CN112329129A - Quality characteristic design and verification method suitable for multi-cabin complex spacecraft - Google Patents

Quality characteristic design and verification method suitable for multi-cabin complex spacecraft Download PDF

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CN112329129A
CN112329129A CN202011053074.3A CN202011053074A CN112329129A CN 112329129 A CN112329129 A CN 112329129A CN 202011053074 A CN202011053074 A CN 202011053074A CN 112329129 A CN112329129 A CN 112329129A
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黄�俊
逯运通
张正峰
邢立坤
何秋鹏
庞彧
张旭辉
舒燕
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Beijing Institute of Spacecraft System Engineering
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Abstract

The invention discloses a quality characteristic design and verification method suitable for a multi-cabin complex spacecraft, which can efficiently and accurately give a multi-cabin complex spacecraft quality characteristic design result and a verification scheme, ensure that the actual state of the spacecraft meets the design requirement, simplify the workload and improve the overall development efficiency of the spacecraft.

Description

Quality characteristic design and verification method suitable for multi-cabin complex spacecraft
Technical Field
The invention belongs to the technical field of overall assembly design of spacecrafts, and particularly relates to a quality characteristic design and verification method suitable for a multi-cabin complex spacecraft.
Background
Most of deep space exploration spacecrafts have the characteristic of multiple cabin sections, the cabin sections are decomposed and butted according to task requirements in-orbit flight, the quality characteristics of the spacecrafts are greatly changed at the moment, and the deep space exploration spacecrafts have higher quality characteristic requirements in all stages of in-orbit flight. On the premise that the total weight is strictly limited, how to optimally design the quality characteristics of the spacecraft makes the quality characteristics of the spacecraft in each on-orbit stage meet the requirements, and is always the difficulty in designing the deep space exploration spacecraft in a multi-cabin structural form.
A method for confirming the quality characteristics of a spacecraft is provided in a patent of a Beijing space technology development test center for determining the quality characteristics of the spacecraft (CN 201711031544.4). the method mainly comprises the steps of obtaining quality characteristic data through physical measurement, then correcting model parameters and finally calculating the quality characteristics of the spacecraft. The method is effective for the spacecraft in the form of a single cabin, but for the multi-cabin complex spacecraft, a quality characteristic design method for decomposing quality characteristic requirements and propellant residual states of all stages into each cabin is lacked, so that the method is not suitable for the quality characteristic design and verification of the multi-cabin complex spacecraft.
A method for rapidly analyzing the quality characteristics of a spacecraft is provided in the Beijing spacecraft general design department patent of A spacecraft quality characteristic rapid analysis method (CN201310059681.4), and the method mainly adopts the theoretical quality characteristics of each device and product of the spacecraft to calculate the preliminary quality characteristics of the spacecraft. The method is only a numerical calculation method, and the mass characteristic calculated by adopting theoretical values has larger error than the actual error, so the method is not suitable for the mass characteristic design and verification of the multi-cabin complex spacecraft.
Disclosure of Invention
In view of the above, the invention aims to provide a quality characteristic design and verification method suitable for a multi-cabin complex spacecraft, which can efficiently and accurately give a quality characteristic design result at the initial stage of the multi-cabin complex spacecraft design, and give a verification scheme, so that after the spacecraft completes the final assembly work, the spacecraft quality characteristic can be rapidly obtained, the workload is effectively simplified, and the overall development efficiency of the spacecraft is improved.
A mass characteristic design method suitable for a multi-cabin complex spacecraft comprises the following steps:
firstly, analyzing a detection task to obtain the design input of the spacecraft quality characteristic;
and step two, repeatedly executing the following steps S21-S23 according to the input of the step one, and obtaining the quality characteristic requirements of each stage of the spacecraft in a propellant-free state in each stage, wherein the specific method is as follows:
s21, obtaining the quality characteristics of the single storage tank propellant according to the size of the storage tank and the residual propellant in the current stage;
s22, obtaining the total mass characteristic of the propellant according to the position of the storage tank and the combination of the result of the step S21;
s23, obtaining the spacecraft quality characteristic requirement without propellant by combining the result of the step S22 with the quality characteristic requirement of the spacecraft at the current stage;
analyzing the cabin combination state of the spacecraft in each stage, selecting a typical combination state, combining the spacecraft quality characteristic requirements without propellant to obtain the quality characteristic design result of each cabin of the spacecraft, rechecking the quality characteristic satisfaction of other combination states, and if the quality characteristic design result meets the quality characteristic satisfaction of other combination states, obtaining the final quality characteristic requirement of the spacecraft; and if not, modifying the quality characteristic requirement of the partial cabin section according to the unsatisfied state.
Preferably, the specific method of step S21 is as follows:
let the density of the propellant and oxidizer be ρyDensity of propellant combustion agent is rhorThe mixing ratio is 1.65, the total mass is m, and the radiuses of all storage tanks are R;
obtaining a mass of propellant in each tank, wherein the mass of the combustion agent in each combustion agent tank is mrMass of oxidant in each oxidant tank is my：
Figure BDA0002710130810000021
② by the following equation system
Figure BDA0002710130810000022
Obtaining the height h of the liquid level of the combustion agent storage tankr；
Let us assume the combustion agent centroid (x)r，yr，zr) Inertia moment (Ix)r，Iyr，Izr) Product of inertia (Ix)ryr，Iyrzr，Izrxr) Center of mass (x) of oxidanty，yy，zy) Inertia moment (Ix)y，Iyy，Izy) Product of inertia (Ix)yyy，Iyyzy，Izyxy) (ii) a The center of mass of the propellant in a single tank is obtained with respect to the mechanical coordinate system of the tank itself:
Figure BDA0002710130810000023
inertia moment and inertia product of the propellant relative to the coordinate system of the center of mass of the tank:
Figure BDA0002710130810000031
preferably, the specific method of step S22 is as follows:
assuming that the center of the tank sphere is in the mechanical coordinate system of the spacecraft, the coordinates of the oxidizer tank 1 are (x, y, z), the coordinates of the oxidizer tank 2 are (x, -y, -z), the coordinates of the combustion agent tank 1 are (x, -y, z), and the coordinates of the combustion agent tank 2 are (x, y, -z), the total mass characteristics of the propellant are as follows:
the coordinates of the center of mass are:
Figure BDA0002710130810000032
moment of inertia (Ix)T，IyT，IzT) And product of inertia (Ix)TyT，IyTzT，IzTxT) Comprises the following steps:
Figure BDA0002710130810000033
Figure BDA0002710130810000041
preferably, the specific method of step S23 is as follows:
given a spacecraft mass M, a center of mass (X, Y, Z), an inertia moment (IX, IY, IZ), a product of inertia (IXY, IYZ, IXZ), the propellant-free spacecraft mass properties are:
mass is M' ═ M-M;
the coordinates of the center of mass are:
Figure BDA0002710130810000042
the moments of inertia (IX ', IY ', IZ ') and products of inertia (IX ' Y ', IY ' Z ', IX ' Z ') are:
Figure BDA0002710130810000043
preferably, in the third step, when the mass characteristic design result of each cabin section of the spacecraft is obtained, the mass characteristic of the whole spacecraft and the mass characteristic of part of the cabin section are known, and the mass characteristic of the remaining cabin section is obtained according to the following method:
knowing the overall mass M, (X, Y, Z) with respect to the centroid of the overall mechanical coordinate system, (IX, IY, IZ) with respect to the moment of inertia of the overall centroid coordinate system, and (IXY, IZ, IXZ) with respect to the product of inertia; with n portions, the i-th portion having a mass miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) The moment of inertia relative to the own centroid coordinate system is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi) (ii) a The mass center is relative to the whole mechanical coordinate system, and the mass characteristics of the rest part are obtained by the relative mass center coordinate system of the moment of inertia and the inertia product:
the balance beingQuantity:
Figure BDA0002710130810000044
remaining part centroid:
Figure BDA0002710130810000051
remaining part of the moment of inertia and product of inertia:
Figure BDA0002710130810000052
preferably, in the third step, when the design result of the mass characteristic of each cabin of the spacecraft is obtained, if the mass characteristic of each cabin is known, the method for obtaining the mass characteristic of the whole spacecraft is as follows:
let the mass of the i-th part be miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) The moment of inertia relative to the own centroid coordinate system is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi) Obtaining the mass characteristics of the whole body as follows, wherein the mass center is relative to a whole mechanical coordinate system, and the rotational inertia and the inertia product are relative to a self mass center coordinate system:
the overall quality is as follows:
Figure BDA0002710130810000053
integral mass center:
Figure BDA0002710130810000061
integral moment of inertia and product of inertia:
Figure BDA0002710130810000062
preferably, in the third step, if the mass characteristics of some sections in the overall spacecraft are known but the reference coordinate systems are not consistent, the coordinate systems are converted to be consistent.
Preferably, in the third step, if the spacecraft has a variable mass cabin section, knowing the change law of the spacecraft and the variable mass cabin section, the method for obtaining the optimal centroid of the spacecraft is as follows:
the mass center of the variable mass cabin section only changes in one direction, and the x direction is assumed; the overall mass of the spacecraft is m, and the mass of the variable mass cabin section is mbThe initial x-direction mass center of the spacecraft is x, and the initial x-direction mass center of the variable mass cabin section is xb1The mass center of the part outside the variable mass cabin section in the x direction is xyThe final x-direction mass center of the spacecraft is x', and the final x-direction mass center of the variable mass cabin section is xb2The following system of equations is obtained:
(m-mb)·xy+mb·xb1＝mx；
(m-mb)·xy+mb·xb2＝mx’
obtaining: m isb·(xb1-xb2)＝m(x-x’)；
Thereby obtaining the center of mass of the spacecraft.
A method for verifying the quality characteristics of a multi-cabin complex spacecraft selects a typical combination state for test verification according to the design result of the quality characteristics of the spacecraft and the combination state of the spacecraft cabins in each stage by combining the capability and time cost of quality characteristic test equipment, and specifically comprises the following steps:
selecting a typical combination state with higher quality characteristic requirement for test verification according to a quality characteristic design result; considering test equipment, if the capability of the test equipment is not met, considering equipment with newly researched or purchased capability meeting the requirement, or selecting other states for testing;
considering time cost, selecting the minimum cabin section combination state capable of covering all combination states for measurement, considering the capability of the test equipment, and if the test equipment is not satisfied, considering the equipment with newly researched or purchased capability meeting the requirement, or selecting other states for test.
And obtaining an optimal typical state through multiple iterations to test and verify the quality characteristics of the spacecraft.
Further, according to the test result, the spacecraft is trimmed, and the actual state quality characteristic of the spacecraft is ensured to meet the design requirement of the quality characteristic.
The invention has the following beneficial effects:
the quality characteristic design and verification method suitable for the multi-cabin complex spacecraft can efficiently and accurately give out the quality characteristic design result of the multi-cabin complex spacecraft and a verification scheme, ensures that the actual state of the spacecraft meets the design requirement, simplifies the workload and can improve the overall development efficiency of the spacecraft.
Drawings
FIG. 1(a) is a flow chart of a quality characteristic designing method of the present invention, and FIG. 1(b) is a flow chart of a verification method of the present invention.
FIG. 2 is a schematic diagram of table mass property calculation.
Fig. 3 shows the spacecraft in-orbit configuration state 1, when all the sections are butted together.
Fig. 4 shows the spacecraft in an on-orbit configuration state 2, wherein the cabin sections 1 and 2 are separated from other cabin sections and fly independently.
Fig. 5 shows the spacecraft in an on-orbit configuration state 3, in which the sections 3 and 4 are separated from the other sections and fly separately.
Fig. 6 shows the spacecraft in the on-orbit configuration state 4, when the cabin 1 is flying alone.
Fig. 7 shows the spacecraft in the on-orbit state 5, when the cabin section 1 is in butt-joint flight with the cabin sections 3 and 4.
Fig. 8 shows the spacecraft in the on-orbit configuration state 6, when the bay 4 is flying alone.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The technical scheme of the invention is shown in a flow chart in an attached figure 1 (a).
The method comprises the steps of firstly, analyzing a detection task, and obtaining the design input of spacecraft quality characteristics, wherein the design input mainly comprises task stage division, spacecraft structure states in all stages, spacecraft quality characteristic requirements in all stages, the residual propellant quality of initial spacecraft in all stages, the position and size of a spacecraft storage tank and the like.
Secondly, obtaining the quality characteristic requirements of each stage of the spacecraft in a propellant-free state according to the input conditions, wherein the specific method comprises the following steps:
1) obtaining quality characteristics of single tank propellants
The propellant is considered to be a submerged propellant, i.e. the propellant is shaped as a spherical body, the cross section of which is shown in figure 2. The density of the known propellant oxidizer is pyDensity of propellant combustion agent is rhorThe mixing ratio is 1.65, the total mass is m, the radiuses of all the storage tanks are R, a mechanical coordinate system is defined at the position of a circle center, the x axis is perpendicular to the platform surface, and as shown in fig. 2, the direction of the centroid coordinate system is parallel to the mechanical coordinate system, the centroid and the rotational inertia of the propellant can be obtained, and the method comprises the following steps: assuming 4 tanks, two for two oxygen, horizontally uniformly arranged, other numbers of tanks can also be given quality characteristics by the following method.
Obtaining a mass of propellant in each tank, wherein the mass of the combustion agent in each combustion agent tank is mrMass of oxidant in each oxidant tank is my：
Figure BDA0002710130810000081
Secondly, obtaining the liquid level h (height from the top to the center of the sphere) in the storage tank, wherein the definition of the h is shown in the attached figure 2, taking the combustion agent storage tank as an example, the method of the oxidant storage tank is the same, and the liquid level h is assumed to be the liquid level of the combustion agent for distinguishing the oxidant and the combustion agentrThe oxidant level is hy(ii) a By a system of equations
Figure BDA0002710130810000082
Obtaining the height h of the liquid level of the combustion agent storage tankr。
Obtaining mass center and rotary inertia of propellant in single storage tank due to storageThe box is a symmetrical body, and all inertia products are 0 kg-mm2Taking the combustion agent storage tank as an example, the method of the oxidant storage tank is the same, and for distinguishing the mass characteristics of the oxidant and the combustion agent, the mass center (x) of the combustion agent is assumedr，yr，zr) Inertia moment (Ix)r，Iyr，Izr) Product of inertia (Ix)ryr，Iyrzr，Izrxr) Center of mass (x) of oxidanty，yy，zy) Inertia moment (Ix)y，Iyy，Izy) Product of inertia (Ix)yyy，Iyyzy，Izyxy)；
Relative to the centre of mass of the mechanical coordinate system of the tank itself:
Figure BDA0002710130810000091
the moment of inertia and the inertia product of the relative storage box self mass center coordinate system are as follows:
Figure BDA0002710130810000092
2) obtaining the total mass properties of the propellant
Assuming the coordinates of the tank centre of sphere in the spacecraft mechanical coordinate system are oxidizer tank 1(x, y, z), oxidizer tank 2(x, -y, -z), combustion agent tank 1(x, -y, z), combustion agent tank 2(x, y, -z), the total propellant mass properties are as follows:
the mass is m;
the coordinates of the center of mass are:
Figure BDA0002710130810000093
moment of inertia (Ix)T，IyT，IzT) And product of inertia (Ix)TyT，IyTzT，IzTxT) Comprises the following steps:
Figure BDA0002710130810000101
3) the requirements for obtaining the quality characteristics of the spacecraft without the propellant are as follows:
given a spacecraft mass M, a center of mass (X, Y, Z), an inertia moment (IX, IY, IZ), a product of inertia (IXY, IYZ, IXZ), the propellant-free spacecraft mass properties are:
mass is M' ═ M-M;
the coordinates of the center of mass are:
Figure BDA0002710130810000102
the moments of inertia (IX ', IY ', IZ ') and products of inertia (IX ' Y ', IY ' Z ', IX ' Z ') are:
Figure BDA0002710130810000103
analyzing the cabin combination state of the spacecraft in each stage, selecting a typical combination state, combining the spacecraft quality characteristic requirements without propellant to obtain the quality characteristic design result of each cabin of the spacecraft, rechecking the quality characteristic satisfaction of other combination states, and if the quality characteristic design result meets the quality characteristic satisfaction of other combination states, obtaining the final quality characteristic requirement of the spacecraft; and if not, modifying the quality characteristic requirement of the partial cabin section according to the unsatisfied state. The mass characteristic calculation method mainly used in this stage is as follows:
1) and (3) knowing the mass characteristics of the whole and partial sections of the spacecraft to obtain the mass characteristics of the remaining sections:
given a mass M of the whole, a centroid X, Y, Z with respect to the whole machine coordinate system, a moment of inertia IX, IY, IZ with respect to the whole centroid coordinate system (the direction coinciding with the machine coordinate system), and an inertia product IXY, izz. Knowing the mass characteristics of the parts in the whole, these parts are in turn divided into n parts, the mass of the ith part being miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) Rotation relative to the own centroid coordinate system (direction is consistent with the mechanical coordinate system)The moment of inertia is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi). The mass properties of the remaining part are obtained as follows, wherein the centroid is relative to the overall mechanical coordinate system, the moment of inertia and the product of inertia are relative to the own centroid coordinate system (the direction is consistent with the mechanical coordinate system):
mass of remaining part
Figure BDA0002710130810000111
Center of mass of the remaining part
Figure BDA0002710130810000112
Remaining part of the moment of inertia and product of inertia:
Figure BDA0002710130810000113
2) knowing the mass characteristics of each part, the overall mass characteristic is obtained:
the whole is divided into n parts, the mass characteristic of each part is known, and the mass of the ith part is miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) The moment of inertia relative to the own centroid coordinate system (the direction of which is consistent with the mechanical coordinate system) is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi) Obtaining the mass characteristics of the whole body, wherein the mass center is relative to the whole mechanical coordinate system, and the inertia moment and the inertia product are relative to the self mass center coordinate system (the direction is consistent with the mechanical coordinate system):
mass of the whole
Figure BDA0002710130810000121
Integral centroid
Figure BDA0002710130810000122
Integral moment of inertia and product of inertia:
Figure BDA0002710130810000123
3) the mass properties of two parts in the whole are known, but the reference coordinate systems are not consistent, and the coordinate systems can be converted into consistency by the following method:
the mass of the part 1 is m1, the mass center relative to the self-machine coordinate system is (x1, y1, z1), the moment of inertia relative to the self-machine coordinate system (the direction is consistent with the self-machine coordinate system) is (Ix1, Iy1, Iz1), and the inertia product is (Ix1y1, Iy1z1, Ix1z 1). The mass of the part 2 is m2, the mass center relative to the own mechanical coordinate system is (x2, y2, z2), the moment of inertia relative to the own mass center coordinate system (the direction is consistent with the own mechanical coordinate system) is (Ix2, Iy2, Iz2), and the inertia product is (Ix2y2, Iy2z2, Ix2z 2). The origin of the own mechanical coordinate system of the part 2 is (X, Y, Z) in the own mechanical coordinate system of the part 1, and the own mechanical coordinate system of the part 2 rotates around the X axis thereof by an angle θ and then the direction coincides with the own mechanical coordinate system of the part 1. The mass characteristics of the part 2 with respect to the own mechanical coordinate system of the part 1 are as follows:
constant quality
Center of mass
Figure BDA0002710130810000131
Integral moment of inertia and product of inertia
Figure BDA0002710130810000132
4) The variable mass body exists in the whole body, and the overall optimal mass center design is obtained by knowing the change rule of the whole body and the variable mass body
The centroid of the variable mass changes in only one direction, assumed to be the x-direction. The mass of the whole mass is m, and the mass of the variable mass is mbThe mass center in the whole initial x direction is x, and the mass center in the variable mass body in the initial x direction is xb1The mass center of the part outside the variable mass body in the x direction is xyThe final x-direction centroid of the whole body is x', and the final x-direction centroid of the variable mass body is xb2The following system of equations can be obtained:
(m-mb)·xy+mb·xb1＝mx；
(m-mb)·xy+mb·xb2＝mx’
it is possible to obtain:
mb·(xb1-xb2)＝m(x-x’)；
and combining the quality characteristic deviation requirement, the optimal centroid design can be obtained.
Further, the present invention also provides a verification method for the quality feature design result, specifically as shown in fig. 1(b), which specifically includes the following steps:
and fourthly, selecting a typical state for test verification according to the spacecraft quality characteristic design result and the spacecraft cabin combined state of each stage by combining the capability and the time cost of the quality characteristic test equipment.
The four major elements of selecting a typical state are: quality characteristic design results, cabin section combination states, test equipment capabilities, and time cost. The four major elements are restricted and matched with each other, and a typical state is finally obtained by balancing the four major elements.
According to the quality characteristic design result, the higher the quality characteristic requirement is (the requirement that the deviation of the transverse centroid is better than 3mm generally belongs to the higher requirement), the more the measurement is needed, the test equipment is considered, and if the capability of the test equipment is not met, the equipment which is newly researched or purchased and meets the requirement needs to be considered, or other states are selected for testing.
And considering time cost, selecting the minimum cabin section combination state capable of covering all states for measurement, considering the capability of the test equipment, and if the test equipment is not satisfied, considering the equipment with newly researched or purchased capability meeting the requirement, or selecting other states for test.
And obtaining an optimal typical state through multiple iterations for test verification.
And fifthly, balancing the spacecraft according to the test result to ensure that the actual state quality characteristic of the spacecraft meets the design requirement of the quality characteristic.
Example (b):
fig. 3 to 8 are examples of the present invention, and the present invention will be described in detail with reference to the accompanying drawings.
The spacecraft is divided into 4 sections, as shown in figure 3. The task of the spacecraft is to probe the target planet M and collect a sample on the target planet M back to earth.
1) Obtaining quality characteristic design input conditions
The spacecraft detection task is divided into 6 stages, and each stage and the corresponding spacecraft structural state are as follows:
stage 1, launching and flying to M star stage, and the corresponding structure state is shown in figure 3;
stage 2, flying around the M stars, wherein the corresponding structural state is shown in figure 4;
stage 3, the M star falling stage, and the corresponding structural state is shown in figure 5;
stage 4, taking off from the M star, and showing a corresponding structural state in figure 6;
stage 5, sample transfer stage, corresponding structure state is shown in figure 7;
and in stage 6, returning to the earth stage, and showing the corresponding structural state in figure 8.
The quality characteristic requirements of each stage of the spacecraft are specifically shown in the following table.
Figure BDA0002710130810000141
Figure BDA0002710130810000151
The mass properties in the above table all comprise a propellant and an oxidizer having a density of 1445.1kg/m3The density of the combustion agent is 874.1kg/m3The mixing ratio is 1.65, the cabin sections 1, 2 and 4 are filled with propellant and are respectively provided with 4 storage tanks, two tanks are used for combusting two oxygen gases, and the two tanks are symmetrically arranged. Tank of cabin 1The radius is 280mm, the radius of the storage tank of the cabin section 2 is 490mm, the radius of the storage tank of the cabin section 4 is 540mm, and the coordinates of the storage tanks of the cabin sections relative to a mechanical coordinate system of the storage tanks are shown in a table.
Figure BDA0002710130810000152
The directions of the mechanical coordinate systems of all the sections are consistent, and by taking the mechanical coordinate system of the section 4 as a reference, the mechanical coordinate system of the section 1 is 4600mm away from the mechanical coordinate system of the section 4, the mechanical coordinate system of the section 2 is 2800mm away from the mechanical coordinate system of the section 4, and the mechanical coordinate system of the section 3 is 1400mm away from the mechanical coordinate system of the section 4.
The remaining amount of propellant at each stage is shown in the following table.
Figure BDA0002710130810000153
2) According to the input conditions, the quality characteristic requirements of each stage of the spacecraft without propellant are obtained
The quality characteristics of the spacecraft in the propellant-free state at each stage are as follows.
Figure BDA0002710130810000154
Figure BDA0002710130810000161
3) The mass characteristic requirement of the spacecraft without the propellant is obtained by combining the structural states of the spacecraft and the mass characteristic requirement of each cabin section without the propellant
(1) Selecting a representative State
The mass characteristics of the sections 1, 2 can be obtained from the spacecraft states of stage 3 and stage 4, the mass characteristics of the sections 3, 4 can be obtained from the spacecraft states of stage 2 and stage 6, and the mass characteristics of the sections are obtained from the spacecraft states of stage 2, 3, 4, 6 as typical states.
(2) Cabin section 1 and cabin section 2 quality characteristic requirements
In the stage 3 process, a variable mass body is arranged, the mass of the variable mass body is 5kg, the mass center of the variable mass body only changes in the Z direction, the initial mass center is 500mm, and the final mass center is 0mm, so that the relationship between the initial Z-direction mass center and the final Z-direction mass center of the spacecraft in the stage 3 state is as follows.
5kg×500mm＝1300kg×(Z-Z’)
From the above formula, one can obtain:
(Z-Z’)＝1.92mm
in order to ensure that the Z-direction mass center of the spacecraft is closest to the required value in the stage 3, the initial optimal Z-direction mass center of the cabin 1 and cabin 2 combination is 0.96mm, and the deviation is +/-1 mm.
Thus, in combination with the requirement for the mass characteristics of the bay 1 in the phase 4, the requirement for the mass characteristics of the bay 2 can be obtained as follows, with a Z-direction deviation of ± 1mm, and considering that the X-direction deviation of the phase 1 is ± 50mm, the X-direction deviation of the bay 2 is required to be ± 50 mm.
Figure BDA0002710130810000162
Figure BDA0002710130810000171
Only the bay section 1 is in phase 4, so the mass characteristic requirements of the bay section 1 are as follows, and considering the mass characteristic requirements of phase 3, the Z-direction deviation is ± 1 mm.
Figure BDA0002710130810000172
(3) Cabin section 3 and cabin section 4 quality characteristic requirements
Only the cabin 4 is in phase 6 and therefore the quality characteristics of the cabin 4 are required to be as follows, considering that the X-direction deviation of phase 1 is 50mm and therefore the X-direction deviation of the cabin 4 is required to be 50 mm.
Figure BDA0002710130810000173
The spacecraft state in the stage 2 is a cabin section 3 and cabin section 4 combined body, the quality characteristic requirements of all available cabin sections 3 are as follows, and considering that the X-direction deviation of the stage 1 is +/-50 mm, the X-direction deviation of the cabin sections 3 is +/-50 mm.
Figure BDA0002710130810000174
(4) Stage 1 quality characterization review
And calculating the quality characteristic of the spacecraft state in the stage 1 according to the quality characteristics of the 4 cabin sections, and particularly meeting the quality characteristic requirement of the stage 1 as follows.
Figure BDA0002710130810000175
(5) Stage 5 quality characterization review
And calculating the quality characteristic of the spacecraft state in the stage 5 according to the quality characteristics of the cabin sections 1, 3 and 4, and particularly meeting the quality characteristic requirement of the stage 5 as follows.
Figure BDA0002710130810000176
4) And selecting the typical states shown in the figures 4, 5, 6 and 8 according to the spacecraft quality characteristic design result and the spacecraft cabin section combination state in each stage and combining the capability of the quality characteristic testing equipment to test the spacecraft quality characteristic.
5) The specific test results are as follows, and the actual quality characteristics of the spacecraft meet the design requirements.
Figure BDA0002710130810000181
And obtaining the quality characteristics of each stage of the spacecraft as follows.
Figure BDA0002710130810000182
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A mass characteristic design method suitable for a multi-cabin complex spacecraft is characterized by comprising the following steps:
firstly, analyzing a detection task to obtain the design input of the spacecraft quality characteristic;
and step two, repeatedly executing the following steps S21-S23 according to the input of the step one, and obtaining the quality characteristic requirements of each stage of the spacecraft in a propellant-free state in each stage, wherein the specific method is as follows:
s21, obtaining the quality characteristics of the single storage tank propellant according to the size of the storage tank and the residual propellant in the current stage;
s22, obtaining the total mass characteristic of the propellant according to the position of the storage tank and the combination of the result of the step S21;
s23, obtaining the spacecraft quality characteristic requirement without propellant by combining the result of the step S22 with the quality characteristic requirement of the spacecraft at the current stage;
analyzing the cabin combination state of the spacecraft in each stage, selecting a typical combination state, combining the spacecraft quality characteristic requirements without propellant to obtain the quality characteristic design result of each cabin of the spacecraft, rechecking the quality characteristic satisfaction of other combination states, and if the quality characteristic design result meets the quality characteristic satisfaction of other combination states, obtaining the final quality characteristic requirement of the spacecraft; and if not, modifying the quality characteristic requirement of the partial cabin section according to the unsatisfied state.
2. The method for designing the quality characteristics of the multi-cabin complex spacecraft as claimed in claim 1, wherein the specific method of the step S21 is as follows:
let the density of the propellant and oxidizer be ρyDensity of propellant combustion agent is rhorThe mixing ratio is 1.65, the total mass is m, and the radiuses of all storage tanks are R;
obtaining a mass of propellant in each tank, wherein the mass of the combustion agent in each combustion agent tank is mrMass of oxidant in each oxidant tank is my：
Figure FDA0002710130800000011
② by the following equation system
Figure FDA0002710130800000012
Obtaining the height h of the liquid level of the combustion agent storage tankr；
Let us assume the combustion agent centroid (x)r，yr，zr) Inertia moment (Ix)r，Iyr，Izr) Product of inertia (Ix)ryr，Iyrzr，Izrxr) Center of mass (x) of oxidanty，yy，zy) Inertia moment (Ix)y，Iyy，Izy) Product of inertia (Ix)yyy，Iyyzy，Izyxy) (ii) a The center of mass of the propellant in a single tank is obtained with respect to the mechanical coordinate system of the tank itself:
Figure FDA0002710130800000021
inertia moment and inertia product of the propellant relative to the coordinate system of the center of mass of the tank:
Figure FDA0002710130800000022
3. the method for designing the quality characteristics of the multi-cabin complex spacecraft as claimed in claim 2, wherein the specific method of the step S22 is as follows:
assuming that the center of the tank sphere is in the mechanical coordinate system of the spacecraft, the coordinates of the oxidizer tank 1 are (x, y, z), the coordinates of the oxidizer tank 2 are (x, -y, -z), the coordinates of the combustion agent tank 1 are (x, -y, z), and the coordinates of the combustion agent tank 2 are (x, y, -z), the total mass characteristics of the propellant are as follows:
the coordinates of the center of mass are:
Figure FDA0002710130800000023
moment of inertia (Ix)T，IyT，IzT) And product of inertia (Ix)TyT，IyTzT，IzTxT) Comprises the following steps:
Figure FDA0002710130800000031
4. a method for designing the quality characteristics of a multi-cabin complex spacecraft as claimed in claim 3, wherein the specific method of step S23 is as follows:
given a spacecraft mass M, a center of mass (X, Y, Z), an inertia moment (IX, IY, IZ), a product of inertia (IXY, IYZ, IXZ), the propellant-free spacecraft mass properties are:
mass is M' ═ M-M;
the coordinates of the center of mass are:
Figure FDA0002710130800000032
the moments of inertia (IX ', IY ', IZ ') and products of inertia (IX ' Y ', IY ' Z ', IX ' Z ') are:
Figure FDA0002710130800000033
5. the method for designing the quality characteristics of the multi-cabin complex spacecraft according to claim 4, wherein in the third step, when the quality characteristic design result of each cabin of the spacecraft is obtained, the quality characteristics of the whole spacecraft and the quality characteristics of partial cabins are known, and the quality characteristics of the rest cabins are obtained according to the following method:
knowing the overall mass M, (X, Y, Z) with respect to the centroid of the overall mechanical coordinate system, (IX, IY, IZ) with respect to the moment of inertia of the overall centroid coordinate system, and (IXY, IZ, IXZ) with respect to the product of inertia; with n portions, the i-th portion having a mass miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) The moment of inertia relative to the own centroid coordinate system is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi) (ii) a The mass center is relative to the whole mechanical coordinate system, and the mass characteristics of the rest part are obtained by the relative mass center coordinate system of the moment of inertia and the inertia product:
mass of the remaining part:
Figure FDA0002710130800000041
remaining part centroid:
Figure FDA0002710130800000042
remaining part of the moment of inertia and product of inertia:
Figure FDA0002710130800000043
6. a method as claimed in claim 4, wherein in the third step, when the result of designing the mass characteristics of each cabin of the spacecraft is obtained, if the mass characteristics of each cabin are known, the method for obtaining the mass characteristics of the whole spacecraft is as follows:
let the mass of the i-th part be miThe centroid with respect to the overall machine coordinate system is (x)i，yi，zi) The moment of inertia relative to the own centroid coordinate system is (Ix)i，Iyi，Izi) Product of inertia is (Ix)iyi，Iyizi，Ixizi) Obtaining the mass characteristics of the whole body as follows, wherein the mass center is relative to a whole mechanical coordinate system, and the rotational inertia and the inertia product are relative to a self mass center coordinate system:
the overall quality is as follows:
Figure FDA0002710130800000051
integral mass center:
Figure FDA0002710130800000052
integral moment of inertia and product of inertia:
Figure FDA0002710130800000053
7. a method as claimed in claim 5 or 6, wherein in the third step, if the mass characteristics of some sections in the overall spacecraft are known but the reference coordinate system is not consistent, the coordinate system is converted to be consistent.
8. The method for designing the quality characteristics of the multi-cabin complex spacecraft according to claim 5 or 6, wherein in the third step, if the variable-quality cabin exists in the spacecraft, the optimal center of mass of the spacecraft is obtained by knowing the change rule of the spacecraft and the variable-quality cabin:
the center of mass of the variable mass cabin section varies in only one direction,assume the x-direction; the overall mass of the spacecraft is m, and the mass of the variable mass cabin section is mbThe initial x-direction mass center of the spacecraft is x, and the initial x-direction mass center of the variable mass cabin section is xb1The mass center of the part outside the variable mass cabin section in the x direction is xyThe final x-direction mass center of the spacecraft is x', and the final x-direction mass center of the variable mass cabin section is xb2The following system of equations is obtained:
(m-mb)·xy+mb·xb1＝mx；
(m-mb)·xy+mb·xb2＝mx’
obtaining: m isb·(xb1-xb2)＝m(x-x’)；
Thereby obtaining the center of mass of the spacecraft.
9. A verification method based on any one of the design methods of claims 1 to 4 is characterized in that a typical combination state is selected for test verification according to a spacecraft quality characteristic design result and spacecraft cabin combination states in each stage and in combination with the capability and time cost of quality characteristic test equipment, and the method specifically comprises the following steps:
selecting a typical combination state with higher quality characteristic requirement for test verification according to a quality characteristic design result; considering test equipment, if the capability of the test equipment is not met, considering equipment with newly researched or purchased capability meeting the requirement, or selecting other states for testing;
considering time cost, selecting the minimum cabin section combination state capable of covering all combination states for measurement, considering the capability of the test equipment, and if the test equipment is not satisfied, considering the equipment with newly researched or purchased capability meeting the requirement, or selecting other states for test.
And obtaining an optimal typical state through multiple iterations to test and verify the quality characteristics of the spacecraft.
10. The validation method of claim 9, wherein the spacecraft is trimmed to ensure that the spacecraft actual state quality characteristics meet quality characteristic design requirements based on the test results.
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