CN102998717B - 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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- CN102998717B CN102998717B CN201210489138.3A CN201210489138A CN102998717B CN 102998717 B CN102998717 B CN 102998717B CN 201210489138 A CN201210489138 A CN 201210489138A CN 102998717 B CN102998717 B CN 102998717B
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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 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 detector system of a kind of martian surface.
Background technology
The detection of Mars floating is the focus of current countries in the world mars exploration, and main cause is that the detection of current Mars meteorological data only has two kinds of approach: 1) obtained by orbiter, orbital vehicle; 2) obtained by device of cruising.Above two kinds of modes, cannot realize the object of lower atmosphere layer in Mars being carried out to detection in detail substantially, and this space, according to meteorology experience, the distribution space of most valuable element just.And several kilometers of height are arrived about energy meter number meter greatly in the region that floating detector detects, just in time compensate for above deficiency.
Corresponding floating probe designs emerges in an endless stream in 20 years in the past.The wherein comparatively famous RPVME having Anon to propose in 1978; 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 the ARES that Levine proposed in 2003.
Through long-term research, research team finds that the floating probe designs of in the past all relevant Mars has common shortcoming, is exactly the short and not reproducible use of floating detection time.Particularly, illustrate with ARES, this task scheduling obtains the data of only 2.5-48 hour with the expensive 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 detector system of martian surface.The present invention is directed to martian surface rarefied atmosphere, propose the design theory that a set of martian surface floating detector combines with mechanical arm, it is a kind of floating probe designs with very strong distinct Chinese characteristics, it can to Mars, or other class ground celestial body, in same place or different location multiple exercise floating detection mission.The present invention has reusable feature, compensate at present that all common drawback for Mars floating detector---the detection mission time is short, number of times is low, risk is high in the world.Achieve the repeated detection of martian surface in the task period.
To achieve these goals, technical scheme of the present invention is the method for designing of the reusable floating detector system of a kind of martian surface of design, comprises the following steps:
Step one: meteorological baseline when taking off according to disclosed martian surface meteorologic model setting floating detector, comprises 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 obtained in step one and the meteorological baseline set up thereof, and disclosed Mars barodynamics parameter is based upon floating detector aerodynamic model when taking off;
Step 3: the size selecting the material and design floating detector of floating detector, select the length of the material and design hawser of hawser, again according to the floating detector aerodynamic model that step 2 is set up, by the wind direction of wind field information W determine when detecting take off the angle of attack and by wind field information W wind speed and to take off angle of attack determination lift;
Step 4: the quality of lift involved in calculation procedure three and floating detector and hawser and magnitude difference, the linear velocity V designing mechanical arm nose motion is used for supplementary difference to provide auxiliary lifting;
Step 5: according to mechanical arm front end of line speed V analytical engine mechanical arm brachium and angular velocity of rotation;
Step 6: according to analytical engine mechanical arm above, floating detector and hawser combined action result, the design of verification floating detector system, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be more than or equal to the gravity of floating detector and hawser, show mechanical arm, floating detector and hawser design feasible, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be less than the gravity of floating detector and hawser, there are errors in computation to show floating detector and hawser selection, need to return step 3 to redesign.
Advantage of the present invention and beneficial effect are:
(1) the auxiliary lifting generator of the reusable aerostatics being applicable to martian surface low atmospheric density is drawn by above-mentioned computation process---the clear and definite brachium of mechanical arm and its end linear velocity thus determine its leading portion angular velocity, can possess when martian atmosphere deficiency thinks that aerostatics provides enough lift, for aerostatics provides the ability of extra lift to make it.
(2) according to the change of mechanical arm speed, can adjust flexibly in the operation interval of mechanical arm the load weight of floating detector.
(3) due to the reusability of floating detector, can realize the exploration of unlimited number of times in a certain region in theory to same Mars objective, the different three-dimensional meteorological data that can realize letting fly away according to floating detector height to the Different periods of the same area is collected.
Accompanying drawing explanation
Fig. 1 the present invention lets view fly away;
Fig. 2 is process flow diagram of the present invention.
Wherein, A-floating detector; B-mechanical arm; The removable floating detector base of C-; D-hawser.
Embodiment
Be further described the specific embodiment of the present invention below in conjunction with drawings and Examples, following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
The technical scheme that the present invention specifically implements is: the reusable floating detector system of a kind of martian surface, is made up of floating detector A, mechanical arm B, hawser D and removable floating detector base C.Wherein floating detector A can be that any martian surface rover is formed, and is only required to be mechanical arm B and provides dynamo-electric hot interface.Linked by hawser D between mechanical arm B and floating detector A, when floating detector A is in dormant state, floating detector A draws on mechanical arm B, when reaching suitable wind speed, release floating detector A, mechanical arm B provides extra lift by high speed swinging and to the control of hawser D for floating detector A this moment, realizes floating detector A taking off under low atmospheric density, after floating detector A is stable, implement scientific exploration.When floating detector A reclaims, draw hawser D in by mechanical arm B and complete recovery.
Wherein, above-mentioned floating detector system design process concrete steps are as follows:
Step one: meteorological baseline when taking off according to disclosed martian surface meteorologic model setting floating detector A, comprises martian surface atmospheric temperature T(h when taking off), atmospheric pressure P(h), atmospheric density ρ (T), wind field information W(h).
Current martian atmosphere model has a lot, such as MGCM, and the Mars-GRAM2000 that the present invention uses NASA and European Space Agency to share is design basis data.On Mars the temperature of air and air pressure all relatively low, wherein atmospheric temperature is metastable state in middle level, in the linear downtrending of low layer.This model is an important stage with 6998.208m:
T＝-31.0-0.000998h(℃)① P＝0.699e-0.00009h(kPα)②
Wherein, h is that aerostatics takes off height, and T is the height temperature that takes off, and P is the high stress that takes off, and ρ is the density of the At The Height that takes off of place celestial body, and h0 be reference roughness of ground surface, W(h) be the wind speed of h eminence;
By the calculating to as above openly formula, the martian surface atmospheric temperature T(h comprised when taking off can be drawn), atmospheric pressure P(h), atmospheric density ρ (T), wind field information W(h) etc. information.
Step 2: utilize the martian surface meteorologic model obtained in step one and the meteorological baseline set up thereof, and disclosed Mars barodynamics, meteorology parameter is based upon floating detector aerodynamic model when taking off;
In fact, the design of martian surface floating detector A and ground flying device design the primary design time closely, only the present invention design at the beginning of, just must consider to use lighter material, adapt to the air lift coefficient that martian surface is lower.
Wherein, U
reffor reference wind speed, h
reffor reference altitude, Clog is wind speed coefficient, and V is aircraft speed, and S is 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, 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
Corresponding martian surface floating detector aerodynamic model can be set up according to above-mentioned information and corresponding Aerodynamics.
Step 3: the size selecting the material and design floating detector of floating detector, select the length of the material and design hawser of hawser, again according to the floating detector aerodynamic model that step 2 is set up, by the wind direction of wind field information W determine when detecting take off the angle of attack and by wind field information W wind speed and to take off angle of attack determination lift;
After setting up floating detector aerodynamic model, can according to the wing area of different wing feature design martian surface floating detector A, chord length.By selecting suitable material, the quality of corresponding floating detector A can be estimated.On the basis of the meteorological baseline calculated in step one, to be determined to take off the angle of attack by the wind speed of wind field information W and the angle of attack determination lift that takes off by the wind direction of wind field information W; .
Because floating detector A is connected with mechanical arm B by hawser D, be therefore necessary by hawser D quality and floating detector A quality with together with calculate and ensure accurately.Hawser D generally needs the high strength hawser selecting lightweight.
Step 4: the quality of lift involved in calculation procedure three and floating detector and hawser and magnitude difference, the linear velocity V designing mechanical arm nose motion is used for supplementary difference to provide auxiliary lifting;
Due to the atmospheric density that martian surface is lower, therefore according to the buoyancy that floating detector A produces, the floating detection of himself substantially cannot be realized.Except when Mars sandstorm, wind speed is generally greater than 100m/s this moment, by comparing of lift and himself weight, can draw corresponding difference.The extra lift value namely needing mechanical arm B to provide.And then can the linear velocity V of anti-kickoff mechanism mechanical arm B front end.
Step 5: according to mechanical arm B front end of line speed V analytical engine mechanical arm B brachium and angular velocity of rotation;
According to mechanical arm B front end of line speed V, known by basic geometrical principle, the angular velocity of rotation of mechanical arm B brachium and mechanical arm B.
Step 6: according to analytical engine mechanical arm above, floating detector and hawser combined action result, the design of verification floating detector system, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be more than or equal to the gravity of floating detector and hawser, show mechanical arm, floating detector and hawser design feasible, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be less than the gravity of floating detector and hawser, there are errors in computation to show floating detector and hawser selection, need to return step 3 to redesign.
In whole design, the situation of waving of mechanical arm B determines according to areographic wind speed and direction during concrete detection.
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 detector refers to that density is less than 1.2g/cm
3, pulling strengrth is more than or equal to 3.2Gpa, such as iSAS-TPI material.Because martian atmosphere is thin, when martian atmosphere deficiency thinks that aerostatics provides enough lift, help to provide extra lift for reusable aerostatics by mechanical arm.
The above is only preferred embodiments of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing 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. a method for designing for the reusable floating detector system of martian surface, is characterized in that: described floating detector system is made up of floating detector, hawser, mechanical arm and removable floating detector base, and described method for designing comprises the following steps:
Step one: meteorological baseline when taking off according to disclosed martian surface meteorologic model setting floating detector, comprises martian surface atmospheric temperature T when taking off, atmospheric pressure P, atmospheric density ρ, wind field information W;
Step 2: the meteorological baseline utilizing the meteorologic model of martian surface disclosed in step one and set up, and disclosed Mars barodynamics parameter is based upon floating detector aerodynamic model when taking off;
Step 3: the size selecting the material and design floating detector of floating detector, select the length of the material and design hawser of hawser, again according to the floating detector aerodynamic model that step 2 is set up, by the wind direction of wind field information W determine when detecting take off the angle of attack and by wind field information W wind speed and to take off angle of attack determination lift;
Step 4: the quality of lift involved in calculation procedure three and floating detector and hawser and magnitude difference, the linear velocity V designing mechanical arm nose motion is used for supplementary difference to provide auxiliary lifting;
Step 5: according to mechanical arm front end of line speed V analytical engine mechanical arm brachium and angular velocity of rotation;
Step 6: according to analytical engine mechanical arm above, floating detector and hawser combined action result, the design of verification floating detector system, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be more than or equal to the gravity of floating detector and hawser, show mechanical arm, floating detector and hawser design feasible, if floating detector and hawser lift add that the linear velocity V of mechanical arm nose motion provides auxiliary lifting summation to be less than the gravity of floating detector and hawser, there are errors in computation to show floating detector and hawser selection, need to return step 3 to redesign.
2. the method for designing of the reusable floating detector system of a kind of martian surface according to claim 1, is characterized in that: floating detector is less than 1.2g/cm by density
3, the material that pulling strengrth is more than or equal to 3.2Gpa is made.
3. the method for designing of the reusable floating detector system of a kind of martian surface according to claim 1 and 2, is characterized in that: hawser is less than 0.5g/cm by density
3, the material that pulling strengrth is more than or equal to 3Gpa is made.
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| 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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| 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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| 火星浮空气球探测方案研究;王伟等;《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》;20101231;24-27 * |
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