航天服试验驱动装置动力学及热防护技术研究
摘要
在近地太空中,物体正对太阳的表面接受辐射产生高温,而背对太阳的表面则为低温,即太空环境是极端温度环境。目前还没有一种适于在太空环境中直接使用的驱动装置,受到居里温度效应的限制,广泛应用的基于电磁原理的驱动装置都无法直接暴露在太空环境中。根据航天服测试试验的要求,本文在已研制的航天服气动操作装置基础上,提出采用电驱动,并施加温度控制进行防护,以满足航天服舱外活动的完全模拟飞行试验的条件。对各种操作中动作最复杂的流控阀操作装置实现了电驱动设计,对该装置的运动学和动力学特性进行了仿真,并对电器的热特性以及防护特性进行了仿真分析和实验研究。
根据航天服在太空环境模拟舱中的测试要求,完成了流控阀操作装置的设计,采用电磁铁作为解锁驱动,步进电机驱动小齿轮沿弧形齿轮转动实现位置控制。这样基于电力驱动的装置比气压传动更容易实现温度防护,更易于控制。但是电力驱动的柔顺性比气压传动差。为解决此问题,利用SolidWorks建立了机构的三维模型并导入ADAMS软件对流控阀操作装置的运动学与动力学进行了仿真和优化,提高流控阀操作装置运行的柔顺性和快速性。
在分析航天服测试试验中热传递方式的基础上,对现有热防护技术进行了探讨。在比较了尽可能减少热辐射、采用相变材料蓄热等防护技术的基础上,本论文对采用半导体制冷技术的主动式防护完成了流控阀操作装置驱动电机的热防护设计,利用FLUENT对该热防护装置的热特性进行了仿真分析,并建立了热防护实验系统,对采用半导体制冷片的主动式电器热防护的性能进行了实验研究。半导体制冷技术在流控阀操作装置中的应用,为航天服测试试验中电器的热防护奠定了基础,为未来深太空探测器电子装置的温度调节系统提供了新思路。
根据航天服在太空环境模拟舱中的测试要求,完成了流控阀操作装置的设计,采用电磁铁作为解锁驱动,步进电机驱动小齿轮沿弧形齿轮转动实现位置控制。这样基于电力驱动的装置比气压传动更容易实现温度防护,更易于控制。但是电力驱动的柔顺性比气压传动差。为解决此问题,利用SolidWorks建立了机构的三维模型并导入ADAMS软件对流控阀操作装置的运动学与动力学进行了仿真和优化,提高流控阀操作装置运行的柔顺性和快速性。
在分析航天服测试试验中热传递方式的基础上,对现有热防护技术进行了探讨。在比较了尽可能减少热辐射、采用相变材料蓄热等防护技术的基础上,本论文对采用半导体制冷技术的主动式防护完成了流控阀操作装置驱动电机的热防护设计,利用FLUENT对该热防护装置的热特性进行了仿真分析,并建立了热防护实验系统,对采用半导体制冷片的主动式电器热防护的性能进行了实验研究。半导体制冷技术在流控阀操作装置中的应用,为航天服测试试验中电器的热防护奠定了基础,为未来深太空探测器电子装置的温度调节系统提供了新思路。
引文
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[2]马爱军,黄晓慧.载人航天环境模拟技术的发展[J].航天医学与医学工程,2008,21,(3)
[3]华中令.航天服试验舱高空舱内受控环境技术[J].第十八届国际污染控制学术会议,2006
[4]靳玉伟,王策,刘晓东.太空宇航服简介[J].中国个体防护装备,2006,(1)
[5]拔刀齐.天外飞仙铁布衫是如何炼成的—舱外宇航服的历史变迁[J].卫星与网络,2008,(10)
[6]李俊杰,欧阳峥嵘,严定传.空间环境试验舱液氮系统设计与测试[J].真空,2009,46,(1)
[7]黄本诚.神州飞船特大型空间环境模拟器[J].航空制造技术,2005,(11)
[8]黎滢.中国航天发展现状8则[J].理论导报,2008,(10)
[9]邓传明,于伟东.太空环境中舱外宇航服的外层防护问题[J].京华大学学报,2004,30,(4)
[10]Kaneko, K.; Ohnishi, K. & Komoriya, K. A design method for manipulator control based on disturbance observer [J]. Intelligent Robots and System for Mechanical System,1994, (2):1405
[11]Hashimoto, K.; Kimoto, T.; Kawabata, M. & Kimura, H. H(?) model-based robust control of a manipulator [J]. Intelligent Robots and System for Mechanical System,1991, (3):1597
[12]Imai, Y.; Obinata, G. & Hase, K. Analysis on kinematics and statics of redundant parallel link manipulators with passive joints [J]. Micro-Nano Mechatronics and Human Science,2007,472
[13]Negm, M.M.M. Stochastic adaptive control for robotic manipulator with control input constraints [J]. AFRICON,1999 IEEE,1999, (1):457
[14]ara, K.; Missoum, T.E.; Hemsas, K.E. & Hadjili, M.L. Control of a robotic manipulator using neural network based predictive control [J]. Electronics, Circuits, and Systems,2010,1104
[15]Yuxin Su; Dong Sun; Lu Ren & Mills, J.K. Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators [J]. Robotics,2006, (22):202
[16]Ke Fu & Mills, J.K. A planar parallel manipulator-dynamics revisited and controller design [J]. Intelligent Robots and Systems,2005:331
[17]de Jong, B.R.; Brouwer, D.M. & de Boer, M.J. Design and fabrication of a planar three-DOFs MEMS-based manipulator [J]. Micoelectronmechanical Systems,2010, (19):1116
[18]Yamamoto, Y. & Xiaoping Yun. Modeling and compensation of the dynamic interaction of a mobile manipulator [J]. Robotics and Automation,1994,2187
[19]Guilin Yang; I-Ming Chen; Weihai Chen & Song Huat Yeo. Design and analysis of a 3-RPRS modular parallel manipulator for rapid deployment [J]. Advanced Intelligent Mechatronics,2003, (2): 1250
[20]Chi-Hyo Kim; Sung-Joo Kim; Kun-Woo Park & Jin-Ho Kyung. Topological design of the 5-DOF parallel-wrist manipulator with a constraining mechanism [J]. Control, Automation and Systems,2007,2278
[21]Kun-Woo Park; Tae_Sung Kim; Min-Ki Lee & Jin-Ho Kyung. Study on kinematic optimization of a combined parallel-serial manipulator [J]. Digital Object Identifier,2006,1212
[22]Adetu, C.F.; Moore, C.A. & Roberts, R.G. Dynamic modeling and control of the OMEGA-3 parallel manipulator [J]. Systems, Man and Cybernetics,2009,3599
[23]Zebin, T. & Alam, M.S. Dynamic modeling and fuzzy logic control of a two-link flexible manipulator using genetic optimization techniques [J]. Computer and Information Technology,2010, 418
[24]Khadem, S.E. & Pirmohammadi, A.A. Analytical development of dynamic equations of motion for a three-dimensional flexible link manipulator with revolute and prismatic joints [J]. Systems, Man, and Cybernetics,2003, (33):237
[25]Yoshikawa, T.; Hosoda, K.; Doi, T. & Murakami, H. Quasi-static trajectory tracking control of flexible manipulator by macro-micro manipulator system [J]. Robotics and Automation,1993, (3): 210
[26]Sharf, I. Active damping of a large flexible manipulator with a short-reach robot [J]. American Control Conference,1995, (5):3329
[27]Lew, J.Y.; Trudnowski, D.J.; Evans, M.S. & Bennett, D.W. Micro manipulator motion control to suppress macro manipulator structural vibrations [J]. Robotics and Automation,1995, (3):3116
[28]Al-Mashhadany, Y.I. A posture of 6-DOF manipulator by Locally Recurrent Neural Networks (LRNNs) implement in Virtual Reality [J]. Industrial Electronics & Applications,2010,573
[29]Iwata, H.; Kobashi, S.; Aono, T. & Sugano, S. Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints [J]. Intelligent Robots and Systems,2005,1785
[30]Yang, T.W.; Sun, Z.Q.; Tso, S.K. & Xu, W.L. Trajectory control a flexible space manipulator utilizing a macro-micro architecture [J]. Robotics and Automation,2003, (2):2522
[31]Chifu Yang; Qitao Huang; Jingfeng He; Hongzhou Jiang & Junwei Han. Model-based control for 6-DOF parallel manipulator [J]. Informatics in Control, Automation and Robotics,2009,81
[32]Chifu Yang; Jingfeng He; Hongzhou Jiang & Junwei Han. Modeling and simulation of 6-DOF parallel manipulator based on PID control with gravity compensation in simulink/ADAMS [J]. Modelling, Simulation and Optimization,2008,391
[33]Yang Liu; Shiqi Li & Ming Xie. Design and implementation of a new single-motor driven arm manipulator [J]. Mechatronics and Automation,2007,3071
[34]Li-Jie Zhang; Yong-Quan Li & Ya-Qing Guo. Dynamic analysis of spherical 5R parallel manipulator [J]. Mechatronics and Automation,2009,1510
[35]Chao Daihong; Zong Guanghua & Liu Rong. Design of a 6-DOF compliant manipulator based on serial-parallel architecture [J]. Advanced Intelligent Mechatronics. Proceedings,2005,765
[36]Ting Yao; Yu-xian Gai; Sheng Fu & Hui-ying Liu. Mechanical design of 7-DOF manipulator for water jet cutting [J]. Mechatronics and Automation,2009,2746
[37]Pierrot, F.; Nabat, V.; Company, O.; Krut, S. & Poignet, P. Optimal design of a 4-DOF parallel manipulator: from academia to industry [J]. Robotics,2009, (25):213
[38]Cheung, J.W.F. & Hung, Y.S. Modelling and control of a 2-DOF planar parallel manipulator for semiconductor packaging systems [J]. Advanced Intelligent Mechatronics. Proceedings,2005,717
[39]Paredis, C.J.J. & Khosla, P.K. Agent-based design of fault tolerant manipulators for satellite docking [J]. Robotics and Automation,1997, (4):3473
[40]Fukuda, O.; Tsuji, T.; Kaneko, M. & Otsuka, A. A human-assisting manipulator teleoperated by EMG signals and arm motions [J]. Robotics and Automation,2003, (19):210
[41]Hongen Liao; Yoshimura, K.; Utsugida, T.; Matsumiya, K.; Masamune, K. & Dohi, T. Surgical manipulator with linkage mechanism for anterior cruciate ligament reconstruction [J]. Intelligent Robots and Systems,2007,1266
[42]Yangmin Li & Qingsong Xu. Kinematic design and dynamic analysis of a medical parallel manipulator for chest compression task [J]. Robotics and Biomimetics,2005,693
[43]Qinjun Du. The location error analysis and compensation for needle driven robot [J]. Bioinformatics and Biomedical Engineering,2009,1
[44]Sharp, R. The current status of high temperature electronics for automotive use [J]. Automotive Electronic Standareds,1999, (1):6
[45]Salah, M.H.; Mitchell, T.H.; Wagner, J.R. & Dawson, D.M. A smart multiple-loop automotive cooling system—model, control, and experimental study [J]. Mechatronics,2009, (15):117
[46]Gallo, A.A. Green molding compounds for high temperature automotive applications [J]. Business of Electronic Product Reliability and Liability,2004,57
[47]White, S.B.; Gallego, N.C.; Johnson, D.D.; Pipe, K.; Shih, A.J. & Jih, E. Graphite foam for cooling of automotive power electronics [J]. Power Electronics in Transportation,2004,61
[48]Finn, J.; Ewing, D.J.; Lin Ma & Wagner, J. Thermal protection of vehicle payloads using phase change materials and liquid cooling [J]. American Control Conference (ACC),2010,1204
[49]Buttay, C.; Rashid, J.; Mark Johnson, C.; Ireland, P.; Udrea, F. Amaratunga, G. & Malhan, R.K. High performance cooling system for automotive inverters [J]. Power Electronics and Applications, 2007,1
[50]Widerski, T.; Raj, E. & Lisik, Z. Cooling microstructure for automotive electronic module [J]. EUROCON,2007,1429
[51]Pickert, V.; Cheng, H.; Pritchard, L. & Atkinson, D.J. An experimental and computational study of water cooled heatsinks for HEV's [J]. Power Electronics, Machines and Drives,2010,1
[52]Campbell, J.B.; Tolbert, L.M.; Ayers, C.W. & Ozpineci, B. Two-phase cooling method using R134a refrigerant to cool power electronic devices [J]. Applied Power Electronics Conference and Exposition,2005, (1):141
[53]Ayers, C.W.; Conklin, J.C.; Hsu, J.S. & Lowe, K.T. A unique approach to power electronics and motor cooling in a hybrid electric vehicle environment [J]. Vehicle Power and Propulsion Conference,2007,102
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