针对面向自主无人在轨服务的微小型航天器上使用的杆锥式对接机构,提出了一种在对接杆末端加缓冲系统的软对接方案。基于Lagrange方法建立了对接系统的三维动力学模型,并运用虚功原理求解广义力矩阵;接触点的确定采用接触搜索算法,提出了截面法,将三维空间搜索问题转化为二维平面求解;根据接触点的相对位置和速度关系,提出了三维空间中求解切向接触力的方法。 并且通过有限元方法与理论模型相比较,对理论模型进行了验证。通过对捕获锁的简化设计,制定了对接系统捕获的评判准则,并在不同的缓冲性能下进行动力学仿真分析,探讨缓冲参数变化对微小卫星对接过程的影响,提出了缓冲参数的优选方法,为锥杆式对接机构的缓冲系统设计提供有价值的参考。
Abstract
Aiming at probe-cone docking mechanisms used in miniature spacecrafts for unmanned autonomous on-orbit service, a soft docking scheme of adding a buffer system at the end of the rod butt was proposed. A three-dimensional dynamic model for the docking system was built based on Lagrange method, the principle of virtual work was used to solve the generalized force matrix. The contact search algorithm was utilized to determine contact point positions, the section method was employed to convert a three-dimensional space search problem into a two-dimensional planar solution. According to relative position and relative speed of contact points, a method was proposed to solve a tangential contact force in a three-dimensional space. Moreover, the theoretical model was verified through comparing the results of the finite element method with those of this model. Assessment criteria of docking system capture were established through the simplified design of capture lock. Dynamic simulation analyses were performed under different cushioning characteristics. The influence of changes of buffer parameters on docking process of micro-satellites was analyzed, the optimization method for buffer parameters was proposed to provide a valuable reference for the buffer system design of a probe-cone docking mechanism.
关键词
杆锥式对接机构 /
三维动力学 /
Lagrange方法 /
接触搜索算法 /
截面法
{{custom_keyword}} /
Key words
probe-cone docking mechanism /
three-dimensional dynamics /
Lagrange method /
contact search algorithm /
section method
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 陈小前,袁建平,姚雯,等. 航天器在轨服务技术[M]. 北京: 中国宇航出版社, 2009.
CHEN Xiao-qian,YUAN Jian-ping,YAO Wen,et al. Spacecraft of servicing technologies in orbit[M].Beijing: China Aerospace Press,2009.
[2] 陈宝东, 唐平. 空间对接机构技术及其研制[J]. 上海航天, 2005, (5):6~8.
CHEN Bao-dong,TANG Ping.The technology and develop of space docking mechanism[J]. Shanghai Aerospace, 2005, (5):6~8.
[3] Hays A B, Tchoryk Jr P, Pavlich J C, et al. Dynamic simulation and validation of a satellite docking system[C] AeroSense 2003. 2003: 77
[4] Rivera D E, Motaghedi P, Hays A. Modeling and simulation of the MichiganAerospace autonomous satellite docking system II[C] Defense and Security.2005: 82
[5] A.Boesso,A.Francesconi.ARCAD small-scaledocking mechanism for micro-satellites[J]. Acta Astronautica. 2013:77–87.
[6] Barbetta M, Boesso A, Branz F, etal. ARCADE-R2 experiment on board BEXUS 17 stratospheric balloon [J]. CEAS Space Journal, 2015, 7 (3):1.
[7] Motaghedi P. On-orbit performance of the orbital express capture system[C]SPIE Defense and Security Symposium. 2008:
[8] Christiansen S, Nilson T. Docking System for Autonomous, Un-manned Docking Operations[C] IEEE Aerospace Conference. 2008:
[9] 林来兴. 美国“轨道快车”计划中的自主空间交会对接技术[J]. 国际太空,2005, (2):23~27.
LIN Lai-xing.The autonomous space rendezvous and docking technology of American "Orbital Express" program[J]. Space International,2005, (2):23~27.
[10] Satori S. Status of Nanosatellite Development for Mothership-Daughtership Space Experiment by Japanese University [J]. Proceedings of the 22nd ISTS,Morioka, May, 2000:2323.
[11] Ui K, Matunaga S. Identification of Docking Possibility Criteria includingRecovery from Incomplete Grasping of Docking Mechanism for Nanosatellite[J]. Journal of Space Engineering, 2009, 2 (1):1.
[12] 张大伟,田浩,赵阳等.类杆锥式对接机构捕获动力学分析与参数设计[J].宇航学报. 2008. 29(6): 1717-1722.
ZHANG Da-wei,TIAN Hao,ZHAO Yang,et al .Quasi Probe-Cone Docking Mechanism Capturing Dynamics Analyses and Parameter Design[J]. .Journal of Ast ronautics. 2008. 29(6): 1717-1722.
[13] Ruggero Maria Santilli.Foundations of theoretical mechanics:theinverse problem in Newtonian mechanics[M].California :Springer-Verlag Press,1978:110-160.
[14] 殷婷,王杰. Lagrange 力学化理论在多机电力系统中的应用[J]. 电网技术,2013.37(9):2486~2491.
YIN Ting, WANG Jie.Application of Lagrange Mechanization Theory in Multi-Machine Power System[J]. Power System Technology,2013.37(9):2486~2491.
[15] Hallquist J O,Goudreau G L,Benson D J.sliding interfaces with contact-impact in large-scale lagrangian computations[J].computer Methods in Applied Mechanics and Engineering,1985,51(1):107-137.
[16] Schweizerhof K, Nilsson L, Hallquist J.O, Crachworthiness analysis in the automotive industry[J].International Journal of Computer Applications in Technology, 1992, 5(2-4):134-156
[17] Benson D.J, Hallquist J.O, A single surface contact algorithm for the post-buckling analysis of shell structures[J].Computer Methods and Applied Mechanics, 1990, 78:141-150
[18] 孙世贤,黄圳圭,唐乾刚. 理论力学 [M]. 国防科技大学出版社,2008.
SUN Shi-xian ,TANG Qian-gang. Theoretical Mechanics [M]. National University of Defense Technology Press,2008.
[19] 张翔. 基于空间杆-锥式对接机构的柔性杆技术研究[D].长沙: 国防科技大学,2011.
ZHANG Xiang.Research of Flexible Rod Technology Based on Space Probe-Cone Docking Mechanism [D]. Changsha: National University of Defense Technology, 2011.
[20] 马易志.柔性多体系统接触碰撞的理论和实验研究[D]. 上海:上海交通大学,2008.
Ma Yi-zhi . Dynamic modeling theory and experiment investigation for flexible multi-body system with contact-impact[D].Shanghai: Shanghai Jiaotong University,2008.
{{custom_fnGroup.title_cn}}
脚注
{{custom_fn.content}}