CN102998717A - Design method for repeatedly using floating detector system on Martian surface - Google Patents
Design method for repeatedly using floating detector system on Martian surface Download PDFInfo
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- CN102998717A CN102998717A CN2012104891383A CN201210489138A CN102998717A CN 102998717 A CN102998717 A CN 102998717A CN 2012104891383 A CN2012104891383 A CN 2012104891383A CN 201210489138 A CN201210489138 A CN 201210489138A CN 102998717 A CN102998717 A CN 102998717A
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- floating empty
- empty detector
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Abstract
The invention belongs to the technical field of spaceflight test control and relates to a design method of aerospace instruments, in particular to a design method for repeatedly using a floating detector system on the Martian surface. The floating detector system is composed of a floating detector, a mooring rope, a mechanical arm and a movable floating detector base. The design method comprises six steps and has the advantages that the floating detector system can be used repeatedly, survey with unlimited times on one area of the same Martian target location can be achieved in theory, and different three-dimensional weather resource collection of flying height of the flying detector can be achieved in different time periods of the same area.
Description
Technical field
The invention belongs to the space telemetry and control technology field, relate to a kind of method for designing of spaceflight apparatus, particularly the method for designing of the reusable floating empty detector system of a kind of martian surface.
Background technology
Floating empty detection of Mars is the focus of present countries in the world mars exploration, and main cause is that the detection of present Mars meteorological data only has two kinds of approach: 1) obtain by orbiter, orbital vehicle; 2) obtain by the device of cruising.Above dual mode can't be realized purpose that lower atmosphere layer in the Mars is surveyed in detail substantially, and this space, according to the meteorology experience, and the distribution space of most valuable elements just.And the zone that floating empty detector is surveyed greatly about the energy meter number meter to several kilometers height, just in time remedied above deficiency.
Corresponding floating empty probe designs emerges in an endless stream in 20 years in the past.The comparatively famous RPVME that has Anon to propose in 1978 wherein; The Canyon Flyer that the people such as Smith proposed in 2000; The Aerobots that Barrett proposed the same year; The FV concept that the people such as Landies propose in the conference of NASA space science; And Levine is at the ARES of proposition in 2003.
Through long-term research, research team finds that the floating empty probe designs of all relevant Mars had common shortcoming in the past, is exactly the short and not reproducible use of floating empty detection time.Particularly, illustrate with ARES, this task scheduling obtains only 2.5-48 hour data with the high cost of multi-million dollar, and risk is high, and cost performance is low.
Summary of the invention
The technical problem to be solved in the present invention is: the invention provides a kind of method for designing at the reusable floating empty detector system of martian surface.The present invention is directed to the martian surface rarefied atmosphere, the design theory that the floating empty detector of one cover martian surface combines with mechanical arm has been proposed, it is a kind of very floating empty probe designs of persistent erection state characteristic that has, it can be to Mars, perhaps other class ground celestial body, in same place or the different location repeatedly carry out floating empty detection mission.The present invention has reusable characteristics, remedied at present in the world all for the floating empty detector of Mars common shortcoming---the detection mission time is short, number of times is low, risk is high.Realized martian surface in task the repeated detection of period.
To achieve these goals, technical scheme of the present invention is the method for designing of the reusable floating empty detector system of a kind of martian surface of design, may further comprise the steps:
Step 1: the meteorological baseline when taking off according to the floating empty detector of disclosed martian surface meteorologic model setting comprises the martian surface atmospheric temperature T when taking off, atmospheric pressure P, atmospheric density ρ, wind field information W;
Step 2: utilize the martian surface meteorologic model that obtains in the step 1 and the meteorological baseline of setting up thereof, and disclosed Mars barodynamics parameter is based upon the floating empty detector aerodynamic model when taking off;
Step 3: the size of selecting the floating empty detector of material and design of floating empty detector, select the length of the material and design hawser of hawser, the floating empty detector aerodynamic model of setting up according to step 2 again, the angle of attack and determine lift by the wind speed of wind field information W and the angle of attack that takes off of taking off when being determined to survey by the wind direction of wind field information W;
Step 4: in the calculation procedure three quality of related lift and floating empty detector and hawser and magnitude difference, the linear velocity V of design mechanical arm nose motion is to provide auxiliary lifting to be used for replenishing difference;
Step 5: analyze mechanical arm brachium and angular velocity of rotation according to mechanical arm front end of line speed V;
Step 6: analyze mechanical arm according to the front, floating empty detector and hawser combined action result, the floating empty detector system design of verification, if adding the linear velocity V of mechanical arm nose motion, floating empty detector and hawser lift provide the auxiliary lifting summation then to show mechanical arm more than or equal to the gravity of floating empty detector and hawser, floating empty detector and hawser design are feasible, if floating empty detector and hawser lift add provide the auxiliary lifting summation then to show floating empty detector and hawser selection less than the gravity of floating empty detector and hawser by the linear velocity V of mechanical arm nose motion there are errors in computation, need to return the step 3 redesign.
Advantage of the present invention and beneficial effect are:
(1) thus draw the auxiliary lifting generator of the reusable aerostatics that is applicable to the martian surface low atmospheric density by above-mentioned computation process---the clear and definite brachium of mechanical arm with and terminal linear velocity determine its leading portion angular velocity, so that it can possess when the martian atmosphere deficiency thinks that aerostatics provides enough lift, provide the ability of extra lift for aerostatics.
(2) according to the variation of mechanical arm speed, can in the operation interval of mechanical arm, adjust flexibly the load weight of floating empty detector.
(3) because the reusability of floating empty detector, in a certain zone, can realize in theory the exploration of unlimited number of times to same Mars objective, can realize that to the different periods of the same area the different three-dimensional meteorological data of letting height according to floating empty detector fly away collects.
Description of drawings
Fig. 1 the present invention lets view fly away;
Fig. 2 is process flow diagram of the present invention.
Wherein, the floating empty detector of A-; The B-mechanical arm; The empty detector base of C-mobile floating; The D-hawser.
Embodiment
Below in conjunction with drawings and Examples the specific embodiment of the present invention is further described, following examples only are used for technical scheme of the present invention more clearly is described, and can not limit protection scope of the present invention with this.
The technical scheme of implementation of the present invention is: the reusable floating empty detector system of a kind of martian surface, empty detector base C forms by floating empty detector A, mechanical arm B, hawser D and mobile floating.Wherein floating empty detector A can be that any martian surface is maked an inspection tour the device formation, and only being required to be mechanical arm B provides dynamo-electric hot interface to get final product.Link by hawser D between mechanical arm B and the floating empty detector A, when floating empty detector A is in dormant state, floating empty detector A draws on mechanical arm B, when reaching suitable wind speed, discharge floating empty detector A, mechanical arm B provides extra lift by high speed swinging and to the floating empty detector A of being controlled to be of hawser D this moment, realizes floating empty detector A taking off under low atmospheric density, after floating empty detector A is stable, implement scientific exploration.When floating empty detector A reclaims, draw hawser D in by mechanical arm B and finish recovery.
Wherein, above-mentioned floating empty detector system design process concrete steps are as follows:
Step 1: the meteorological baseline when taking off according to the floating empty detector A of disclosed martian surface meteorologic model setting comprises the martian surface atmospheric temperature T(h when taking off), atmospheric pressure P(h), atmospheric density ρ (T), wind field information W(h).
The martian atmosphere model has much at present, and such as MGCM, the Mars-GRAM2000 that the present invention uses NASA and European Space Agency to share is design basis data.The temperature of atmosphere and air pressure are all relatively low on the Mars, and wherein atmospheric temperature is metastable state in the middle level, in the linear downtrending of low layer.This model is take 6998.208m as an important stage:
T＝-31.0-0.000998h(℃)① P＝0.699e-0.00009h(kPα)②
Wherein, h is that aerostatics takes off highly, and T is the height temperature that takes off, and P is the height pressure that takes off, and ρ is the density of the At The Height that takes off of place celestial body, and h0 is with reference to roughness of ground surface, W(h) is the wind speed of h eminence;
By to the as above openly calculating of formula, can draw the martian surface atmospheric temperature T(h that comprises when taking off), atmospheric pressure P(h), atmospheric density ρ (T), wind field information W(h) etc. information.
Step 2: utilize the martian surface meteorologic model that obtains in the step 1 and the meteorological baseline of setting up thereof, and disclosed Mars barodynamics, the meteorology parameter is based upon the floating empty detector aerodynamic model when taking off;
In fact, design and the design of ground flying device of the floating empty detector A of martian surface are very approaching in the primary design time, only at the beginning of the present invention is designing, just must consider to use lighter material, adapt to the lower atmosphere lift coefficient of martian surface.
Wherein, U
RefBe reference wind speed, h
RefBe reference altitude, Clog is the wind speed coefficient, and V is aircraft speed, and S is the aircraft projected area.
According to the measurement of Mars global observation person to Mars, the mean gravity acceleration on Mars sea level is about 3.69m ∕ s
2, and the corresponding mean gravity acceleration on earth sea level is 9.81m ∕ s
2, the earth surface atmospheric density is about 1.20kg ∕ m
3, that is:
g
Mars＝3.69m/s
2⑦ g
Earth＝9.81m/s
2⑧ ρ
Earth＝1.20kg/m
3⑨
Can set up the floating empty detector aerodynamic model of corresponding martian surface according to above-mentioned information and corresponding Aerodynamics.
Step 3: the size of selecting the floating empty detector of material and design of floating empty detector, select the length of the material and design hawser of hawser, the floating empty detector aerodynamic model of setting up according to step 2 again, the angle of attack and determine lift by the wind speed of wind field information W and the angle of attack that takes off of taking off when being determined to survey by the wind direction of wind field information W;
After setting up floating empty detector aerodynamic model, can be according to the wing area of the floating empty detector A of different wing characteristics design martian surfaces, chord length.By selecting suitable material, can estimate the quality of corresponding floating empty detector A.On the basis of the meteorological baseline that step 1 calculates, by the wind direction of wind field information W determine the to take off angle of attack and determine lift by the wind speed of wind field information W and the angle of attack that takes off;
Because floating empty detector A is connected with mechanical arm B by hawser D, therefore be necessary with hawser D quality and floating empty detector A quality and calculate together and guarantee accurate.Hawser D generally need to select the high strength hawser of lightweight.
Step 4: in the calculation procedure three quality of related lift and floating empty detector and hawser and magnitude difference, the linear velocity V of design mechanical arm nose motion is to provide auxiliary lifting to be used for replenishing difference;
Because the lower atmospheric density of martian surface therefore according to the buoyancy of floating empty detector A generation, can't realize floating empty detection of himself substantially.Except in the situation of Mars sandstorm, wind speed is generally greater than 100m/s this moment, and the comparison by lift and himself weight can draw corresponding difference.The extra lift value that namely needs mechanical arm B to provide.And then can instead release the linear velocity V of mechanical arm B front end.
Step 5: analyze mechanical arm B brachium and angular velocity of rotation according to mechanical arm B front end of line speed V;
According to mechanical arm B front end of line speed V, by basic geometrical principle as can be known, the angular velocity of rotation of mechanical arm B brachium and mechanical arm B.
Step 6: analyze mechanical arm according to the front, floating empty detector and hawser combined action result, the floating empty detector system design of verification, if adding the linear velocity V of mechanical arm nose motion, floating empty detector and hawser lift provide the auxiliary lifting summation then to show mechanical arm more than or equal to the gravity of floating empty detector and hawser, floating empty detector and hawser design are feasible, if floating empty detector and hawser lift add provide the auxiliary lifting summation then to show floating empty detector and hawser selection less than the gravity of floating empty detector and hawser by the linear velocity V of mechanical arm nose motion there are errors in computation, need to return the step 3 redesign.
In whole design, areographic wind speed and direction was determined when the situation of waving of mechanical arm B was the concrete detection of basis.
The respective material of rope refers to that density is less than 0.5g/cm
3, pulling strengrth is more than or equal to 3Gpa, such as CNTs fibers material.
The respective material of floating empty detector refers to that density is less than 1.2g/cm
3, pulling strengrth is more than or equal to 3.2Gpa, such as the iSAS-TPI material.Because martian atmosphere is thin, when the martian atmosphere deficiency thinks that aerostatics provides enough lift, help to provide extra lift for reusable aerostatics by mechanical arm.
The above only is preferential embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (3)
1. the method for designing of the reusable floating empty detector system of martian surface is characterized in that: described floating empty detector system is comprised of the empty detector base of floating empty detector, hawser, mechanical arm and mobile floating, and described method for designing may further comprise the steps:
Step 1: the meteorological baseline when taking off according to the floating empty detector of disclosed martian surface meteorologic model setting comprises the martian surface atmospheric temperature T when taking off, atmospheric pressure P, atmospheric density ρ, wind field information W;
Step 2: utilize the martian surface meteorologic model that obtains in the step 1 and the meteorological baseline of setting up thereof, and disclosed Mars barodynamics parameter is based upon the floating empty detector aerodynamic model when taking off;
Step 3: the size of selecting the floating empty detector of material and design of floating empty detector, select the length of the material and design hawser of hawser, the floating empty detector aerodynamic model of setting up according to step 2 again, the angle of attack and determine lift by the wind speed of wind field information W and the angle of attack that takes off of taking off when being determined to survey by the wind direction of wind field information W;
Step 4: in the calculation procedure three quality of related lift and floating empty detector and hawser and magnitude difference, the linear velocity V of design mechanical arm nose motion is to provide auxiliary lifting to be used for replenishing difference;
Step 5: analyze mechanical arm brachium and angular velocity of rotation according to mechanical arm front end of line speed V;
Step 6: analyze mechanical arm according to the front, floating empty detector and hawser combined action result, the floating empty detector system design of verification, if adding the linear velocity V of mechanical arm nose motion, floating empty detector and hawser lift provide the auxiliary lifting summation then to show mechanical arm more than or equal to the gravity of floating empty detector and hawser, floating empty detector and hawser design are feasible, if floating empty detector and hawser lift add provide the auxiliary lifting summation then to show floating empty detector and hawser selection less than the gravity of floating empty detector and hawser by the linear velocity V of mechanical arm nose motion there are errors in computation, need to return the step 3 redesign.
2. the method for designing of the reusable floating empty detector system of a kind of martian surface according to claim 1 is characterized in that: floating empty detector is less than 1.2g/cm by density
3, pulling strengrth is made more than or equal to the material of 3.2Gpa.
3. the method for designing of the reusable floating empty detector system of a kind of martian surface according to claim 1 and 2, it is characterized in that: rope is less than 0.5g/cm by density
3, pulling strengrth is made more than or equal to the material of 3Gpa.
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Citations (2)
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| WO2005033616A1 (en) * | 2003-10-02 | 2005-04-14 | Rheinmetall Waffe Munition Gmbh | Method and device for protecting ships against end-stage guided missiles |
| CN101526516A (en) * | 2009-04-10 | 2009-09-09 | 中国科学院测量与地球物理研究所 | Method for continously observing and determining the vertical distribution of atmospheric water vapor by using superconductive gravity |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005033616A1 (en) * | 2003-10-02 | 2005-04-14 | Rheinmetall Waffe Munition Gmbh | Method and device for protecting ships against end-stage guided missiles |
| CN101526516A (en) * | 2009-04-10 | 2009-09-09 | 中国科学院测量与地球物理研究所 | Method for continously observing and determining the vertical distribution of atmospheric water vapor by using superconductive gravity |
Non-Patent Citations (1)
| Title |
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| 王伟等: "火星浮空气球探测方案研究", 《中国宇航学会浮空探测技术专业委员会第七届学术年会论文集》 * |
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