing and fierce international competitions are putting forward higher and higher requirements to the autonomy, diversity, robustness, reliability and the overall performance of the space rendezvous and docking mechanism. From the existing experience of the United States, Russia, Japan and other space powers, to ensure high success rate and high reliability of the spacecrafts docking process in space, attentions should be paid not only on the design, development and test of the docking mechanism, but also should be paid on the simulation of docking process. In this paper, enhancing the design levels of the docking mechanism and understanding the working conditions of the docking process are aimed at. Combining with our team’s current research on the spacecraft’s on-orbit servicing technology, docking process of a new type quasi probe-cone docking mechanism are analyzed by modeling and simulation.
Firstly, new application requirements and development characteristics of space docking technology are analyzed, development of docking mechanism and merits of the quasi probe-cone docking mechanism are summarized, and the technology of modeling and simulation for space docking process is studied.
Secondly, according to the features of the new type quasi probe-cone docking mechanism, systematic coordinates are defined, and the kinematical relationships of various parts during the collision process are studied, as well as research on the Euler's dynamic equations, the contact-impact solving models, along with the mathematical relationships between the coefficient of collision force and the material Young's modulus, Poisson's ratio, the intrusion amount are done for the docking problem. On that basis, a further comprehensive study of the collision dynamics models is made with the virtual power principle. A variety of inertial force and non-inertial force is deduced to the virtual power form, and a complete dynamic model for the collision process has been studied as a vector form.
Thirdly, detecting and calculating models of the collision points as the quasi probe-cone docking mechanism colliding with each other are studied by geometric methods. According to the principle of "point" projection invariance in the Cartesian space coordinate system and the structural symmetrical characteristics of the quasi probe-cone docking mechanism, for the first time this paper proposes to divide the problem of detecting and calculating the collision points into two kinds of circumstances, that is coplanar and non-coplanar between the centrosymmetric axis of the docking pole and the centerline of the passive docking cone, then the detecting and calculating models of the collision points for the both cases has been deduced.
Finally, the kinematical and dynamic characteristics of the docking mechanism in different initial conditions during the collision process are studied, as well as a large number of simulation analyses are made to understand many factors of impacting the collision process, moreover a number of significant guidance conclusions are acquired as a result. In addition, on the basis of above simulation analyses, the docking cone innovation design technique is studied and a new satisfied doking cone is obtained.
To sum up, the theory of modeling the contact and collision process for the quasi probe-cone docking mechanism is systematically studied in this paper, and it is applied to the simulation analyses of the object’s working characteristics. The research work establishes a good foundation for further improvement of structural system design quality.
引文
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