基于柔性直角坐标机器人的火箭连接器自动对接过程分析及试验
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摘要
为提高运载火箭发射准备流程安全性、可靠性以及保障性,实现地面连接器与运载火箭上接口的自动对接,首先分析了连接器自动对接技术的应用背景及技术需求特点,提出由检测系统、控制系统及柔性位姿调整系统组成连接器自动对接技术方案;然后结合工业机器人的机构形式及特点分析,设计一种基于柔性直角坐标机器人的连接器自动对接系统方案,并研制柔性直角坐标机器人式自动对接试验系统;最后开展在箭上接口不同运动规律下的连接器自动对接试验。试验结果表明:该柔性直角坐标机器人正常实现了连接器的位姿调整功能及与箭上接口的同步随动功能,并准确、可靠地完成了连接器与箭上接口的自动对接、分离流程。
In order to enhance the safety, reliability and supportability of the launch preparation process for launch vehicle, and realize autonomous mating between ground umbilical connector and launch vehicle, the application background and technical requirements of the umbilical connector's autonomous mating technology are analyzed firstly in this paper, and then a technical scheme of umbilical connector's autonomous mating system which are composed of detection system, control system and flexible pose adjustment system is raised; Secondly, through the analysis of mechanism type and characteristic of industrial robot, a umbilical connector's autonomous mating system scheme based on flexible rectangular robot is presented, and then the practical umbilical connector's autonomous mating experimental system based on flexible rectangular robot is developed; finally, a series of umbilical connector's autonomous mating experiments are carried out under different motion laws of the launch vehicle, the results show that the flexible rectangular robot can realize the pose adjustment function and the synchronous tracking function between the umbilical connector and launch vehicle normally, and finish the autonomous mating and separation process accurately and reliably.
In order to enhance the safety, reliability and supportability of the launch preparation process for launch vehicle, and realize autonomous mating between ground umbilical connector and launch vehicle, the application background and technical requirements of the umbilical connector's autonomous mating technology are analyzed firstly in this paper, and then a technical scheme of umbilical connector's autonomous mating system which are composed of detection system, control system and flexible pose adjustment system is raised; Secondly, through the analysis of mechanism type and characteristic of industrial robot, a umbilical connector's autonomous mating system scheme based on flexible rectangular robot is presented, and then the practical umbilical connector's autonomous mating experimental system based on flexible rectangular robot is developed; finally, a series of umbilical connector's autonomous mating experiments are carried out under different motion laws of the launch vehicle, the results show that the flexible rectangular robot can realize the pose adjustment function and the synchronous tracking function between the umbilical connector and launch vehicle normally, and finish the autonomous mating and separation process accurately and reliably.
引文
[1]何家声.航天发射地面支持技术[M].北京:北京理工大学出版社,2015.He Jiasheng.Space launch ground support technology[M].Beijing:Beijing Institute of Technology Press,2015.
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[4]National Aeronautics and Space Administration.The perfect mate for safe fueling[EB/OL].(2016-3-20)[2016-3-20].Https://spinoff.nasa.gov.
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[8]郑国昆,王小军,李道平.基于运载火箭加泄连接器自动对接系统的控制流程研究[J].导弹与航天运载技术.2015(1):25-27.Zheng Guokun,Wang Xiaojun,Li Daoping.Study on control flow based on auto-docking system of launch vehicle fuel connector[J].Missiles and Space Vehicles,2015(1):25-27.
[9]刘小波.工业机器人技术基础[M].北京:机械工业出版社,2016.Liu Xiaobo.Fundamentals of industrial robot technology[M].Beijing:China Machine Press,2016.
[10]兰勇.移动式直角坐标机器人设计与研究[D].西安:陕西科技大学,2009.Lan Yong.Design and study of mobile rectangular coordinates robot[D].Xi'an:Shaanxi University of Science&Technology,2009.
[11]董霞,陈康宁,李天石.机械控制理论基础[M].西安:西安交通大学出版社,2005.Dong Xia,Chen Kangning,Li Tianshi.Fundamentals of mechanical control theory[M].Xi'an:Xi'an Jiaotong University Press,2005.
[12]单修迎,贾春玉,刘宏民.板带轧机板形控制倾辊弯辊神经模糊PID模型[J].机械工程学报,2009,45(9):255-260.Shan Xiuying,Jia Chunyu,Liu Hongmin.Neural fuzzy PID model of tilting rolling and bending roll flatness control for strip mill[J].Journal of Mechanical Engineering,2009,45(9):255-260.
[13]刘金琨.先进PID控制MATLAB仿真(第4版)[M].北京:电子工业出版社,2016.Liu Jinkun.Advanced PID control and MATLAB simulation[M].Beijing:Publishing House of Electronics Industry,2016.
[2]符锡理.运载火箭脐带自动脱落连接器[J].导弹与航天运载技术,1988,(9):62-69.Fu Xili.Umbilical automatic dis-connector of launch vehicles[J].Missiles and Space Vehicles,1988(9):62-69.
[3]Dandage S,et al.Design and development of the space shuttle tail service masts[R].NASA-1979-21357,1979.
[4]National Aeronautics and Space Administration.The perfect mate for safe fueling[EB/OL].(2016-3-20)[2016-3-20].Https://spinoff.nasa.gov.
[5]Gosselin A M.Automated ground umbilical systems(AGUS)Project[R].NASA-20130011368,2013.
[6]Manley W C,Tamasy G J,Maloney P.Ares I linear mate umbilical plate and collet[R].NASA-N20130008828,2013.
[7]白文龙,李泳峄,翟旺,吴新跃.运载火箭连接器自动对接技术应用分析[J].导弹与航天运载技术,2017(6):65-71.Bai Wenlong,Li Yongyi,Zhai Wang,Wu Xinyue.Application analysis of automated mating technique used on launch vehicle filling connectors[J].Missiles and Space Vehicles,2015(1):25-27.
[8]郑国昆,王小军,李道平.基于运载火箭加泄连接器自动对接系统的控制流程研究[J].导弹与航天运载技术.2015(1):25-27.Zheng Guokun,Wang Xiaojun,Li Daoping.Study on control flow based on auto-docking system of launch vehicle fuel connector[J].Missiles and Space Vehicles,2015(1):25-27.
[9]刘小波.工业机器人技术基础[M].北京:机械工业出版社,2016.Liu Xiaobo.Fundamentals of industrial robot technology[M].Beijing:China Machine Press,2016.
[10]兰勇.移动式直角坐标机器人设计与研究[D].西安:陕西科技大学,2009.Lan Yong.Design and study of mobile rectangular coordinates robot[D].Xi'an:Shaanxi University of Science&Technology,2009.
[11]董霞,陈康宁,李天石.机械控制理论基础[M].西安:西安交通大学出版社,2005.Dong Xia,Chen Kangning,Li Tianshi.Fundamentals of mechanical control theory[M].Xi'an:Xi'an Jiaotong University Press,2005.
[12]单修迎,贾春玉,刘宏民.板带轧机板形控制倾辊弯辊神经模糊PID模型[J].机械工程学报,2009,45(9):255-260.Shan Xiuying,Jia Chunyu,Liu Hongmin.Neural fuzzy PID model of tilting rolling and bending roll flatness control for strip mill[J].Journal of Mechanical Engineering,2009,45(9):255-260.
[13]刘金琨.先进PID控制MATLAB仿真(第4版)[M].北京:电子工业出版社,2016.Liu Jinkun.Advanced PID control and MATLAB simulation[M].Beijing:Publishing House of Electronics Industry,2016.