CN108760365A - Detector stress analogy method in a kind of soft landing experiment - Google Patents
Detector stress analogy method in a kind of soft landing experiment Download PDFInfo
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- CN108760365A CN108760365A CN201810489330.XA CN201810489330A CN108760365A CN 108760365 A CN108760365 A CN 108760365A CN 201810489330 A CN201810489330 A CN 201810489330A CN 108760365 A CN108760365 A CN 108760365A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention provides detector stress analogy method in a kind of soft landing experiment, passes through in detector soft landing experiment detector motor power T under different stressesxDownward, the upward analog acceleration a ' with detectorUnder、a′OnIt determines while meeting the simulation of detector stress and require, the lifting rope pulling force and detector of i.e. 4 inequality are participated in the experiment quality, then lifting rope pulling force is utilized to assist, so that detector stress is consistent with true soft landing process by motor power adjusting control, to which the size and Orientation of accurate analog prober suffered resultant force in the vertical direction can continually changing soft landing process so that the present invention can be applied to the ground soft landing verification test of other planetary surfaces such as lunar orbiter, Mars probes.
Description
Technical field
The invention belongs to detector stress simulation sides in deep-space detection field more particularly to a kind of soft landing experiment
Method.
Background technology
With the expansion of deep-space detection field, the landing detection for carrying out the celestial bodies surfaces such as the moon, Mars, asteroid is detection
The inevitable course of technology development, deep space probe need to have the ability of self-contained guidance navigation and control, this is that detector completion is soft
The core design element of landing task.Since soft landing aerial mission is important, control is complicated, process is irreversible, reliability requirement
Height needs the verification test for carrying out ground in detector development process.Gravity and atmospheric environment and other celestial bodies under surface condition
Surface is different, and only relying on the thrust of detector itself engine can not fly, and it is even more impossible to verify the guidance of detector navigation and control
System, but as long as making to be capable of as long as the stress of detector is identical with true soft landing regime the winged of analog prober in ground experiment
The kinematic parameters such as scanning frequency degree, height, to reappear the soft landing process on detector objects outside Earth surface, stress simulation is ground
Interview the design core tested.
Lifting rope is used to provide a constant pulling force for detector, it is to realize detector force simulation to balance its part gravity
Common approach.But this method is mainly used for the static strength simulation that vertical direction acceleration is zero, is in soft landing experiment
Access control ability needs detector engine ignition to work, and need to adjust the size of thrust in real time by true control law, with
Ensure that detector flight parameter is consistent with live flying state.Detector does complicated varying accelerated motion in the process, vertical
The size and Orientation of resultant force suffered by direction constantly changes；With the consumption of propellant, gravity suffered by detector also constantly changes；This
Also by uncertain interference effects such as windage, wind load, pulling force control deviations in external detector motion process.Therefore, conventional
Permanent tension balanced method is not directly applicable detector soft landing verification test.
Invention content
To solve the above problems, detector stress analogy method in a kind of soft landing experiment of present invention offer, it can
The size and Orientation of accurate analog prober suffered resultant force in the vertical direction can continually changing soft landing process.
Detector stress analogy method in a kind of soft landing experiment, includes the following steps：
Step 1：It uses lifting rope to provide pulling force for detector, and obtains in detector soft landing experiment under different stresses
Detector motor power TxThe analog acceleration a' downward with detectorUnder, upward analog acceleration a 'On；
Wherein, the detector motor power Tx, such as lower inequality is met in the case where detector is in force balance state：
Tx=mg-F-f >=Tmin (1)
Tx=mg-F-f≤Tmax (2)
Wherein, F is lifting rope pulling force, and f is the perturbed force that detector is subject in soft landing experiment, TminIn being tested for soft landing
The minimum thrust output of detector engine, TmaxThe maximum output thrust of detector engine in being tested for soft landing, m are to visit
It surveys device to participate in the experiment quality, g is terrestrial gravitation acceleration；
The downward analog acceleration a' of the detectorUnder, upward analog acceleration a'On, non-stress is in detector
Meet such as lower inequality under equilibrium state respectively：
a'Under=(mg-F-Tmin-f)/m≥aUnder (3)
a'On=(F+Tmax+f-mg)/m≥aOn (4)
Wherein, aOn、aUnderRespectively detector peak acceleration upward during practical soft landing, it is downward most greatly
Speed；
Step 2：Joint solves inequality (1)~(4), and acquisition detector is participated in the experiment, and quality m is corresponding with lifting rope pulling force F to close
System, the quality m and corresponding with the detector quality m that the participates in the experiment so that it is determined that detector for meeting inequality (1)~(4) simultaneously is participated in the experiment
The sections lifting rope pulling force F, and then realize the stress simulation of detector in soft landing experiment.
Further, the engine minimum thrust output TminWith maximum output thrust TmaxAcquisition methods be specially：
The detector engine is subjected to heat run test in ground environment, detector in atmospheric environment is obtained and starts
The minimum thrust output T of machineminWith maximum output thrust Tmax。
Further, the detector participates in the experiment quality m by detector dry mass m0With repropellenting quality Δ m two parts
Composition, then obtain detector participate in the experiment quality m and lifting rope pulling force F correspondence after, detector is participated in the experiment quality m and lifting rope pulling force
The correspondence of F is converted to the correspondence of repropellenting quality Δ m and lifting rope pulling force F, then determines while meeting inequality
(1) section repropellenting quality Δ m and lifting rope pulling force F corresponding with repropellenting quality Δ m of~(4), Jin Ershi
The stress simulation of detector in existing soft landing experiment.
Advantageous effect：
Detector stress analogy method in a kind of soft landing experiment of present invention offer, by detector in experiment not
With motor power T under stressxDownward, the upward analog acceleration a' of detector in being tested with soft landingUnder、a'On, determine
Meet the simulation of detector stress simultaneously to require, i.e., the lifting rope pulling force and detector of 4 inequality are participated in the experiment quality, are then utilized
Lifting rope pulling force assists, and so that detector stress is consistent with true soft landing process by motor power adjusting control, from
And the size and Orientation of accurate analog prober suffered resultant force in the vertical direction can continually changing soft landing process so that
Invention can be applied to the ground soft landing verification test of other planetary surfaces such as lunar orbiter, Mars probes.
Description of the drawings
Fig. 1 is force analysis schematic diagram of the detector provided by the invention under force balance state；
Fig. 2 is the correspondence schematic diagram of detector repropellenting quality provided by the invention and lifting rope pulling force；
Fig. 3 is that detector provided by the invention is tied along the practical flight curve of short transverse with emulation in soft landing experiment
Fruit contrast schematic diagram.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described.
Embodiment one
The present embodiment is real by analyzing detector quality, soft landing flight course acceleration range, engines ground environment
The parameters such as perturbed force, determine the requirement of lifting rope pulling force, are assisted through lifting rope pulling force in border thrust output range, seeker ground experiment
Make the stress of detector consistent with true soft landing process afterwards, you can contentedly in thin-skinned landing experiment detector movement
Simulation.Detector stress analogy method in a kind of soft landing experiment, includes the following steps：
Step 1：It uses lifting rope to provide pulling force for detector, and obtains in detector soft landing experiment under different stresses
Detector motor power TxThe analog acceleration a' downward with detectorUnder, upward analog acceleration a'On。
It should be noted that different stresses include detector force balance state, add in detector soft landing experiment
The upward non-stress equilibrium state of the downward non-stress equilibrium state of directional velocity and acceleration direction.Wherein in stress balance
When, detector keeps hovering or linear uniform motion state.Referring to Fig. 1, which is detector provided in this embodiment in stress
Force analysis schematic diagram under equilibrium state.Wherein, the detector motor power TxMeet such as lower inequality：
Tx=mg-F-f >=Tmin (1)
Tx=mg-F-f≤Tmax (2)
Wherein, F is lifting rope pulling force, and f is the perturbed force that detector is subject in soft landing experiment, TminIn being tested for soft landing
The minimum thrust output of detector engine, TmaxThe maximum output thrust of detector engine in being tested for soft landing, m are to visit
It surveys device to participate in the experiment quality, g is terrestrial gravitation acceleration.
It is subject in the process it should be noted that the perturbed force that detector is subject in soft landing experiment includes detector motion
Windage, wind load, pulling force control deviation etc..
It should be noted that since there are air back pressures, the thrust output of detector engine to exist in ground environment
Certain decaying causes reality output thrust range in experiment to be less than live flying process.That is, ground soft landing is tested
The true thrust output of middle detector engine is between TminAnd TmaxBetween the two.
Optionally, the minimum thrust output TminWith maximum output thrust TmaxAcquisition methods be specially：
The detector engine is subjected to heat run test in ground environment, detector in atmospheric environment is obtained and starts
The minimum thrust output T of machineminWith maximum output thrust Tmax。
The downward analog acceleration a' of the detectorUnder, upward analog acceleration a'On, non-stress is in detector
Meet such as lower inequality under equilibrium state respectively：
a'Under=(mg-F-Tmin-f)/m≥aUnder (3)
a'On=(F+Tmax+f-mg)/m≥aOn (4)
Wherein, aOn、aOnRespectively detector peak acceleration upward during practical soft landing, it is downward most greatly
Speed；That is, during the live flying and ground soft landing during practical soft landing are tested, the conjunction suffered by detector adds
Speed is all in aOn、aOnIn the range of two values limit.
Step 2：Joint solves inequality (1)~(4), and acquisition detector is participated in the experiment, and quality m is corresponding with lifting rope pulling force F to close
System, the quality m and corresponding with the detector quality m that the participates in the experiment so that it is determined that detector for meeting inequality (1)~(4) simultaneously is participated in the experiment
The sections lifting rope pulling force F, and then realize the stress simulation of detector in soft landing experiment.
It should be noted that due in design phase detector dry mass m0It has been determined that then mainly leading in experimental stage
It crosses change repropellenting quality Δ m and participates in the experiment quality m to change detector, therefore, determine to meet for the ease of testing crew and visit
It surveys lifting rope pulling force that the simulation of device stress requires and detector is participated in the experiment quality, quality m that detector can be participated in the experiment is drawn with lifting rope
The correspondence of power F is converted to the correspondence of repropellenting quality Δ m and lifting rope pulling force F.
Specifically, the detector participates in the experiment quality m by detector dry mass m0With repropellenting quality Δ m two parts groups
At, then obtain detector participate in the experiment quality m and lifting rope pulling force F correspondence after, detector is participated in the experiment quality m and lifting rope pulling force F
Correspondence be converted to the correspondence of repropellenting quality Δ m and lifting rope pulling force F, then determine while meeting inequality
(1) section repropellenting quality Δ m and lifting rope pulling force F corresponding with repropellenting quality Δ m of~(4), Jin Ershi
The stress simulation of detector in existing soft landing experiment.
Embodiment two
Based on above example, below by taking No. three lunar surface soft landing verification tests of the goddess in the moon as an example, it is discussed in detail the present invention's
Detector stress analogy method in soft landing experiment.
By lunar surface soft landing dynamics Design, upward, downward acceleration of motion is respectively during detector soft landing
aOn=1.1m/s2、aUnder=0.47m/s2。
It is tested according to ground environment engine thermal test run, determines engines ground state thrust output range Tmin=630N,
Tmax=2710N.
According to detector sectional area and movement velocity, calculate that the interference effects f such as the windage being subject in experiment are up to 25N,
Detector dry mass m0It is designed as 1180kg.
Inequality (1)~(4) are solved according to constraint formulations, the results are shown in Figure 2.Diagonal line hatches area in Fig. 2 is as same
When meet the solution regions of inequality (1)~(4), fill matter using the corresponding repropellenting quality Δ m in solution region, and into agent
The corresponding sections lifting rope pulling force F Δ m are measured, could realize the stress in lunar surface in ground simulation detector.
Specifically, as shown in Figure 2, detector maximum repropellenting quality Δ m is 163.5kg, corresponding lifting rope value of thrust
For 11671.3N, which can meet test requirements document, but chooses the value lifting rope pulling force and do not allow that there are control deviations, that is to say, that
Lifting rope pulling force must be 11671.3N, could succeed ground simulation detector lunar surface stress；However due to various
Resistance factor is not easy to that the lifting rope pulling force moment is made to be maintained at 11671.3N, then finds according to fig. 2, and propellant is less than the filling matter
Corresponding lifting rope pulling force is a range after measuring 163.5kg, and also allowing pulling force at this time, there are certain fluctuations；Consider items
It influences, repropellenting quality can be determined as to 100kg in experiment, lifting rope value of thrust is taken as 11000N and allows pulling force control
The fluctuation range of precision presence ± 200N processed, can consider other Random Excitations wherein, that is, detector is in testing
Just it is acted on by the integrated interference of ± 200N, the simulation of its final stress will not be influenced.
Referring to Fig. 3, which is detector provided in this embodiment in soft landing experiment along the practical flight of short transverse
Curve and simulation result contrast schematic diagram.From the figure 3, it may be seen that using the repropellenting quality and lifting rope of the determination of the present embodiment method
Behind pulling force section, detector can overcome system interference, flight curve to fit like a glove with simulation result in experiment, play experiment
Verifying purpose.
Certainly, the invention may also have other embodiments, without deviating from the spirit and substance of the present invention, ripe
Various corresponding change and deformations can be made according to the present invention certainly by knowing those skilled in the art, but these it is corresponding change and
Deformation should all belong to the protection domain of appended claims of the invention.
Claims (3)
1. detector stress analogy method in a kind of soft landing experiment, which is characterized in that include the following steps：
Step 1：It uses lifting rope to provide pulling force for detector, and obtains in detector soft landing experiment and detected under different stresses
Device motor power TxThe analog acceleration a' downward with detectorUnder, upward analog acceleration a 'On；
Wherein, the detector motor power Tx, such as lower inequality is met in the case where detector is in force balance state：
Tx=mg-F-f >=Tmin (1)
Tx=mg-F-f≤Tmax (2)
Wherein, F is lifting rope pulling force, and f is the perturbed force that detector is subject in soft landing experiment, TminIt is detected in being tested for soft landing
The minimum thrust output of device engine, TmaxThe maximum output thrust of detector engine in being tested for soft landing, m is detector
It participates in the experiment quality, g is terrestrial gravitation acceleration；
The downward analog acceleration a' of the detectorUnder, upward analog acceleration a'On, non-stress balance is in detector
Meet such as lower inequality under state respectively：
a'Under=(mg-F-Tmin-f)/m≥aUnder (3)
a'On=(F+Tmax+f-mg)/m≥aOn (4)
Wherein, aOn、aUnderRespectively detector peak acceleration upward during practical soft landing, downward maximum acceleration
Degree；
Step 2：Joint solves inequality (1)~(4), obtains detector and participates in the experiment the correspondence of quality m and lifting rope pulling force F, from
And it determines while meeting the detectors of inequality (1)~(4) and participate in the experiment and quality m and participate in the experiment the corresponding lifting ropes of quality m with detector
The sections pulling force F, and then realize the stress simulation of detector in soft landing experiment.
2. detector stress analogy method in a kind of soft landing experiment as described in claim 1, which is characterized in that described
Engine minimum thrust output TminWith maximum output thrust TmaxAcquisition methods be specially：
The detector engine is subjected to heat run test in ground environment, obtains detector engine in atmospheric environment
Minimum thrust output TminWith maximum output thrust Tmax。
3. detector stress analogy method in a kind of soft landing experiment as described in claim 1, which is characterized in that described
Detector participates in the experiment quality m by detector dry mass m0It is formed with repropellenting quality Δ m two parts, then obtains detector and participate in the experiment
After the correspondence of quality m and lifting rope pulling force F, the participate in the experiment correspondence of quality m and lifting rope pulling force F of detector is converted into propulsion
Agent fills the correspondence of quality Δ m and lifting rope pulling force F, then determines while meeting the repropellenting matter of inequality (1)~(4)
Δ m and the sections lifting rope pulling force F corresponding with repropellenting quality Δ m are measured, and then realizes detector in soft landing experiment
Stress is simulated.
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Cited By (1)
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| CN113104241A (en) * | 2021-02-24 | 2021-07-13 | 北京空间飞行器总体设计部 | Method and device for simulating initial flight state of detector landing test |
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