[1]王洪新,张伟,丁林,等.空间站舱体转动惯量地面仿真研究[J].徐州工程学院学报(自然科学版),2020,(03):78-83.
 WANG Hongxin,ZHANG Wei,DING Lin,et al.Ground Simulation of Moment of Inertia of Space Station Cabin[J].Journal of Xuzhou Institute of Technology(Natural Sciences Edition),2020,(03):78-83.
点击复制

空间站舱体转动惯量地面仿真研究()
分享到:

《徐州工程学院学报》(自然科学版)[ISSN:1674-358X/CN:32-1789/N]

卷:
期数:
2020年03期
页码:
78-83
栏目:
工程技术
出版日期:
2020-09-30

文章信息/Info

Title:
Ground Simulation of Moment of Inertia of Space Station Cabin
文章编号:
1674-358X(2020)03-0078-06
作者:
王洪新张伟丁林贾伟建
(皖西学院 机械与车辆工程学院,安徽 六安237012)
Author(s):
WANG HongxinZHANG WeiDING LinJIA Weijian
(School of Mechanical and Vehicle Engineering,West Anhui University,Lu'an 237012,China)
关键词:
空间站 机械臂 超大转动惯量模拟 动力学建模 ADAMS仿真
Keywords:
space station manipulator large moment of Inertia ground simulation dynamic model ADAMS simulation
分类号:
V216
文献标志码:
A
摘要:
机械臂带动舱体的转位对接是空间站建设的核心步骤,因舱体的质量和体积较大在转动过程中会产生不小于3.2×105 kg·m2转动惯量.在地面模拟出如此大的转动惯量,并利用此惯量对舱体进行转位对接实验是空间站建设的关键.对比国内外转动惯量地面模拟加载方法,提出一种基于气浮的全物理的实验方法,并创建三维模型; 利用拉格朗日功能平衡法(Lagrange equation)对其进行动力学数学建模,计算结果表明该方法能够模拟所需转动惯量,并通过ADAMS仿真验证,两者对机械臂肩关节和腕关节的数值误差分别为4.40%和5.59%.综合结果表明全物理地面模拟加载方法能够计算出地面模拟舱体转位时所产生的转动惯量.
Abstract:
It is the core step of space station construction that the mechanical arm drives the cabin to carry out the docking.Due to the large mass and volume of the cabin,it will produce no less than moment of inertia in the process of rotation.How to simulate such a large moment of inertia on the ground and use it to carry out the docking experiment on the ground is the key to space station construction.Compared with the method of ground simulation loading of the moment of inertia at home and abroad,a full|physics experimental method based on air floatation is proposed.A three|dimensional model is created for this method,and the Lagrange function balance method is used.The simulation results show that the method can simulate the required moment of inertia,and the numerical errors of the two to the shoulder joint and the wrist joint of the manipulator are 4.40% and 5.59% respectively,which are verified by ADAMS simulation.The comprehensive results show that the full physical ground simulation loading method can simulate the moment of inertia generated by the rotation of the cabin on the ground.

参考文献/References:

[1] HONG Y.The “Tiangong” chinese space station project[J].Frontiers of Engineering Management,2018,5(2):278|283.
[2] 徐菁.空间站核心舱首公开,彰显我大国实力[J].中国航天,2018,487(11):23|25.
[3] CASTRO|WALLACE S L,CHIU C Y,JOHN K K,et al.Nanopore DNA sequencing and genome assembly on the international space station[J].Entific Reports,2017,7(1):18022.
[4] SUN L,HUO W.Robust adaptive relative position tracking and attitude synchronization for spacecraft rendezvous[J].Aerospace Ence and Technology,2015,41:28|35.
[5] 杨原青,徐志刚,王军义,等.太空转位机械臂刚性特征研究[J].兵器装备工程学报,40(5):100|104.
[6] 张华,肖余之.空间对接机构缓冲试验台分离性能分析[J].载人航天,2015(1):24|29.
[7] 许华旸,关立文,王立平,等.惯性载荷下飞行模拟器大臂结构的拓扑优化[J].机械工程学报,2014,50(9):14|23.
[8] 陆豪,李运华,田胜利,等.驱动大惯量低刚度负载的推力矢量控制电动伺服机构的μ 综合鲁棒控制[J].机械工程学报,2011,47(2):180|188.
[9] LI Z X,ZHU X L,JIANG H.Simulation and test analysis of brushlessDC motor for electric vehicles[J].Key Engineering Materials,2011,46(4):76|80.)
[10] 哈乐,房立金,徐志刚.超大惯量模拟方法在空间转位装置中的应用研究[J].机械设计,2014,31(12):21|25.
[11] 高云帆.基于双定子电机的机械惯量模拟技术的研究[D].哈尔滨:哈尔滨工业大学.
[12] 徐志刚,白鑫林,王军义.基于等效惯量模拟的空间站转位机械臂承载性能测试[J].机器人,2015,37(2):231|236.
[13] 蔡自兴,谢斌.机器人学[M].3版.北京:清华大学出版社,2015.
[14] 宁昕,武耀发.自由漂浮空间机器人轨迹跟踪的模型预测控制[J].控制理论与应用,2019,36(5):687|696.
[15] 赵武云,史增录,戴飞,等.ADAMS2013基础与应用实例教程[M].北京:清华大学出版社,2015.

备注/Memo

备注/Memo:
收稿日期:2020-04-15
基金项目:皖西学院校级自然科学研究项目(0041019043)
作者简介:王洪新(1976-),女,副教授,博士研究生,主要从事模具、机械设计制造、材料成型研究.通信作者:张伟(1990-),男,讲师,主要从事航天器地面测试设备研究.
更新日期/Last Update: 2020-09-30