CN112347538B - Ground verification method and system for on-orbit construction - Google Patents
Ground verification method and system for on-orbit construction Download PDFInfo
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Abstract
The invention discloses a ground verification method and a ground verification system for on-orbit construction, wherein the method comprises the following steps of: analyzing the motion characteristics and boundary conditions of the on-orbit construction structure to generate a motion curve; simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve; and under a simulation environment, testing the assembly process of each step, estimating geometrical and mechanical parameters after assembly, and adjusting a subsequent assembly target to complete a construction task and ensure the robustness of an object. The ground verification method and the ground verification system for on-orbit construction provided by the invention are used for carrying out the dynamic response simulation of the construction structure, have the characteristics of accuracy, stability and simplicity in operation, and provide key environmental conditions for the ground test at the early stage of on-orbit construction.
Description
Technical Field
The invention relates to a ground verification method and a ground verification system for on-orbit construction, and belongs to the technical field of on-orbit construction ground test verification.
Background
The in-orbit construction refers to the construction of space facilities such as a structure, a subsystem unit body and the like by connecting different components in space, or the recombination of one or more separated structures, and specifically comprises the in-orbit construction, replacement, connection, combination or recombination of a spacecraft, a space system and a space structure, the replacement of a module, the installation and expansion of a battery array, an antenna and the like, the in-orbit butt joint of a large-scale independent cabin section and the construction of a larger-scale large-scale space structure.
Ground test verification is an important component of a space on-orbit task and is one of main means for ensuring normal operation of equipment and mechanisms in an actual application environment and meeting task requirements. The purpose of the test is to test or predict the function and performance of the space equipment and mechanism under all environmental conditions in the operation and service process, and to ensure that the equipment and mechanism meet the task requirements. On the one hand, the on-orbit construction ground verification is researched, the low-frequency vibration is caused by space, and on the other hand, the collision force (impact force or moment) is generated when the construction unit collides with the construction structure, the collision force can apply extra momentum to the construction structure, and the change of the momentum can affect the position and the posture of the construction structure to cause the vibration of the construction structure.
At present, the existing ground verification method is difficult to realize the overall performance verification of large-scale complex building objects, and for the ground verification method of on-orbit building, particularly, the research taking building structure dynamics response simulation as an entry point is less, so how to provide an accurate and stable building structure dynamics response simulation method, and based on the design of a task-level performance verification system, the method becomes a breakthrough for solving the problems in the field of on-orbit building ground verification.
Disclosure of Invention
The invention aims to provide a ground verification method and a ground verification system for on-orbit construction, which are used for performing dynamic response simulation of a construction structure, have the characteristics of accuracy, stability and simplicity in operation, and provide key environmental conditions for ground tests in the early stage of on-orbit construction.
In order to achieve the purpose, the invention provides the following scheme:
a method of ground validation for in-orbit construction, the method comprising the steps of:
s1, analyzing the motion characteristics and boundary conditions of an on-orbit construction structure to generate a motion curve;
s2, simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
and S3, testing the assembly process of each step in a simulation environment, estimating geometrical and mechanical parameters after assembly, and adjusting a subsequent assembly target to complete a construction task and ensure the robustness of an object.
Optionally, in step S1, analyzing the motion characteristic and the boundary condition of the in-orbit construction structure to generate a motion curve, specifically including:
s101, decomposing the on-orbit construction structure into a plurality of basic components;
s102, performing dynamic analysis on the basic assembly, analyzing an equivalent elastic matrix and an inertia matrix of the basic assembly by using a structural dynamic analysis algorithm, and calculating a rigidity matrix and a mass matrix;
s103, calculating the dynamic parameters of the on-orbit constructed structure according to a finite element analysis method to obtain the motion characteristics and boundary conditions of the on-orbit constructed structure;
and S104, randomly generating a motion curve according to the motion characteristics and the boundary conditions of the on-orbit building structure.
Optionally, in step S102, the structural dynamics analysis algorithm is modeled by using an equivalent beam modeling method, which specifically includes:
selecting a periodic unit of the truss structure based on the principle that the energy between the truss structure and the equivalent model of the continuous beam is equal to each other;
analyzing the relation between strain and displacement in the periodic unit, and representing the displacement at any point in the periodic unit as a function of the displacement and the rotation angle of the corresponding point on the central axis of the periodic unit;
obtaining the strain at any point in the periodic unit through the geometric relationship, deducing an expression of strain energy and kinetic energy of each member in the periodic unit with respect to the strain and velocity at the original point of the local coordinate system of the periodic unit, and further obtaining the strain energy and kinetic energy of the whole periodic unit;
selecting anisotropic beam sections with the length equal to that of the periodic unit, and deducing an equivalent elastic matrix and an inertia matrix, a rigidity matrix and a mass matrix of an equivalent continuous beam model of the periodic unit by respectively equalizing the strain energy and the kinetic energy of the beam sections with the same length with the strain energy and the kinetic energy of the periodic unit;
splicing the equivalent models of the periodic units to establish an equivalent beam model of the whole truss structure;
and carrying out dynamic response analysis on the equivalent beam model to obtain the motion characteristics and the boundary conditions.
Optionally, in step S3, testing each assembly process, estimating geometric and mechanical parameters after assembly, and adjusting a subsequent assembly target to complete a construction task and ensure robustness of an object, specifically including:
s301, collecting interaction force between a building unit and an on-orbit building structure in a building process, and estimating the change of geometric and mechanical parameters of an assembly target;
s302, adjusting the construction unit through a compliance control method, continuously adjusting the posture of the construction unit according to the interaction force information, and stably completing a construction task;
and S303, confirming whether the construction is finished or not through the force feedback information.
The invention also provides an on-orbit construction ground verification system, which is applied to the on-orbit construction ground verification method and comprises the following steps:
the structure dynamics analysis unit is used for analyzing the motion characteristics and boundary conditions of the on-orbit construction structure and generating a motion curve;
the motion simulation unit is used for simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
and the building unit is used for testing the assembly process of each step in the simulation environment, estimating the geometric and mechanical parameters after assembly, and adjusting the subsequent assembly target so as to complete the building task and ensure the stability of the object.
Optionally, the motion simulation unit includes a motion simulation device and a truss structure, and the construction unit is a construction robot.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the method and the system for verifying the on-orbit construction ground can achieve the effect of simulating the dynamic response of the structure in the on-orbit construction process on the ground by simulating the dynamic response of the on-orbit construction structure, and further carry out an on-orbit construction verification test on the ground, thereby providing a key environmental condition for the ground test at the early stage of the on-orbit construction.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a ground verification method of the present invention for in-orbit construction;
FIG. 2 is a flow chart of a spatial truss dynamics modeling method in an embodiment of the invention;
FIG. 3 is a block diagram of a ground verification system for space truss construction in an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a ground verification system for space truss construction according to an embodiment of the invention;
FIG. 5 is a schematic view of a truss periodic unit in an embodiment of the invention;
reference numerals are as follows: 1. building a robot; 2. a truss structure; 3. a motion simulation device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention aims to provide a ground verification method and a ground verification system for on-orbit construction, which are used for performing the dynamic response simulation of a construction structure, have the characteristics of accuracy, stability and simplicity in operation and provide key environmental conditions for ground tests in the early stage of on-orbit construction.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the ground verification method for on-orbit construction provided by the invention comprises the following steps:
s1, analyzing the motion characteristics and boundary conditions of an on-orbit construction structure to generate a motion curve;
s2, simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
and S3, testing the assembly process of each step in a simulation environment, estimating geometrical and mechanical parameters after assembly, and adjusting subsequent assembly targets to complete construction tasks and ensure the stability of the object.
In step S1, the motion characteristics and the boundary conditions of the in-orbit construction structure are analyzed to generate a motion curve, which specifically includes:
s101, decomposing the on-orbit construction structure into a plurality of basic components;
s102, performing dynamic analysis on the basic assembly, analyzing an equivalent elastic matrix and an inertia matrix of the basic assembly by using a structural dynamic analysis algorithm, and calculating a rigidity matrix and a mass matrix;
s103, calculating the dynamic parameters of the on-orbit construction structure according to a finite element analysis method to obtain the motion characteristics and boundary conditions of the on-orbit construction structure;
and S104, randomly generating a motion curve according to the motion characteristics and the boundary conditions of the on-orbit building structure.
As shown in fig. 2, in step S102, the structural dynamics analysis algorithm is modeled by using an equivalent beam modeling method, which specifically includes:
selecting a periodic unit of the truss structure based on the principle that the energy between the truss structure and the equivalent model of the continuous beam is equal to each other;
analyzing the relation between strain and displacement in the periodic unit, and expressing the displacement at any point in the periodic unit as a function of the displacement and the rotation angle of the corresponding point on the central axis of the periodic unit;
obtaining the strain at any point in the periodic unit through the geometric relationship, deducing an expression of strain energy and kinetic energy of each member in the periodic unit with respect to the strain and velocity at the original point of the local coordinate system of the periodic unit, and further obtaining the strain energy and kinetic energy of the whole periodic unit;
selecting anisotropic beam sections with the length equal to that of the periodic unit, and deducing an equivalent elastic matrix and an inertia matrix, a rigidity matrix and a mass matrix of an equivalent continuous beam model of the periodic unit by respectively equalizing the strain energy and the kinetic energy of the beam sections with the same length with the strain energy and the kinetic energy of the periodic unit;
splicing the equivalent models of the periodic units to establish an equivalent beam model of the whole truss structure;
and carrying out dynamic response analysis on the equivalent beam model to obtain the motion characteristics and the boundary conditions.
As shown in fig. 5, the relationship between the displacement of any point inside the periodic unit and the node strain, the rotation angle and the coordinate can be expressed as follows:
in the formula u 0 ,v 0 ,w 0 Represents the displacement at y = z =0, i.e. the displacement on the coordinate axis x;
φ x ,φ y ,φ z represents a turning angle;
u 0 ,v 0 ,w 0 ,φ x ,φ y ,φ z ,
are all functions of x only.
The 6 strain components at any node in the periodic unit are obtained as follows:
in the formula, epsilon x 、ε y 、ε z 、γ yz 、γ xz 、γ xy 、κ x 、κ y 、κ z Representing the strain component and the curvature component in the x, y and z directions; epsilon x 0 、ε y 0 、ε z 0 、γ yz 0 、γ xz 0 、γ xy 0 、κ x 0 、κ y 0 、κ z 0 Representing the strain component and curvature component at the origin with respect to the coordinates.
For the longitudinal and transverse rods, the strain energy calculation formula is:
wherein u, v, w are defined in the local coordinate system xyz of the member, x is along the axial direction of the member, EA, EI, GJ represent the axial tensile stiffness, bending stiffness and torsional stiffness of the member, respectively.
For the diagonal draw bar, the strain energy calculation formula is as follows:
the truss element total strain energy may be expressed as a function of the strain component and the curvature component at the origin of the coordinates:
in the formula, C ij Is a coefficient expression that is a function of the modulus of elasticity, cross-sectional area, and length of the rod.
The periodic elements are equivalent to an anisotropic beam model. The strain energy of an anisotropic beam can be expressed as
Gamma is the strain component on the beam neutral axis
Wherein D is an elastic matrix
Wherein diagonal elements E 'A', G 'A' y 、G′A′ z 、G′J′、E′I′ z 、E′I′ y Respectively representing the tensile stiffness, the shear stiffness, the torsional stiffness and the bending stiffness of the equivalent beam model; off-diagonal element eta ij Representing the coupling stiffness.
Let Uc = Ue obtain the elastic matrix D of the equivalent beam, where the elements in D are:
the kinetic energy of the anisotropic beam can be expressed as:
in the formula (I), the compound is shown in the specification,
the velocity vector of any point on the neutral axis of the equivalent beam is obtained; g is an inertia matrix, which is a symmetric matrix and can be expressed as:
wherein, the elements on the diagonal line respectively represent the mass, the torsion inertia coefficient and the bending inertia coefficient of the equivalent beam model in unit length, and the elements on the non-diagonal line are coupling mass parameters.
And (3) enabling the kinetic energy of the truss unit to be equal to the kinetic energy of the equivalent beam model Tc = Te, and obtaining an inertia matrix G, wherein the elements are as follows:
B ij is determined by the density of the cross members, the vertical members and the stay cables.
The cell stiffness matrix and cell mass matrix may be expressed as
Wherein, B is a strain matrix, N is a unit interpolation function matrix, and B = LN is provided.
Assembling the unit stiffness matrix, and introducing boundary conditions, and the obtained overall stiffness matrix and overall quality matrix can be expressed as:
wherein D and G are the equivalent elastic matrix and the equivalent inertial matrix, respectively.
The equation for undamped free vibration of the equivalent beam can be expressed as:
the general form of the equivalent beam model kinetic equation is:
m and K are respectively an overall mass matrix and an overall stiffness matrix of the equivalent beam model, F is an overall equivalent node load column vector, and C is a Rayleigh damping matrix.
In the step S3, in a simulation environment, each assembly process is tested, geometric and mechanical parameters after assembly are estimated, and a subsequent assembly target is adjusted to complete a construction task and ensure object robustness, which specifically includes:
s301, collecting interaction force between a building unit and an in-orbit building structure in the building process, and estimating the change of geometric and mechanical parameters of an assembly target;
s302, adjusting the construction unit through a compliance control method, continuously adjusting the posture of the construction unit according to the interaction force information, and stably completing a construction task;
and S303, confirming whether the construction is finished or not through the force feedback information.
As shown in fig. 3 to 4, the present invention further provides an on-orbit constructed ground verification system, which is applied to the on-orbit constructed ground verification method, and includes:
the structure dynamics analysis unit is used for analyzing the motion characteristics and boundary conditions of the on-orbit construction structure and generating a motion curve;
the motion simulation unit is used for simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
and the building unit is used for testing the assembly process of each step in a simulation environment, estimating the geometrical and mechanical parameters after assembly, and adjusting the subsequent assembly target to complete the building task and ensure the robustness of the object.
Wherein the motion simulation unit comprises a motion simulation device 3 and a truss structure 2, and the building unit is a building robot 1.
The method and the system for verifying the on-orbit construction ground can achieve the effect of simulating the dynamic response of the structure in the on-orbit construction process on the ground by simulating the dynamic response of the on-orbit construction structure, and further carry out an on-orbit construction verification test on the ground, thereby providing a key environmental condition for the ground test at the early stage of the on-orbit construction.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (3)
1. A ground verification method for in-orbit construction, comprising the steps of:
s1, analyzing the motion characteristics and boundary conditions of an on-orbit construction structure to generate a motion curve;
s2, simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
s3, testing each assembly process and estimating geometrical and mechanical parameters after assembly in a simulation environment, and adjusting subsequent assembly targets to complete construction tasks and ensure object robustness;
in the step S1, the motion characteristics and the boundary conditions of the in-orbit construction structure are analyzed to generate a motion curve, which specifically includes:
s101, decomposing the on-orbit construction structure into a plurality of basic components;
s102, performing dynamic analysis on the basic assembly, analyzing an equivalent elastic matrix and an inertia matrix of the basic assembly by using a structural dynamic analysis algorithm, and calculating a rigidity matrix and a mass matrix;
s103, calculating the dynamic parameters of the on-orbit constructed structure according to a finite element analysis method to obtain the motion characteristics and boundary conditions of the on-orbit constructed structure;
s104, randomly generating a motion curve according to the motion characteristics and the boundary conditions of the on-orbit construction structure;
in step S102, the structural dynamics analysis algorithm is modeled by an equivalent beam modeling method, and specifically includes:
selecting a periodic unit of the truss structure based on the principle that the energy between the truss structure and the equivalent model of the continuous beam is equal to each other;
analyzing the relation between strain and displacement in the periodic unit, and representing the displacement at any point in the periodic unit as a function of the displacement and the rotation angle of the corresponding point on the central axis of the periodic unit;
obtaining the strain at any point in the periodic unit through a geometric relationship, deducing expressions of strain energy and kinetic energy of each member in the periodic unit on the strain and velocity at the original point of the local coordinate system of the periodic unit, and further obtaining the strain energy and the kinetic energy of the whole periodic unit;
selecting anisotropic beam sections with the length equal to that of the periodic unit, and deducing an equivalent elastic matrix and an inertia matrix, a rigidity matrix and a mass matrix of an equivalent continuous beam model of the periodic unit by respectively equalizing the strain energy and the kinetic energy of the beam sections with the same length with the strain energy and the kinetic energy of the periodic unit;
splicing the equivalent models of the periodic units to establish an equivalent beam model of the whole truss structure;
performing dynamic response analysis on the equivalent beam model to obtain motion characteristics and boundary conditions;
in the step S3, in a simulation environment, each assembly process is tested, geometric and mechanical parameters after assembly are estimated, and a subsequent assembly target is adjusted to complete a construction task and ensure object robustness, which specifically includes:
s301, collecting interaction force between a building unit and an on-orbit building structure in a building process, and estimating the change of geometric and mechanical parameters of an assembly target;
s302, adjusting the construction unit through a compliance control method, continuously adjusting the posture of the construction unit according to interaction force information, and stably completing construction tasks;
s303, confirming whether construction is finished or not through force feedback information;
the relationship between the displacement of any point in the periodic unit and the node strain, the rotation angle and the coordinate is expressed as follows:
in the formula u 0 ,v 0 ,w 0 Represents the displacement at y = z =0, i.e. the displacement on the coordinate axis x;
φ x ,φ y ,φ z represents a turning angle;
the 6 strain components at any node in the periodic unit are obtained as follows:
in the formula, epsilon x 、ε y 、ε z 、γ yz 、γ xz 、γ xy 、κ x 、κ y 、κ z Representing the strain component and the curvature component in the x, y and z directions; epsilon x 0 、ε y 0 、ε z 0 、γ yz 0 、γ xz 0 、γ xy 0 、κ x 0 、κ y 0 、κ z 0 Representing a strain component and a curvature component at an origin with respect to coordinates;
for the longitudinal and transverse rods, the strain energy calculation formula is:
wherein u, v and w are defined in a local coordinate system xyz of the member, x is along the axial direction of the member, and EA, EI and GJ respectively represent axial tensile stiffness, bending stiffness and torsional stiffness of the member;
for the diagonal draw bar, the strain energy calculation formula is as follows:
the total strain energy of the truss element is expressed as a function of the strain component and the curvature component at the origin of the coordinates:
in the formula, C ij Is a coefficient expression, which is a function of the modulus of elasticity, cross-sectional area and length of the rod;
the periodic unit is equivalent to an anisotropic beam model, and the strain energy of the anisotropic beam is expressed as
Gamma is the strain component on the beam neutral axis
Wherein D is an elastic matrix
Wherein diagonal elements E 'A', G 'A' y 、G′A′ z 、G′J′、E′I′ z 、E′I′ y Respectively representing the tensile stiffness, the shear stiffness, the torsional stiffness and the bending stiffness of the equivalent beam model; off-diagonal element η ij Represents the coupling stiffness;
let Uc = Ue obtain the elastic matrix D of the equivalent beam, where the elements in D are:
the kinetic energy of the anisotropic beam is expressed as:
in the formula (I), the compound is shown in the specification,
the velocity vector of any point on the neutral axis of the equivalent beam is obtained; g is an inertia matrix, which is a symmetric matrix, and is specifically expressed as:
wherein, the elements on the diagonal line respectively represent the mass, the torsion inertia coefficient and the bending inertia coefficient of the equivalent beam model in unit length, and the elements on the non-diagonal line are coupling mass parameters;
and (3) enabling the kinetic energy of the truss unit to be equal to the kinetic energy of the equivalent beam model Tc = Te to obtain an inertia matrix G, wherein the elements are as follows:
B ij the size of the cross member depends on the density of the cross member, the vertical member and the stay cable;
the matrix of cell stiffness and the matrix of cell mass are expressed as
Wherein, B is a strain matrix, N is a unit interpolation function matrix, and B = LN;
assembling the unit rigidity matrix, introducing boundary conditions, and expressing the obtained overall rigidity matrix and the overall quality matrix as follows:
wherein D and G are an equivalent elastic matrix and an equivalent inertia matrix respectively;
the equation for undamped free vibration of the equivalent beam is then expressed as:
the general form of the equivalent beam model kinetic equation is:
m and K are respectively a total mass matrix and a total rigidity matrix of the equivalent beam model, F is a total equivalent node load column vector, and C is a Rayleigh damping matrix.
2. An on-orbit-construction ground authentication system applied to the on-orbit-construction ground authentication method of claim 1, comprising:
the structure dynamics analysis unit is used for analyzing the motion characteristics and boundary conditions of the on-orbit construction structure and generating a motion curve;
the motion simulation unit is used for simulating the motion state of any configuration of the constructed object in the boundary condition in the in-orbit construction process based on the motion curve;
and the building unit is used for testing the assembly process of each step in the simulation environment, estimating the geometric and mechanical parameters after assembly, and adjusting the subsequent assembly target so as to complete the building task and ensure the stability of the object.
3. The in-orbit constructed ground verification system of claim 2, wherein the motion simulation unit comprises a motion simulation device and a truss structure, and the construction unit is a construction robot.
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| 空间碎片接近及捕获技术地面试验调研研究;李扬等;《空间碎片研究》;中国航天系统科学与工程研究院;20181231;第18卷(第3期);全文 * |
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