机械臂转位舱段过程的多学科集成仿真
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摘要
基于高层体系结构(HLA)及Modelica建模语言构建的系统集成仿真平台,通过构建和集成与机械臂转位舱段过程相关的舱体动力学、机械臂、轨道、姿态控制、总体电路等功能模型,建立了机械臂转位舱段集成仿真模型,开展了机械臂转位舱段过程多学科集成仿真,建立并验证了基于功能模型的多学科集成仿真工作流程,提出并实践了基于功能模型的总体-分系统多学科集成仿真工作模式。仿真结果表明:文章提出的工作流程和工作模式合理有效,集成仿真方案可行,研究成果可以为航天器研制数字化提供参考。
Based on system integrated simulation platform building by high level architecture(HLA)and the Modelica modeling language,the paper builds and integrates space robotic arm functional model, module dynamic model,orbit model,attitude control functional model and overall circuit functional model,establishes the integrated simulation model, makes the space robotic arm aided module redocking simulation,sets up and verifies multi-disciplinary integrated simulation workflow,puts forward and practices system-subsystem multi-disciplinary integrated simulation working mode.The simulation results indicate that the proposed working flow and working mode are reasonable and effective,the system integrated platform scheme is feasible.The research can provide reference for spacecraft digital design and development.
Based on system integrated simulation platform building by high level architecture(HLA)and the Modelica modeling language,the paper builds and integrates space robotic arm functional model, module dynamic model,orbit model,attitude control functional model and overall circuit functional model,establishes the integrated simulation model, makes the space robotic arm aided module redocking simulation,sets up and verifies multi-disciplinary integrated simulation workflow,puts forward and practices system-subsystem multi-disciplinary integrated simulation working mode.The simulation results indicate that the proposed working flow and working mode are reasonable and effective,the system integrated platform scheme is feasible.The research can provide reference for spacecraft digital design and development.
引文
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[2]张凯锋,周晖,温庆平,等.空间站机械臂研究[J].空间科学学报,2010,30(6):612-619Zhang Kaifeng,Zhou Hui,Wen Qingping,et al.Review of the development of robotic manipulator for international space station[J].Chinese Journal of Space Science,2010,30(6):612-619(in Chinese)
[3]胡雪平,时军委,沈晓鹏,等.转位机械臂捕获初始条件分析[J].载人航天,2011,17(2):9-14Hu Xueping,Shi Junwei,Shen Xiaopeng,et al.Initial condition of capture for module redocking mechanism robot arm[J].Manned Spaceflight,2011,17(2):9-14(in Chinese)
[4]李广兴,肖余之,卜邵华,等.空间站组装过程姿态控制方案研究[J].载人航天,2012,12(1):22-29Li Guangxing,Xiao Yuzhi,Pu Shaohua,et al.Research on attitude control scheme during space station assembly[J].Manned Spaceflight,2012,12(1):22-29(in Chinese)
[5]于登云,孙京,马兴瑞.空间机械臂技术及发展建议[J].航天器工程,2007,16(4):1-8Yu Dengyun,Sun Jing,Ma Xingrui.Suggestion on development of chinese space manipulator technology[J].Spacecraft Engineering,2007,16(4):1-8(in Chinese)
[6]Ma O,Wang J,Misra S,et al.On the validation of SPDM task verification facility[J].Journal of Robotic Systems,2004,21(5):219-235
[7]何姗.基于modelica的月球车通信系统建模仿真[D].武汉:华中科技大学,2014He Shan.Modeling and simulation of lunar rover communication system based on modelica[D].Wuhan:Huazhong University of Science and Technology,2014(in Chinese)
[8]傅江太.卫星电源控制系统仿真技术研究[D].湘潭:湘潭大学,2013Fu Jiangtai.Study on simulation technology of satellite power control system[D].Xiangtan:University Xiangtan University,2013(in Chinese)
[9]崔晓峰.基于HLA的航天飞行任务联合仿真系统设计[J].飞行器测控学报,2005,24(3):22-26Cui Xiaofeng.Design of HLA-based united simulation system for space flight missions[J].Journal of Spacecraft TT&C Technology,2005,24(3):22-26(in Chinese)
[10]王俊峰,胡冬生,张普卓,等.基于多学科优化平台的运载火箭集成设计技术研究[J].导弹与航天运载技术,2015,4:1-4Wang Junfeng,Hu Dongsheng,Zhang Puzhuo,et al.Study of integrated design for launch vehicle based on the multidisciplinary optimization platform[J].Missiles and Space Vehicles,2015,4:1-4(in Chinese)
[11]IEEE.IEEE standard formodeling and simulation(M&S)high level architecture(HLA)federate interface specification,IEEE Std 1516.1-2000[S].New York:IEEE,2001
[12]IEEE.IEEE standard for modeling and simulation(M&S)high level architecture(HLA)object model template(OMT)specification,IEEE Std 1516.2-2000[S].New York:IEEE,2001
[13]Thiller Michael M.Introduction to physical modeling with Modelica[M].Netherlands:Kluwer Academic Publisher,2001
[14]Mattsson SE,Elmqvist H,Otter M.Physical system modeling with Modelica[J].Control Engineering Practice,2002,6(4):501-510