CN111591468A - System and method for optimizing performance of spacecraft deployment mechanism - Google Patents
System and method for optimizing performance of spacecraft deployment mechanism Download PDFInfo
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Abstract
A system and a method for optimizing the performance of a spacecraft deployment mechanism belong to the field of spacecraft deployment mechanism performance research. The invention solves the problem that the performance of the unfolding mechanism of the spacecraft is limited in the current stage. According to the invention, through comparing the cable additional torque under different cable lengths and the cable additional torque under different binding point position parameters, the cable length and the binding point position parameters corresponding to the optimal cable additional torque are selected; according to the design of the selected binding point position parameters and the cable length, the performance of the spacecraft unfolding mechanism can be optimized, and the performance of the spacecraft unfolding mechanism is effectively improved. The method can be applied to optimization of the performance of the spacecraft unfolding mechanism.
Description
Technical Field
The invention belongs to the field of spacecraft deployment mechanism performance research, and particularly relates to a system and a method for optimizing performance of a spacecraft deployment mechanism.
Background
The unfolding arm in the spacecraft unfolding mechanism is made of light materials, various cables are fixed on the unfolding arm, and the cables account for a large mass. When the unfolding task is performed, the unfolding mechanism is unlocked, unfolded and locked under the action of a coil spring at the hinge. When the unfolding arm is unlocked, unfolded and locked in a working state, the unfolding arm is not only influenced by self physical characteristics (such as moment of inertia), but also the physical characteristics of the unfolding arm are necessarily changed due to the existence of the cable, and the influence of the cable as a flexible body on the unfolding arm is quite complex. On one hand, when the cable is unfolded in place, the cable is bent to generate an additional resisting moment to prevent the mechanism from being unfolded, and when the cable is unfolded in place and locked, the moment formed by the unfolding inertia of the cable can be an additional driving moment to prevent locking; on the other hand, the mass occupied by the cable is large, and the dynamic characteristics of the unfolding arm structure, namely modal frequency, rigidity and damping, change along with different cable binding states, so that the dynamic response in the unfolding process is directly influenced.
Therefore, a method for analyzing the influence of the additional moment of the cable in the spacecraft deployment mechanism is necessary to improve the performance of the spacecraft deployment mechanism. However, at present, the influence of a cable binding state on the additional moment of the cable is not researched, so that the effect of improving the performance of the spacecraft deployment mechanism at the present stage is limited.
Disclosure of Invention
The invention aims to solve the problem that the performance improvement effect of a spacecraft deployment mechanism is limited at the present stage due to the lack of research aiming at the influence of a cable binding state on the additional moment of a cable. Therefore, in order to improve the performance of the spacecraft deployment mechanism, the invention provides a system and a method for optimizing the performance of the spacecraft deployment mechanism.
The technical scheme adopted by the invention for solving the technical problems is as follows:
according to one aspect of the invention: a system for optimizing performance of a spacecraft deployment mechanism, the system comprising a support platform, a cantilever bar, a support bar, an adjustable support, a deployment arm, a drive mechanism, a dynamic torque sensor, a first clamp, and a second clamp, wherein:
the supporting platform is in a horizontal direction, and a supporting rod is arranged below the supporting platform;
one end of the unfolding arm is fixedly connected with a hinge rotating shaft on the supporting platform, the driving mechanism is fixedly connected with the hinge rotating shaft on the supporting platform, and a dynamic torque sensor is arranged on the hinge rotating shaft;
the other end of the unfolding arm is sleeved with a second clamp holder, and the second clamp holder is used for fixing one end of a cable;
one end of the cantilever rod is sleeved on the support rod through an adjustable bracket; and a first clamp is fixedly arranged at the other end of the cantilever rod and used for fixing the other end of the cable.
According to another aspect of the invention: a method for optimizing the performance of a spacecraft deployment mechanism, said method comprising in particular the steps of:
step one, simulating an unloaded unfolding test of an unfolding mechanism; namely when the cable is not loaded between the first clamp and the second clamp, carrying out the unfolding test of the unfolding arm;
step two, after the cable position is fixed, recording binding point position parameters (theta, Z) of the first holder, binding point position parameters (L, beta) of the second holder and the length S of the cable, and carrying out a deployment test of the deployment arm under the driving action of the driving mechanism;
wherein: z represents the distance between the horizontal cantilever rod and the supporting platform, theta represents the anticlockwise rotation angle of the horizontal cantilever rod around the vertical supporting rod, L represents the distance from the second clamp holder to the rotation center of the unfolding arm, and beta represents the rotation angle of the second clamp holder around the central shaft of the unfolding arm;
step three, obtaining a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm through the unfolding tests in the step one and the step two;
step four, continuously changing the length S of the cable in the step two without changing the position parameters of the binding points of the first holder and the second holder, and repeating the test process in the step two; obtaining a change curve of the cable additional moment T along with the rotation angle of the unfolding arm in each unfolding test;
step five, determining the optimal cable length S corresponding to the cable additional moment T according to the change curve of the cable additional moment T along with the rotation angle of the unfolding arm obtained in the step three and the step four0；S0Adding S corresponding to the moment T for the optimal cable;
step six, continuously changing theta in the binding point position parameters in the step two, keeping the parameters Z, L, beta and S unchanged all the time, and repeating the test process in the step two to obtain a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm in each unfolding test;
step seven, determining the optimal theta corresponding to the additional moment T of the cable according to the change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm obtained in the step three and the step six0；θ0Theta corresponding to the optimal cable additional moment T;
step eight, similarly, when any one of Z, L and β is changed, the values of the other four parameters are always kept to be the same as the corresponding values in the step two, and the optimal Z corresponding to the cable additional moment T is determined through tests0、L0And β0；
Theta to be determined0、Z0、L0And β0As the optimal binding point position parameter of the unfolding arm, the determined cable length S0As the optimal cable length, the optimization of the performance of the spacecraft unfolding mechanism is realized.
The invention has the beneficial effects that: the invention provides a system and a method for optimizing the performance of a spacecraft unfolding mechanism, which can find out the binding point position parameter and the cable length corresponding to the optimal cable additional moment.
Drawings
FIG. 1 is a schematic view of a system for optimizing performance of a spacecraft deployment mechanism in accordance with the present invention;
in the figure, 1 denotes a support platform, 2 denotes a cantilever bar, 3 denotes a support bar, 4 denotes an adjustable support, 5 denotes a deployment arm, 6 denotes a drive mechanism, 7 denotes a first gripper, and 8 denotes a second gripper;
fig. 2 is a graph of the variation of the cable applied torque T with time T when S is 40cm, L is 15cm, Z is 5cm, β is 0 °, and θ is 0 °;
fig. 3 is a graph of T as a function of time T when S is 40cm, L is 15cm, Z is 5cm, β is 0 °, and θ is 30 °;
fig. 4 is a graph of T as a function of time T when S is 40cm, L is 15cm, Z is 5cm, β is 90 °, and θ is 30 °;
fig. 5 is a graph of T versus time T for S-40 cm, L-15 cm, Z-5 cm, β -180 °, θ -30 °;
fig. 6 is a graph of T versus time T for S40 cm, L15 cm, Z5 cm, β 270 °, θ 30 °;
fig. 7 is a graph of T as a function of time T when S is 40cm, L is 15cm, Z is 10cm, β is 0 °, and θ is 30 °;
fig. 8 is a graph of T as a function of time T when S is 40cm, L is 15cm, Z is 15cm, β is 0 °, and θ is 30 °;
fig. 9 is a graph of T versus time T for S-40 cm, L-20 cm, Z-5 cm, β -0 °, θ -30 °;
fig. 10 is a graph of T versus time T for S-40 cm, L-25 cm, Z-5 cm, β -0 °, θ -30 °;
fig. 11 is a graph of the maximum torque applied to the cable as a function of θ and β when S is 40cm, L is 20cm, and Z is 10 cm;
fig. 12 is a graph of the maximum torque applied to the cable as a function of L and Z for S40 cm, θ 60 °, β 90 °;
fig. 13 is a graph of the minimum cable add torque as a function of θ and β for S40 cm, L25 cm and Z15 cm;
fig. 14 is a graph of the minimum cable applied torque as a function of L and Z for S-40 cm, θ -30 °, and β -180 °.
Detailed Description
The first embodiment is as follows: this embodiment will be described with reference to fig. 1. The system for optimizing the performance of the spacecraft deployment mechanism according to the embodiment comprises a supporting platform 1, a cantilever rod 2, a supporting rod 3, an adjustable support 4, a deployment arm 5, a driving mechanism 6, a dynamic torque sensor, a first clamp 7 and a second clamp 8, wherein:
the supporting platform 1 is in a horizontal direction, and a supporting rod 3 is arranged below the supporting platform 1; the supporting rod 3 is connected with the ground or an experiment platform;
one end of the unfolding arm 5 is fixedly connected with a hinge rotating shaft on the supporting platform 1, the driving mechanism 6 is fixedly connected with the hinge rotating shaft on the supporting platform 1, the driving mechanism 6 is used for driving the hinge rotating shaft and the unfolding arm 5 to rotate, and a dynamic torque sensor is arranged on the hinge rotating shaft;
the hinge consists of a hinge rotating shaft and a hinge bearing, the hinge rotating shaft and the hinge bearing rotate relatively, and the hinge bearing is arranged on the supporting platform 1;
a second clamp 8 is sleeved at the other end of the unfolding arm 5, and the second clamp 8 can slide along the unfolding arm 5 and rotate around the unfolding arm 5; the second clamp 8 is used for fixing one end of the cable;
one end of the cantilever rod 2 is sleeved on the support rod 3 through an adjustable bracket 4, and the sliding of the cantilever rod 2 on the support rod 3 and the rotation of the cantilever rod 2 around the support rod 3 are realized through the adjustable bracket 4; a first clamp 7 is fixedly arranged at the other end of the cantilever rod 2, and the first clamp 7 is used for fixing the other end of the cable.
The horizontal cantilever rod is perpendicular to the vertical support rod, the horizontal cantilever rod and the vertical support rod are connected through an adjustable support, and one rotation degree of freedom and one sliding degree of freedom exist. The angle theta changes during rotation, and the Z changes during sliding.
The working principle of the embodiment is as follows:
the cable fixing device comprises a first clamp holder, a second clamp holder, a cantilever rod, a horizontal cantilever rod, a supporting platform, an adjustable support and a cable, wherein the first clamp holder is arranged on the cantilever rod, one end of the cable is fixed through the second clamp holder on the unfolding arm, the other end of the cable is fixed through the first clamp holder on the cantilever rod, after the position of the cable is fixed, binding point position parameters (theta, Z) of the first clamp holder, binding point position parameters (L, beta) of the second clamp holder and the length S of the cable are recorded, Z represents the distance between the horizontal cantilever rod and the supporting platform, the size of the horizontal cantilever rod. L is the distance from the second clamp to the rotation center of the unfolding arm, the size of L is changed by sliding the second clamp, beta is the rotation angle of the second clamp around the unfolding arm axis, and L and beta jointly determine the position and the angle of the second clamp on the unfolding arm. After the parameters are recorded, the cylindrical unfolding arm is unfolded under the driving of the driving mechanism, the rotation angle of the unfolding arm is measured through the dynamic torque sensor, and the additional moment of the cable in the unfolding process of the unfolding arm is measured in real time. In fig. 1, the cable attachment torque T is T (L, β, Z, θ, S) as a function of the position of the two ligature points and the cable length.
And then, carrying out an unfolding test of the unfolding arm, and recording a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm. After the one-time unfolding test is completed, the length S of the cable is continuously changed under the condition that the position parameters of the binding points are not changed, and the repeated unfolding test is carried out again to obtain the change curve of the additional torque T of the cable along with the rotation angle of the unfolding arm under different lengths S of the cable. Similarly, under the condition of not changing the length S of the cable, the position parameters of the binding points are continuously changed, and then the expansion test is carried out for a plurality of times again to obtain the change curve of the additional torque T of the cable along with the rotation angle of the expansion arm under the condition of different position parameters of the binding points. Because the unfolding process needs to be as stable as possible, the additional moment of the cable is desirably small when the unfolding arm starts to rotate so as not to influence the unfolding, so that the additional moment T of the cable needs to be ensured to be as small as possible in the unfolding process, and after the unfolding arm rotates to the vertical position, the additional moment T of the cable needs to be ensured to be as large as possible but not to be larger than an upper limit, and the unfolding arm cannot be continuously unfolded after the upper limit is reached. The most desirable situation is to have the deployment arm deployable with little final velocity and without too much impact on the joint. And designing according to the selected binding point position parameters and the cable length S, so that the performance of the spacecraft unfolding mechanism can be optimized.
The material parameters of the cable in the dynamics analysis software can be corrected according to the selected binding point position parameters and the cable length S so as to guide the simulation of the dynamics analysis software.
The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: the driving mechanism 6 is a coil spring or a motor.
The third concrete implementation mode: the second embodiment is different from the first embodiment in that: the dynamic torque sensor is used to measure the rotation angle of the hinge shaft and the deployment arm 5.
The dynamic torque sensor is also used for measuring the rotation speed and the torque of the hinge.
The dynamic torque sensor is used for measuring the change of the rotation angle of the unfolding arm in the unfolding process, and the purpose is to compare the influence of different binding point parameters and the length of the cable on the additional moment of the cable under the same rotation angle.
The fourth concrete implementation mode: the method for optimizing the performance of a spacecraft deployment mechanism according to the first embodiment of the present invention specifically comprises the following steps:
step one, simulating an unloaded unfolding test of an unfolding mechanism; namely when the cable is not loaded between the first clamp and the second clamp, carrying out the unfolding test of the unfolding arm;
step two, after the cable position is fixed, recording binding point position parameters (theta, Z) of the first holder, binding point position parameters (L, beta) of the second holder and the length S of the cable, and carrying out a deployment test of the deployment arm under the driving action of the driving mechanism;
wherein: z represents the distance between the horizontal cantilever rod and the supporting platform, theta represents the anticlockwise rotation angle of the horizontal cantilever rod around the vertical supporting rod, L represents the distance from the second clamp holder to the rotation center of the unfolding arm, and beta represents the rotation angle of the second clamp holder around the central shaft of the unfolding arm;
step three, obtaining a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm through the unfolding tests in the step one and the step two;
step four, continuously changing the length S of the cable in the step two without changing the position parameters of the binding points of the first holder and the second holder, and repeating the test process in the step two; obtaining a change curve of the cable additional moment T along with the rotation angle of the unfolding arm in each unfolding test;
step five, determining the optimal cable length S corresponding to the cable additional moment T according to the change curve of the cable additional moment T along with the rotation angle of the unfolding arm obtained in the step three and the step four0；S0For optimal cable attachmentS corresponding to the torque T;
step six, continuously changing theta in the binding point position parameters in the step two, keeping the parameters Z, L, beta and S unchanged all the time, and repeating the test process in the step two to obtain a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm in each unfolding test;
step seven, determining the optimal theta corresponding to the additional moment T of the cable according to the change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm obtained in the step three and the step six0；θ0Theta corresponding to the optimal cable additional moment T;
step eight, similarly, when any one of Z, L and β is changed, the values of the other four parameters are always kept to be the same as the corresponding values in the step two, and the optimal Z corresponding to the cable additional moment T is determined through tests0、L0And β0；
Theta to be determined0、Z0、L0And β0As the optimal binding point position parameter of the unfolding arm, the determined cable length S0As the optimal cable length, the optimization of the performance of the spacecraft unfolding mechanism is realized.
The fifth concrete implementation mode: the fourth difference between this embodiment and the specific embodiment is that: in the fourth step, the cable length S in the second step is continuously changed, wherein the cable length S is changed by 2cm each time.
The sixth specific implementation mode: the fifth embodiment is different from the fifth embodiment in that: in the sixth step, theta in the binding point position parameter in the second step is continuously changed, and the change amount of the theta in each parameter is 5-10 degrees.
The seventh embodiment: the sixth embodiment is different from the sixth embodiment in that: the optimal binding point position parameter and the optimal cable length need to be ensured: before the unfolding arm is unfolded to the vertical position, under the condition of the optimal binding point position parameter and the optimal cable length, the additional moment T of the cable is required to be as small as possible; after the unfolding arm is rotated to the vertical position, under the optimal binding point position parameter and the optimal cable length, the additional moment T of the cable is required to be as large as possible.
The optimal parameters are selected to ensure that the additional moment is as small as possible before the unfolding arm is unfolded to the vertical position, and after the unfolding arm rotates to the vertical position, the additional moment is as large as possible, so that the optimal parameters can be obtained through comprehensive comparison. And according to the test result, comprehensively selecting the optimal binding point position parameter and the optimal cable length for designing the spacecraft unfolding mechanism to realize the optimization of the performance.
Experimental part
When S is 40cm, L is 15cm, Z is 5cm, β is 0 °, and θ is 0 °, the graph of T over time T is shown in fig. 2. Because the change of the T along with the rotation angle of the unfolding arm is measured in real time, and the rotation angle of the unfolding arm changes along with time, the change curve of the T along with the time is presented in the test result.
When the value of θ is changed to 30 °, i.e., S is 40cm, L is 15cm, Z is 5cm, β is 0 °, and θ is 30 °, a graph of the change in T with time T is obtained as shown in fig. 3. Fig. 4 shows the change of T with time T when β is 90 °, i.e., S is 40cm, L is 15cm, Z is 5cm, β is 90 °, θ is 30 °. When S is 40cm, L is 15cm, Z is 5cm, β is 180 °, and θ is 30 °, a graph of T with time T is obtained as shown in fig. 5.
When S is 40cm, L is 15cm, Z is 5cm, β is 270 °, and θ is 30 °, T changes with time T as shown in fig. 6.
When S is 40cm, L is 15cm, Z is 10cm, β is 0 °, and θ is 30 °, T changes with time T as shown in fig. 7.
When S is 40cm, L is 15cm, Z is 15cm, β is 0 °, and θ is 30 °, T changes with time T as shown in fig. 8.
When S is 40cm, L is 20cm, Z is 5cm, β is 0 °, and θ is 30 °, T changes with time T as shown in fig. 9.
When S is 40cm, L is 25cm, Z is 5cm, β is 0 °, and θ is 30 °, T changes with time T as shown in fig. 10.
The maximum additional moment of the cable changes with various parameters according to the following relations:
1) the maximum torque applied to the cable as a function of θ and β is shown in fig. 11, where S is 40cm, L is 20cm, and Z is 10 cm.
2) Fig. 12 shows the maximum torque applied to the cable as a function of L and Z, where S is 40cm, θ is 60 °, β is 90 °.
The minimum additional moment of the cable changes with various parameters according to the following relations:
1) the minimum added moment of the cable with the changes of theta and beta is shown in a graph of fig. 13, wherein S is 40cm, L is 25cm, and Z is 15 cm.
2) The graph of the minimum added moment of the cable with the changes of L and Z is shown in FIG. 14, wherein S is 40cm, theta is-30 DEG, beta is 180 deg.
The above-described calculation examples of the present invention are merely to explain the calculation model and the calculation flow of the present invention in detail, and are not intended to limit the embodiments of the present invention. It will be apparent to those skilled in the art that other variations and modifications of the present invention can be made based on the above description, and it is not intended to be exhaustive or to limit the invention to the precise form disclosed, and all such modifications and variations are possible and contemplated as falling within the scope of the invention.
Claims (7)
1. A system for optimizing the performance of a spacecraft deployment mechanism, the system comprising a support platform (1), a cantilever bar (2), a support bar (3), an adjustable support (4), a deployment arm (5), a drive mechanism (6), a dynamic torque sensor, a first gripper (7) and a second gripper (8), wherein:
the supporting platform (1) is in a horizontal direction, and a supporting rod (3) is arranged below the supporting platform (1);
one end of the unfolding arm (5) is fixedly connected with a hinge rotating shaft on the supporting platform (1), the driving mechanism (6) is fixedly connected with the hinge rotating shaft on the supporting platform (1), and a dynamic torque sensor is arranged on the hinge rotating shaft;
the other end of the unfolding arm (5) is sleeved with a second clamp holder (8), and the second clamp holder (8) is used for fixing one end of a cable;
one end of the cantilever rod (2) is sleeved on the support rod (3) through an adjustable bracket (4); a first clamp holder (7) is fixedly arranged at the other end of the cantilever rod (2), and the first clamp holder (7) is used for fixing the other end of the cable.
2. A system for optimizing the performance of a spacecraft deployment mechanism according to claim 1, wherein the drive mechanism (6) is a coil spring or a motor.
3. A system for optimizing the performance of a spacecraft deployment mechanism according to claim 2, characterized in that the dynamic torque sensor is used to measure the angle of rotation of the hinge axis and the deployment arm (5).
4. Method for optimizing the performance of a spacecraft deployment mechanism according to claim 1, characterized in that it comprises in particular the following steps:
step one, simulating an unloaded unfolding test of an unfolding mechanism; namely when the cable is not loaded between the first clamp and the second clamp, carrying out the unfolding test of the unfolding arm;
step two, after the cable position is fixed, recording binding point position parameters (theta, Z) of the first holder, binding point position parameters (L, beta) of the second holder and the length S of the cable, and carrying out a deployment test of the deployment arm under the driving action of the driving mechanism;
wherein: z represents the distance between the horizontal cantilever rod and the supporting platform, theta represents the anticlockwise rotation angle of the horizontal cantilever rod around the vertical supporting rod, L represents the distance from the second clamp holder to the rotation center of the unfolding arm, and beta represents the rotation angle of the second clamp holder around the central shaft of the unfolding arm;
step three, obtaining a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm through the unfolding tests in the step one and the step two;
step four, continuously changing the length S of the cable in the step two without changing the position parameters of the binding points of the first holder and the second holder, and repeating the test process in the step two; obtaining a change curve of the cable additional moment T along with the rotation angle of the unfolding arm in each unfolding test;
step five, according to the change curve of the additional moment T of the cable obtained in the step three and the step four along with the rotation angle of the unfolding arm, determiningDetermining the optimal cable length S corresponding to the cable additional moment T0；S0Adding S corresponding to the moment T for the optimal cable;
step six, continuously changing theta in the binding point position parameters in the step two, keeping the parameters Z, L, beta and S unchanged all the time, and repeating the test process in the step two to obtain a change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm in each unfolding test;
step seven, determining the optimal theta corresponding to the additional moment T of the cable according to the change curve of the additional moment T of the cable along with the rotation angle of the unfolding arm obtained in the step three and the step six0；θ0Theta corresponding to the optimal cable additional moment T;
step eight, similarly, when any one of Z, L and β is changed, the values of the other four parameters are always kept to be the same as the corresponding values in the step two, and the optimal Z corresponding to the cable additional moment T is determined through tests0、L0And β0；
Theta to be determined0、Z0、L0And β0As the optimal binding point position parameter of the unfolding arm, the determined cable length S0As the optimal cable length, the optimization of the performance of the spacecraft unfolding mechanism is realized.
5. A method for a system for optimizing the performance of a spacecraft deployment mechanism according to claim 4, characterized in that in step four, the cable length S in step two is continuously changed, wherein the cable length S is changed by 2cm each time.
6. The method for optimizing the performance of a spacecraft deployment mechanism of claim 5, wherein in step six, θ in the parameter of the tie point position in step two is continuously changed, and the change amount of θ in each parameter is 5-10 °.
7. A method for a system for optimizing performance of a spacecraft deployment mechanism according to claim 6, wherein said optimal tie point location parameters and optimal cable length are required to ensure that: before the unfolding arm is unfolded to the vertical position, under the condition of the optimal binding point position parameter and the optimal cable length, the additional moment T of the cable is required to be as small as possible; after the unfolding arm is rotated to the vertical position, under the optimal binding point position parameter and the optimal cable length, the additional moment T of the cable is required to be as large as possible.
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