CN113946914B - Torque dynamics simulation method of rotary asteroid sampling device - Google Patents
Torque dynamics simulation method of rotary asteroid sampling device Download PDFInfo
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- 238000005070 sampling Methods 0.000 title claims abstract description 112
- 238000004088 simulation Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 45
- 239000002245 particle Substances 0.000 claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 102100021807 ER degradation-enhancing alpha-mannosidase-like protein 1 Human genes 0.000 claims abstract description 12
- 101000895701 Homo sapiens ER degradation-enhancing alpha-mannosidase-like protein 1 Proteins 0.000 claims abstract description 12
- 230000008878 coupling Effects 0.000 claims abstract description 12
- 238000010168 coupling process Methods 0.000 claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 claims abstract description 12
- 238000011439 discrete element method Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 239000002689 soil Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 6
- 238000012805 post-processing Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 4
- 230000005486 microgravity Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/25—Design optimisation, verification or simulation using particle-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention relates to a torque dynamics simulation method of a rotary asteroid sampling device. Firstly, setting particle and material parameters in EDEM; then respectively introducing the sampling device model into EDEM and Adams, and setting material parameters of each part of the sampler; then, rotation constraint is applied to the mass center positions of the two rotating shafts of the model, displacement constraint is applied to other parts, and driving parameters are respectively set according to working condition parameters; adding a general force vector to the moving component, setting a simulation time step, and starting an EDEM-Adams coupling simulation; and finally, outputting a graph of the torque change of the two rotating shafts along with time in the sampling process by Adams post-processing, and obtaining the maximum torque of the rotary wheel brush in the sampling process. The invention is suitable for the outer space microgravity environment, is used for optimizing the structural parameters of the symmetrical rotary sampling mechanism, provides important reference indexes for the design of the asteroid sampling mechanism, and improves the reliability of a mechanical system.
Description
Technical Field
The invention belongs to the technical field of deep space exploration simulation analysis, and particularly relates to a torque dynamics simulation method of a rotary asteroid sampling device.
Background
The asteroid sampling detection is one of hot spot directions of space science and deep space detection research, and is an important means for researching the origin evolution and formation rule of solar systems. The asteroid surface bears abundant scientific information, contains abundant rare elements and noble metals, and has great utilization value. The development of the asteroid sampling detection activity has important scientific and engineering significance.
The minor planet has a small volume and mass, so that the surface has little gravity, which results in that long-term landing sampling cannot be achieved on the minor planet surface. Meanwhile, the reaction force generated in the sampling process can push the sampler away from the asteroid, and the characteristic makes the traditional methods such as excavation sampling, drilling sampling and the like difficult to apply, and a novel sampling mode with small sampling force is required.
The sampler requires high reliability and ensures light weight because the asteroid is far from earth and the cost of bringing space on the device is huge. The motor is an important power source of the mechanical system, and the selection of the model is important to the space sampling detection task, so that the torque required by the sampling process needs to be predicted. Because it is difficult to simulate a gravity-free space experimental environment on earth, motion prediction in space is mainly verified by a motion simulation method. How to accurately predict and verify the torque, so that the accuracy of the result is higher, has become a technical difficulty at the present stage.
Disclosure of Invention
Aiming at the problems, the invention provides a torque dynamics simulation method of a rotary asteroid sampling device, which is used for predicting the torque of a rotary mechanism in a microgravity space environment and is used as an important index and an optimization target of the design of the asteroid sampling device.
In order to achieve the above purpose, the present invention adopts the following technical scheme: a torque dynamics simulation method of a rotary asteroid sampling device comprises the following steps: setting a particle layer model to be sampled, a sampling device model and contact parameters between the particle layer model and the sampling device model, and adding connection constraint and driving force of a sampling device moving component; and in the simulation sampling process, a torque-time curve chart of a moving component of the sampling device is output and is used for observing a simulation result and continuously correcting a sampling device model through iterative simulation.
The method comprises the following steps:
step 1: setting a particle layer in the EDEM according to a DEM discrete element method;
step 2: establishing a sampling device model, respectively leading the simplified model into Adams and EDEMs, and setting material parameters of each part of the sampler;
step 3: setting contact parameters between particles and materials in the EDEM;
step 4: applying rotation constraint to two rotating shafts of the sampling device model, applying displacement constraint to a shell of the sampling device model, fixedly connecting a bearing connecting piece with the shell of the sampler, and setting driving forces for the two constraints respectively according to working conditions;
step 5: performing simulation analysis on the sampling process, adding a general force vector GFORCE to each moving component in Adams, setting a simulation time step, opening an EDEM coupling simulation interface, and starting EDEM-Adams coupling simulation;
step 6: after the simulation is finished, the simulation enters an Adams post-processing interface, a torque-time curve graph is output, and the peak value of the curve graph is marked, so that the maximum torque of the sampling wheel brush in the sampling process is obtained.
The particle layer is used for simulating an asteroid surface weathering layer, a particle model is established according to the material parameters of lunar soil, and the particle size range is 4-25 mm; particle model parameters include particle size, shape, density of the particle material, poisson's ratio and shear modulus; the material parameters of each part of the sampler include the density, poisson's ratio and shear modulus of the material.
The sampling device is of a symmetrical rotary structure and comprises a sampler shell, 2 sampling wheel brushes and a bearing connecting piece; the sampling wheel brushes are in rotary connection with the inner wall of the sampler shell through bearing connectors, and 2 sampling wheel brushes rotate reversely relatively, wherein the sampling wheel brushes comprise a base shaft and brushes, and cylindrical brushes are uniformly distributed on the outer surface of the base shaft and are staggered; the sampler shell is also arranged on the linear module so that the sampler reciprocates up and down along the linear module. The sampler shell is made of acrylic, the sampling wheel brush and the bearing connecting piece are made of 6061 aluminum alloy, and related parameters can be obtained through an instruction manual query method.
The sampler shell comprises a sample box and a guide cover arranged at the lower part of the sample box, the center of the top of the sample box extends downwards to form a guide angle, the bottom of the sample box is communicated with the guide cover, and a baffle plate is arranged at the edge of the bottom of the sample box.
The contact parameters between the particles are obtained through an inquiry manual, and the contact parameters between the particles and the materials of the sampling device comprise a recovery coefficient, a sliding friction coefficient and a rolling friction coefficient, and are obtained through a parameter calibration test mode.
The maximum torque of the sampling wheel brush is calculated by readjusting the working condition parameters of the sampling wheel brush and iterative simulation of the structural parameters of the sampling wheel brush. The working condition parameters comprise: the descending displacement and landing time of the sampler, the rotating shaft rotating speed and starting time, the gravity acceleration, the material parameters and the thickness attribute; the structural parameters comprise the distance between sampling wheel brushes and the shape and arrangement mode of the bristles of the sampling wheel brushes.
The rotation constraint is that rotation constraint relative to the sampler shell is applied to the two wheel brushes, the left wheel brush is set to be in a counterclockwise direction, and the right wheel brush is set to be in a clockwise direction; the displacement constraint refers to the fact that the displacement constraint relative to the ground is applied to the sampler shell, and the bearing connecting piece is fixedly connected with the sampler shell, so that the displacement synchronization of the sampling device is achieved.
The general force vector GFORCE is a combination set of three directional forces and three directional moments, the simulation time step length is a ratio of the total simulation time to the simulation step number, and the EDEM-Adams coupling simulation is started by setting a cosim file.
Selecting a Torque-time curve graph with a general force vector GFORCE as an object and a Torque as a characteristic, marking a Torque peak in the graph, and obtaining the maximum Torque in the sampling process; and outputting torque information when the sampling wheel brush is contacted with the particles through an Adams post-processing interface, and outputting a visual view of the movement of the particles through the EDEM.
The invention has the following advantages and beneficial effects:
1. the invention provides a nonlinear dynamic torque simulation method for a rotary asteroid sampling device, which provides an important reference index for the design of a asteroid sampling mechanism.
2. The method provided by the invention can optimize the structural parameters of the symmetrical rotary sampling mechanism.
3. The invention carries out process simulation aiming at the asteroid sampling mechanism in the microgravity outer space environment, improves the reliability of a mechanical system and ensures the successful completion of tasks.
Drawings
FIG. 1 is a flow chart of a method according to the present invention;
FIG. 2 is a left and right isometric view of a simplified three-dimensional geometric model of a rotary asteroid sampling device;
FIG. 3 is an exploded view of a simplified three-dimensional geometric model of a rotary asteroid sampling device;
FIG. 4 is a cross-sectional view of a simplified three-dimensional geometric model of a sampler housing;
FIG. 5 is a graph of torque versus time output by Adams post-processing after a certain simulation is completed;
FIG. 6 is an illustration of a sampling process coupling simulation process for a rotary asteroid sampling device;
wherein: 1 is a sampler shell, 2 is a sampling wheel brush, 3 is a bearing connecting piece, 4 is a guide angle, 5 is a baffle plate, 6 is a sample box, and 7 is a guide cover.
Detailed Description
In order to make the objects, features and advantages of the present invention more apparent, a detailed description of embodiments of the invention will be given below with reference to the accompanying drawings.
A flow chart of the method of the present invention is shown in fig. 1.
The method comprises the following steps:
1) According to the DEM discrete element method, a asteroid surface weathering layer model is established by using particulate matters. Relevant particles and material parameters were set in EDEM using the Hertz-Mindlin model. The particle size of the DEM model can be set to be 4-25 mm, and the single-sphere particle model with the particle size of 6mm is uniformly adopted in the embodiment. In addition to particle size and particle shape, particle parameters include density, poisson's ratio, and shear modulus of the particles themselves. The material parameters include density, poisson ratio and shear modulus of the profile of each part of the sampler, and further include particle-to-particle and particle-to-material recovery coefficients, static friction coefficients and dynamic friction coefficients. The present example provides a single particle and three materials, requiring a total of 24 different parameters, all of which can be obtained by means of an inquiry manual and calibration tests.
2) The contact parameters between the particles and the materials can be obtained by a material parameter calibration method. Wherein the coefficient of restitution between the particles and the material can be calculated by measuring the rebound height of the particles on the particular material, which coefficient of restitution is equal to the ratio of rebound height to drop height; the friction coefficient between particles and materials can be calculated through a sloping plate test, the sloping plate composed of different materials is lifted at a constant speed, the particles on the sloping plate slide along with the lifting of the sloping plate, the sloping plate inclination angle at the moment is recorded, the friction coefficient of the particles on the sloping plate material is the tangent value of the sloping plate inclination angle, the rolling friction coefficient can be measured by singly placing the particles, and the sliding friction coefficient can be measured by sticking a plurality of the particles on a plane.
3) The internal structure of the real sampler is complex, the efficiency is reduced and even errors are reported when the real sampler is directly used for simulation, so that the structure of the sampler is required to be simplified, the important structure of a sampling wheel brush is reserved, fixing devices such as a bearing connecting piece and the like are simplified into one part, and a guide cover, a sample box, a guide angle and a baffle plate are integrated into one part, so that the real sampler is simplified into a complex one, and the follow-up motion parameter setting is facilitated.
4) Different connection relations and driving parameters are set for the moving parts of the sampler according to different working conditions of falling displacement and time of the sampler, working rotation speed of the sampling wheel brush and acceleration of environmental gravity. Wherein, the sampling wheel brush fixed shaft rotates, a rigid rotating shaft is established at the center of mass of the rotating shaft axis, and the displacement and the rotating speed are restrained; the other parts of the sampler move downwards according to the sampling flow, and rotation constraint is applied to the mass center of each part, so that the displacement constraint can be applied to the sampler shell only for simplifying the operation flow, and the other parts are fixedly connected with the sampler shell, so that the displacement synchronization is realized. On the basis of the motion constraint relation of each component, driving is added in a function mode according to working conditions, and the kinematic requirements of the components are met.
5) A general force vector is added to each moving member and each general force vector is defined in the form of a subroutine. Coupling connection is carried out by adopting a cosim file, and corresponding coupling components are arranged in the cosim file in advance. Setting a proper time step in a solver of the EDEM, and establishing the EDEM-Adams coupling simulation on the basis of the Adams.
6) And selecting a Torque-time curve graph by taking a general force vector GFORCE as an object and taking Torque as a characteristic output Torque-time curve graph after coupling simulation is finished, and marking a Torque peak value in the graph, namely the maximum Torque in the whole sampling process.
7) The sampling effect can be intuitively displayed by outputting the motion information of the particles through the EDEM.
Fig. 2 is a left and right isometric view of a simplified three-dimensional geometric model of a rotary asteroid sampling device.
An exploded view of the structure is shown in fig. 3. Wherein 1 is a simplified sampler housing, 2 is a sampling wheel brush, and 3 is a simplified bearing connector.
A simplified cross-sectional view of the sampler housing is shown in fig. 4. Wherein 4 is a guide angle of 60 degrees, the top is a round angle of R2, 5 is a baffle plate, 6 is a sample box, and 7 is a guide cover.
In the process of rotationally symmetric movement, the particulate matters below the sampling wheel brush can be rolled up, initial-speed upward movement is obtained under the microgravity environment, the sampling wheel brush collides with the guide angle 4 after passing through the guide cover, and partial particles with smaller particle sizes enter the sample box 6 after passing through the baffle plate 5, so that the collection task of the asteroid surface samples is completed.
The torque versus time plot of a single sample wheel brush output by the Adams post-processing interface after a certain simulation is completed is shown in fig. 5. The sampling wheel brush rotates around the X axis in the setting, so that special attention is required to the torque along the X axis. The extraneous high frequency impact signal can be filtered out by a filter curve in Adams post-processing. From the analysis of the curves, the maximum torque of the sampling wheel brush is 0.9N.m in the present simulation.
FIG. 6 is a schematic diagram of a sampling process coupling simulation of a rotary asteroid sampling device, and the simulation animation and the drawing can be called in an EDEM. By observing the simulation result of the sampling process, working condition parameters such as the rotation speed of the sampling wheel brush, the sampling time and the like, and structural parameters such as the interval of the sampling wheel brush, the shape and arrangement mode of the bristles of the sampling wheel brush and the like are continuously corrected, so that the sampling efficiency is improved, the optimal rated torque of the sampling wheel brush is extracted from the sampling efficiency, and theoretical support of parameter indexes is provided for the structural design of the asteroid sampling device.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The torque dynamics simulation method of the rotary asteroid sampling device is characterized by comprising the following steps of:
setting a particle layer model to be sampled, a sampling device model and contact parameters between the particle layer model and the sampling device model, and adding connection constraint and driving force of a sampling device moving component; the simulation sampling process outputs a torque-time curve graph of a moving component of the sampling device, and is used for observing a simulation result and continuously correcting a sampling device model through iterative simulation;
the sampling device is of a symmetrical rotary structure and comprises a sampler shell (1), 2 sampling wheel brushes (2) and a bearing connecting piece (3); the sampling wheel brushes (2) are rotationally connected with the inner wall of the sampler shell (1) through bearing connectors (3), the 2 sampling wheel brushes (2) rotate reversely relatively, the sampling wheel brushes (2) comprise base shafts and hairbrushes, and the hairbrushes are uniformly distributed on the outer surfaces of the base shafts and are distributed in a staggered manner; the sampler shell (1) is also arranged on the linear module;
the method comprises the following steps:
step 1: setting a particle layer according to a DEM discrete element method;
step 2: establishing a sampling device model, and setting material parameters of each part of the sampler;
step 3: setting contact parameters between particles and materials;
step 4: applying rotation constraint to two rotating shafts of the sampling device model, applying displacement constraint to the shell of the sampling device model, and setting driving force to the two constraints;
step 5: performing simulation analysis on the sampling process, adding a general force vector GFORCE to each moving component, setting a simulation time step, and starting coupling simulation;
step 6: and outputting a torque-time curve graph to obtain the maximum torque of the sampling wheel brush in the sampling process.
2. The torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein the particle layer is used for simulating an asteroid surface weathering layer, the particle model is established according to the material parameters of lunar soil, and the particle size range is 4-25 mm.
3. The torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein the sampler shell (1) comprises a sample box (6) and a guide cover (7) arranged at the lower part of the sample box, the center of the top of the sample box (6) extends downwards to form a guide angle (4), the bottom of the sample box is communicated with the guide cover (7), and a baffle plate (5) is arranged at the edge of the bottom of the sample box (6).
4. The torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein the particle-particle contact parameters are obtained through an inquiry manual, and the particle-particle contact parameters comprise a coefficient of restitution, a sliding friction coefficient and a rolling friction coefficient, and are obtained through a parameter calibration test.
5. The torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein the process of obtaining the maximum torque of the sampling wheel brush is calculated by adjusting the sampling wheel brush working condition parameters and the sampling wheel brush structural parameters again through iterative simulation.
6. The torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein the rotation constraint means that rotation constraint is applied to two wheel brushes relative to a sampler housing, a left wheel brush is set to be in a counterclockwise direction, and a right wheel brush is set to be in a clockwise direction; the displacement constraint refers to the fact that the displacement constraint relative to the ground is applied to the sampler shell, and the bearing connecting piece is fixedly connected with the sampler shell, so that the displacement synchronization of the sampling device is achieved.
7. The torque dynamics simulation method of a rotary asteroid sampling device according to claim 1, wherein the general force vector GFORCE is a set of three directional forces and three directional moments, and the simulation time step is a ratio of a total simulation time to a number of simulation steps.
8. The Torque dynamics simulation method of the rotary asteroid sampling device according to claim 1, wherein after coupling simulation is finished, a general force vector GFORCE is taken as an object, a Torque is taken as a characteristic output Torque-time graph, and the maximum Torque in the sampling process is obtained; and outputting torque information when the sampling wheel brush is in contact with the particles, and outputting a visual view of the movement of the particles through the EDEM.
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