CN114313323B - Evaluation method of gravity environment in lander touch simulation test - Google Patents
Evaluation method of gravity environment in lander touch simulation test Download PDFInfo
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Abstract
The invention discloses a method for evaluating a gravity environment in a lander touch simulation test, which comprises the steps of firstly determining a gravity compensation evaluation index, then determining a real landing speed interval [ V2, V1] of an ignition stage according to a landing speed set value Vr, enabling the lander to land at the speed of Vr, V1 and V2 on a 0-degree slope in a non-ignition stage to obtain a gravity compensation value, respectively landing on slopes with different inclination angles at the speed of Vr to obtain the gravity compensation value, enabling the lander to land on a simulated ground surface in the ignition stage to obtain the gravity compensation value, and finally evaluating whether the gravity environment in the touch simulation test is accurate by judging whether the gravity compensation value in the steps meets the gravity compensation evaluation index. According to the invention, the changeable landing speed, landing surface inclination and the like are considered, the capacity of the touchdown simulation test device for providing the extraterrestrial gravity environment can be fully checked, and the parameters of the touchdown simulation test device can be adjusted according to the evaluation result, so that the touchdown simulation test device is favorable for accurately providing the gravity environment simulation.
Description
Technical Field
The invention belongs to the technical field of spacecraft recovery landing and low-gravity extraterrestrial landing take-off tests, and relates to an evaluation method of a gravity environment in a lander touch simulation test.
Background
In the landing process of the extraterrestrial celestial body lander on the extraterrestrial celestial body ground surface, taking a Mars as an example, in the landing process of the Mars lander on the Mars ground surface, in order to obtain key control and design parameters in the landing process, a ground verification test of the Mars lander landing is required, and the key of the test is that the gravity environment of the Mars surface is simulated on the ground, and how to verify whether the test device can successfully provide the gravity environment of the Mars surface is a technical problem to be solved.
The touchdown simulation test of the Mars lander has less research, and the whole touchdown process of the Mars lander needs to provide a Mars gravity environment in real time. In an actual landing process, the speed of the lander is not constant, but fluctuates around a preset value, and moreover, the topography of the Mars surface is complex and various, the height fluctuation and the possibility of landing the lander landing slope are extremely high, which all have difficulty in simulating the actual landing process.
Disclosure of Invention
The invention aims to overcome the defects, and provides an evaluation method of a gravity environment in a lander touch simulation test, which comprises the steps of firstly determining a gravity compensation evaluation index for evaluating whether the gravity environment in the touch simulation test is accurate according to the gravity environment of a target planet, then determining a real landing speed interval [ V2, V1] of a lander in an ignition stage according to a given value Vr of the landing speed of the lander, enabling the lander to land at speeds of Vr, V1 and V2 under a landing condition of 0-degree slope in an engine non-ignition stage to obtain a gravity compensation value, enabling the lander to land at slopes of different inclination angles respectively at speeds of Vr to obtain the gravity compensation value, enabling the lander to land on a simulated ground surface in an engine ignition stage to obtain the gravity compensation value, and finally evaluating whether the gravity environment in the touch simulation test is accurate by judging whether the gravity compensation value in the steps meets the gravity compensation evaluation index. According to the method, factors such as changeable landing speed and gradient of the landing surface are considered in the evaluation process, the capacity of the touchdown simulation test device for providing the extraterrestrial gravity environment can be fully checked, parameters of the touchdown simulation test device can be adjusted according to the evaluation result of the method, the simulation of the gravity environment can be accurately provided, meanwhile, the landing capacity of the lander under different landing speeds and different landing gradients can be checked, and the control parameters of the lander can be further corrected according to the feedback landing condition.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a method for evaluating a gravity environment in a lander touch simulation test comprises the following steps:
(1) Determining a gravity compensation evaluation index for evaluating whether the gravity environment in the touch simulation test is accurate according to the gravity environment of the target planet;
(2) Determining a real landing speed interval [ V2, V1] of the lander in an ignition stage according to a given value Vr of the landing speed of the lander, wherein V2 is smaller than Vr and smaller than V1;
(3) In the non-ignition stage of the lander engine, landing the lander at speeds of Vr, V1 and V2 under the landing condition of a 0-degree slope to obtain gravity compensation values Gr, G1 and G2 corresponding to the Vr, the V1 and the V2;
(4) In the non-ignition stage of the lander engine, the lander is respectively landed on n slopes with different inclination angles at the speed of Vr to obtain n gravity compensation values G' r 1 ～G'r n The method comprises the steps of carrying out a first treatment on the surface of the The inclination angles of the n slopes are more than or equal to 0 degrees, and n is more than or equal to 3;
(5) In the engine ignition stage of the lander, the lander lands on the simulated ground surface in the touch simulation test to obtain a gravity compensation value G' r;
(6) Judging Gr, G1 and G2 obtained in the step (3), and G' r obtained in the step (4) 1 ～G'r n And (3) judging whether G' r obtained in the step (5) meets the gravity compensation evaluation index, if so, accurately simulating the gravity environment in the test, and if not, inaccurately simulating the gravity environment in the test.
Further, in the step (1), the gravity compensation evaluation index includes a gravity compensation evaluation index in a non-ignition stage and a gravity compensation evaluation index in an ignition stage;
in the step (6), gr, G1 and G2 obtained in the step (3) and G' r obtained in the step (4) are judged 1 ～G'r n Whether the gravity compensation evaluation index in the misfire stage is satisfied or not, G is obtained in the step (5)And (3) whether r meets the gravity compensation evaluation index in the ignition stage, if so, the gravity environment in the touch simulation test is accurate, and if not, the gravity environment in the touch simulation test is inaccurate.
Further, in the step (1), the gravity compensation evaluation index in the misfire stage is a fluctuation interval of the gravity compensation value in the misfire stage obtained from the gravity compensation value in the misfire stage and the fluctuation error range; the gravity compensation evaluation index in the ignition stage is an ignition stage gravity compensation value fluctuation interval obtained from the ignition stage gravity compensation value and fluctuation error range;
the gravity compensation values of the misfire stage and the ignition stage are determined according to the gravity environment of the target planet.
Further, in the step (6), gr, G1 and G2 obtained in the step (3) and G' r obtained in the step (4) are judged 1 ～G'r n Whether the G' r obtained in the step (5) falls within the range of the fluctuation of the gravity compensation value in the non-ignition stage or not is judged, if so, the gravity environment in the touch simulation test is accurate, and if not, the gravity environment in the touch simulation test is inaccurate.
Further, in the step (2), V2 and V1 respectively fluctuate downward by 20-60% and fluctuate upward by 20-60% at Vr.
Further, in the step (4), the inclination angles of the n=3 and 3 different inclination angle slopes are 0 °,4 ° and 8 °, respectively.
Further, the fluctuation error range is 5-15%.
Further, in the step (3), in the engine misfire stage of the lander, the lander is landed at speeds of Vr, V1 and V2 under a landing condition of 0 ° slope, so as to obtain gravity compensation values Gr, G1 and G2 corresponding to Vr, V1 and V2, and the above process is repeated for 3-10 times, so as to obtain a plurality of groups of gravity compensation values Gr, G1 and G2;
in the step (4), during the engine misfire stage of the lander, the lander is landed on n slopes with different inclination angles at the speed of Vr to obtain n gravity compensation values G' r 1 ～G'r n The method comprises the steps of carrying out a first treatment on the surface of the The inclination angles of the n slopes are more than or equal to 0 degrees, n is more than or equal to 3, and the process is repeated for 3-10 times to obtain a plurality of groups of gravity compensation values G' r 1 ～G'r n 。
Compared with the prior art, the invention has the following beneficial effects:
(1) The evaluation method fully considers the real and complex landing environment of the extraterrestrial celestial body lander, comprises changeable landing speeds and changeable terrains of landing areas, and can fully test the capacity of the grounding simulation test device for providing the extraterrestrial celestial body gravity environment;
(2) According to the evaluation method, the lander engine is not required to be ignited for multiple times, the gravity environment in the touch simulation test can be evaluated only by one ignition, the waste of substances and energy sources is avoided, the consumption of the working life of the engine is avoided, and the safety and the reliability of the evaluation process are further improved;
(3) The test method disclosed by the invention has universality, is not only suitable for landing simulation tests of Mars landers, but also can be popularized to touch simulation tests of other types of landers;
(4) The test method of the invention simultaneously checks the landing capability of the lander under different landing speeds and different landing gradients, and can further correct the control parameters of the lander according to the landing conditions fed back, thereby predicting the landing process under the environment of real Mars or other extraterrestrial celestial bodies.
Drawings
Fig. 1 shows the gravity compensation values obtained by testing the misfire stage of example 1 of the present invention under a 0 ° slope landing condition at a landing velocity v2=0.9 m/s;
fig. 2 is a graph showing the gravity compensation value obtained by testing the misfire stage of example 1 of the present invention under the 0 ° slope landing condition at the landing speed vr=1.5 m/s;
fig. 3 shows the gravity compensation values obtained by testing the misfire stage of example 1 of the present invention under a 0 ° slope landing condition at a landing velocity v1=2.1 m/s;
fig. 4 shows the gravity compensation values obtained by testing the misfire stage of example 1 of the present invention under the 0 ° slope landing condition at a landing speed vr=1.5 m/s;
fig. 5 shows the gravity compensation values obtained by testing the misfire stage of example 1 of the present invention under 4 ° slope landing conditions at a landing speed vr=1.5 m/s;
fig. 6 shows the gravity compensation values obtained by testing the misfire stage of example 1 of the present invention under 8 ° slope landing conditions at a landing speed vr=1.5 m/s;
FIG. 7 is a graph showing the gravity compensation values obtained by the simulated earth surface landed in the touchdown simulation test during the ignition phase of example 1 of the present invention;
FIG. 8 is a schematic diagram of landing situations of landers in the evaluation method of embodiment 1 of the present invention; wherein (a) is a non-ignition stage landing on a 0 ° slope at a landing speed V1, (b) is a non-ignition stage landing on a 0 ° slope at a landing speed Vr, (c) is a non-ignition stage landing on a 0 ° slope at a landing speed V2, (d) is a non-ignition stage landing on a 4 ° slope at a landing speed Vr, (e) is a non-ignition stage landing on an 8 ° slope at a landing speed Vr, (f) is an ignition stage landing on a 0 ° slope;
FIG. 9 is a schematic view of the touch simulation test apparatus used in example 1;
FIG. 10 is a schematic view of a tension adjusting mechanism in the touch simulation test apparatus used in example 1.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the method, firstly, according to a given value Vr of the landing speed of the lander, a real landing speed interval [ V2, V1] of the landing stage of the lander is determined around 20-60% of the up-and-down fluctuation of the speed value, and meanwhile, the maximum landing speed of the lander in the evaluation process is set as V1, and the minimum landing speed is set as V2; then, when the engine is not ignited, the landing conditions under the three groups of test conditions are obtained by respectively testing at landing speeds Vr, V1 and V2 under the landing condition of 0-degree slope; when the engine is not ignited, the engine is landed on slopes with different inclination angles respectively at a real landing speed Vr, so as to obtain landing conditions under the slopes with different inclination angles; and finally, landing the lander on a 0-degree slope in an ignition state to obtain the landing condition of the lander. Specifically, the invention is carried out according to the following steps:
1) Determining a gravity compensation evaluation index according to the gravity environment of the target planet, namely a gravity compensation value fluctuation interval obtained according to a gravity compensation value and a corresponding fluctuation error range, wherein the gravity compensation evaluation index comprises a gravity compensation evaluation index in a non-ignition stage and a gravity compensation evaluation index in an ignition stage; giving a given value Vr of landing speed of the lander, and determining a real landing speed interval [ V2, V1] of the landing stage of the lander around 20-60% of the fluctuation of the speed value, namely the landing maximum speed V1 and the landing minimum speed V2 in the evaluation process test of the invention.
2) Engine misfire phase: setting three or more groups of slopes with different inclination angles according to the terrain complexity of the target planet, respectively testing at landing speeds Vr, V1 and V2 under the landing condition of 0-degree slope to obtain landing conditions under the three groups of test conditions, and recording the gravity compensation value of each group; then landing on slopes with different inclination angles respectively at the landing speeds Vr, and recording the gravity compensation value of each group.
An engine ignition stage: the lander lands on the simulated ground surface in the touchdown simulation test to obtain data of a gravity compensation value, and the landing speed of the lander fluctuates in the [ V2, V1] interval in the process.
3) And analyzing the gravity compensation values of the tests in each group, and determining whether the gravity environment simulation of the target planet is accurate in the touch simulation test by checking whether the gravity compensation values meet the gravity compensation evaluation index.
Example 1:
in this embodiment, a device for a touch simulation test for forming a gravitational environment in a touch simulation test is shown in fig. 9 and 10, and the device includes: a constant tension mechanism and a support frame 3. The support frame 3 is fixed on a rapid follow-up system of the touch simulation test platform; the constant tension mechanism is arranged on the supporting frame 3 and is used for realizing the large-stroke gravity compensation of the adjustable lander. The constant tension mechanism comprises: the tension adjusting mechanism 1, the parallel spring group 2, the guide rod 4, the wire rope I5, the supporting base 6, the fixed pulley I7, the front fork 8, the swinging rod 9, the fixed pulley II 10 and the wire rope II 11. Wherein the tension adjusting mechanism 1 and the supporting base 6 are arranged on the supporting frame 3; one end of the parallel spring group 2 is connected with the tension adjusting mechanism 1, and the other end is connected with the front fork 8 by bypassing the fixed pulley I7 through the steel wire rope I5; the front fork 8 is connected with the swinging rod 9 in the form of a revolute pair; the swinging rod 9 is restrained with the supporting base 6 in a revolute pair mode; one end of the guide rod 4 is fixedly connected with the parallel spring group 2, and the other end is fixedly connected with the support base 6; the fixed pulley II 10 is connected with the swing rod 9 through a revolute pair; one end of the steel wire rope II 11 is fixedly connected with the lander, and the other end of the steel wire rope II spans over the fixed pulley II 10 and is fixedly connected with the supporting base 6.
In the landing process of the landing gear, force generated by the landing gear gravity is transmitted to the swinging rod 9 through the steel wire rope II 11 and the fixed pulley II 10, the front fork 8 transmits the force of the swinging rod 9 to the parallel spring group 2 through the steel wire rope I5, and balance of the landing gear gravity is achieved by means of the elasticity of the springs of the parallel spring group 2. That is, the force generated by landing the lander is finally transferred to the parallel spring set 2, so as to drive the extension and contraction of the parallel spring set 2, which is equivalent to directly connecting the lander with a zero free length spring, thereby realizing the gravity unloading, namely the gravity compensation, of the lander. Wherein, the guide rod 4 has the following functions: the influence caused by the weight of the parallel spring group 2 is reduced, and the linear motion of the parallel spring group 2 is ensured. In addition, the rated lander mass of the device can be changed by adjusting the tension adjusting mechanism 1, so that the gravity unloading of landers with different masses under the same device can be realized. The position of the connecting point of the front fork 8 and the swinging rod 9 is adjustable, and the stroke size can be adjusted by changing the position of the connecting point of the front fork 8 and the swinging rod 9. The tension adjusting mechanism 1 specifically includes: the device comprises a mounting bottom plate 12, a ball linear guide rail 13, a lead screw 14, a connecting rod 15 and a connecting rod support 16. Wherein the mounting base plate 12 is mounted on the support frame 3; the ball linear guide rail 13 and the screw rod 14 are transversely arranged on the mounting bottom plate 12; the connecting rod support 16 is arranged on the ball linear guide rail 13 and can move transversely along the ball linear guide rail 13 under the action of the lead screw 14; one end of the connecting rod 15 is fixed on the connecting rod support 16, and the other end is connected with one end of the parallel spring group 2. The screw rod 14 rotates to drive the connecting rod support 16 to transversely move, so that the connecting rod 15 is driven to transversely displace, and the transverse displacement of the connecting rod 15 drives the connected parallel spring group 2 to shrink and stretch, so that the gravity compensation of landers with different masses is realized.
The evaluation method of the invention is shown in fig. 8, and comprises the following specific steps:
1) Determining an evaluation index according to the gravity environment of the Mars: the gravity compensation value in the non-ignition stage is 7200N, the gravity compensation value in the ignition stage is 4800N, and the corresponding fluctuation error range is +/-10%; giving a given value vr=1.5 m/s of landing speed of the lander, determining that the maximum speed of landing in the test is v1=2.1 m/s and the minimum speed is v2=0.9 m/s around 40% of the fluctuation of the speed value, namely that the landing speed V fluctuates in the range of [0.9m/s,2.1m/s ] in the ignition stage;
2) Engine misfire phase: according to the topography complexity of the Mars, three groups of slopes with different inclination angles (0 DEG, 4 DEG and 8 DEG) are set, the test is carried out under the landing condition of the 0 DEG slope at the landing speeds Vr=1.5 m/s, V1=2.1 m/s and V2=0.9 m/s respectively, the landing condition under the three groups of test conditions is obtained, and the gravity compensation value of each group is recorded, as shown in the figures 2, 3 and 1 respectively;
then landing on slopes with different inclination angles respectively at a landing speed vr=1.5m/s, and recording the gravity compensation value of each group. The lander lands on a 0 degree slope at a speed of 1.5m/s, a 4 degree slope and a 8 degree slope, and gravity compensation value change curves are shown in fig. 4, 5 and 6;
an engine ignition stage: the data of the simulated earth surface of the lander landed in the touchdown simulation test to obtain the gravity compensation value is shown in fig. 7;
in the above steps, the data of the gravity compensation value, namely the tension of the springs of the spring set 2 in the above touch simulation test device, the trigger finger in fig. 4 starts to provide the tension.
3) By analyzing the gravity compensation values of the above tests, it can be known that the gravity compensation values of the tests of the non-ignition stage are within a fluctuation error range of + -10% with the gravity compensation value 7200N of the non-ignition stage as the center, and the gravity compensation values of the ignition stage are within a fluctuation error range of + -10% with the gravity compensation value 4800N of the ignition stage as the center, which indicates that the simulated lander real fire touching process touch simulation test in the embodiment can provide an accurate spark gravity environment.
The evaluation method is beneficial to realizing the gravity compensation test of the whole landing process. Meanwhile, the landing capability of the lander under different landing speeds and different landing gradients is checked, the landing capability can be further corrected against the control parameters of the lander according to the landing condition fed back, and the landing process under the real extraterrestrial celestial body environment is preformed. The evaluation method has universality, is not only suitable for landing simulation tests of Mars landers, but also can be popularized to touch simulation tests of other types of landers.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (5)
1. The method for evaluating the gravity environment in the lander touch simulation test is characterized by comprising the following steps of:
(1) Determining a gravity compensation evaluation index for evaluating whether the gravity environment in the touch simulation test is accurate according to the gravity environment of the target planet;
(2) Determining a real landing speed interval [ V2, V1] of the lander in an ignition stage according to a given value Vr of the landing speed of the lander, wherein V2 is smaller than Vr and smaller than V1;
(3) In the non-ignition stage of the lander engine, landing the lander at speeds of Vr, V1 and V2 under the landing condition of a 0-degree slope to obtain gravity compensation values Gr, G1 and G2 corresponding to the Vr, the V1 and the V2;
(4) In the non-ignition stage of the lander engine, the lander is respectively landed on n slopes with different inclination angles at the speed of Vr to obtain n gravity compensation values G' r 1 ～G'r n The method comprises the steps of carrying out a first treatment on the surface of the The inclination angles of the n slopes are more than or equal to 0 degrees, and n is more than or equal to 3;
(5) In the engine ignition stage of the lander, the lander lands on the simulated ground surface in the touch simulation test to obtain a gravity compensation value G' r;
(6) Judging Gr, G1 and G2 obtained in the step (3), and G' r obtained in the step (4) 1 ～G'r n Whether G' r obtained in the step (5) meets the gravity compensation evaluation index or not, if so, the gravity environment in the touch simulation test is accurate, and if not, the gravity environment in the touch simulation test is inaccurate;
in the step (1), the gravity compensation evaluation index comprises a gravity compensation evaluation index in a non-ignition stage and a gravity compensation evaluation index in an ignition stage;
in the step (6), gr, G1 and G2 obtained in the step (3) and G' r obtained in the step (4) are judged 1 ～G'r n Whether the gravity compensation evaluation index in the non-ignition stage is met or not, whether G' r obtained in the step (5) meets the gravity compensation evaluation index in the ignition stage or not, if so, the gravity environment in the touch simulation test is accurate, and if not, the gravity environment in the touch simulation test is inaccurate;
in the step (1), the gravity compensation evaluation index in the non-ignition stage is a fluctuation interval of the gravity compensation value in the non-ignition stage, which is obtained from the gravity compensation value in the non-ignition stage and the fluctuation error range; the gravity compensation evaluation index in the ignition stage is an ignition stage gravity compensation value fluctuation interval obtained from the ignition stage gravity compensation value and fluctuation error range;
the gravity compensation values of the non-ignition stage and the ignition stage are determined according to the gravity environment of the target planet;
in the step (6), gr, G1 and G2 obtained in the step (3) and G' r obtained in the step (4) are judged 1 ～G'r n Whether the G' r obtained in the step (5) falls within the range of the fluctuation of the gravity compensation value in the non-ignition stage or not is judged, if so, the gravity environment in the touch simulation test is accurate, and if not, the gravity environment in the touch simulation test is inaccurate.
2. The method for evaluating the gravitational environment in the lander touch simulation test according to claim 1, wherein in the step (2), V2 and V1 respectively fluctuate downwards by 20-60% and fluctuate upwards by 20-60% by Vr.
3. The method for evaluating the gravitational environment in a lander touchdown simulation test according to claim 1, wherein in the step (4), n=3, and the inclination angles of 3 different inclination angle slopes are 0 °,4 ° and 8 °, respectively.
4. The method for evaluating the gravitational environment in a lander touchdown simulation test according to claim 1, wherein the fluctuation error range is 5-15%.
5. The method for evaluating the gravitational environment in a lander touchdown simulation test according to any one of claims 1 to 4, wherein in the step (3), the lander is landed at speeds Vr, V1 and V2 under a landing condition of 0 ° slope in a non-ignition stage of the lander engine to obtain gravitational compensation values Gr, G1 and G2 corresponding to Vr, V1 and V2, respectively, and the above procedure is repeated 3 to 10 times to obtain a plurality of sets of gravitational compensation values Gr, G1 and G2;
in the step (4), during the engine misfire stage of the lander, the lander is landed on n slopes with different inclination angles at the speed of Vr to obtain n gravity compensation values G' r 1 ～G'r n The method comprises the steps of carrying out a first treatment on the surface of the The inclination angle of the n slopes is more than or equal to 0 degrees, n is more than or equal to 3, and the process is repeated for 3-10 times to obtain a plurality of slopesGroup gravity compensation value G' r 1 ～G'r n 。
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| CN113158418A (en) * | 2021-02-25 | 2021-07-23 | 北京空间飞行器总体设计部 | Multi-band test simulation method for lunar surface soft landing mechanical environment |
| CN112849441A (en) * | 2021-02-26 | 2021-05-28 | 北京空间机电研究所 | Large-stroke gravity unloading device with adjustable load |
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