CN117657481A - Test device and method for simulating cold launching and taking-off of extraterrestrial celestial body in low gravity environment - Google Patents
Test device and method for simulating cold launching and taking-off of extraterrestrial celestial body in low gravity environment Download PDFInfo
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Abstract
The invention discloses a test device for simulating cold launching and taking-off in a low-gravity environment of an extraterrestrial celestial body. The invention also discloses a test method, which comprises the following steps: the motor rope combination in the vertical direction performs gravity unloading on the spacecraft simulation part and controls the gesture of the spacecraft simulation part; when the spacecraft simulation piece rises to the highest point, locking the position and the gesture of the spacecraft simulation piece; the motor rope combination in the horizontal direction and the vertical direction simulates the horizontal thrust and the vertical thrust generated when the spacecraft engine ignites; after the ignition duration requirement is met, the motor rope combination in the inclined direction applies braking tension to the spacecraft simulation part, so that the spacecraft simulation part is decelerated and stops moving. The invention can realize the ejection of cold launching and lifting and the test verification of the ignition process on the ground, and effectively simulate the stress condition and the movement condition.
Description
Technical Field
The invention belongs to the technical field of spacecraft recovery landing and low-gravity extraterrestrial landing and take-off tests, and particularly relates to a test device for simulating a cold launching and take-off ascending motion process of an extraterrestrial low-gravity environment.
Background
The extraterrestrial body sampling and returning task has important significance for scientific researches such as extraterrestrial life detection, extraterrestrial body geological structure component analysis, extraterrestrial body origin and evolution research and the like. The spacecraft takes off from the surface of the extraterrestrial celestial body and enters the surrounding orbit, and is a necessary link for the extraterrestrial celestial body to sample and return to the task. For different extraterrestrial celestial bodies, the take-off modes, the atmospheric environment, the gravitational field characteristics, the take-off initial conditions, the task design constraints and the like are different, and the existing take-off verification test system and technology which are successfully developed are difficult to directly inherit. Therefore, there is a need to perform ground simulation tests of the low gravity environment takeoff rise of a spacecraft for extraterrestrial celestial body sampling return tasks.
The cold launching is different from the take-off and lifting technology of directly igniting the surface of an extraterrestrial celestial body, and after the spacecraft is launched to a certain height in the air by virtue of a cold launching ejection device, a guidance, navigation and control system on the spacecraft controls a solid engine to ignite, and the flying gesture of the spacecraft is adjusted by an engine servo mechanism, so that the spacecraft enters a surrounding orbit. The existing successfully developed take-off verification test system and technology cannot be suitable for simulating the cold launching and take-off ascending motion of the extraterrestrial low-gravity environment, so that a test device for simulating the cold launching and take-off ascending motion of the extraterrestrial low-gravity environment is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects, and provides a test device and a test method for simulating cold launching and taking-off in a low-gravity environment of an extraterrestrial body, which solve the technical problem that the existing successfully-developed take-off verification test system and technology cannot be suitable for simulating the cold launching and taking-off ascending motion in the low-gravity environment of the extraterrestrial body.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a test device for simulating cold launching and taking-off of an extraterrestrial celestial body in a low-gravity environment comprises a supporting frame, a movable sliding table system, an active rope system, an ejection device and a spacecraft simulation piece;
the supporting frame and the ejection device are fixed on the ground, and the ejection device is used for ejecting the spacecraft simulation piece to lift off;
the mobile slipway system comprises a horizontal slipway and a vertical slipway; the sliding rail components in the horizontal sliding table and the vertical sliding table are fixedly connected with the supporting frame;
the active rope system comprises a motor rope combination in the vertical direction, a motor rope combination in the horizontal direction and a motor rope combination in the inclined direction; each group of motor rope combination comprises a rope and a rope driving mechanism, and two ends of the rope are respectively connected with the rope driving mechanism and the spacecraft simulation piece;
the rope driving mechanism in the motor rope group in the vertical direction is fixedly connected to the sliding table component of the horizontal sliding table, and ropes in the motor rope group in the vertical direction are kept vertical after the spacecraft simulation piece is lifted off; the rope driving mechanism in the motor rope combination in the horizontal direction is fixedly connected to the sliding table component of the vertical sliding table, and the rope in the motor rope combination in the horizontal direction is kept horizontal after the spacecraft simulation piece is lifted off; the rope driving mechanism in the motor rope combination in the inclined direction is fixed on the ground, and the rope inclination angle in the motor rope combination in the inclined direction gradually becomes larger along with the rising of the spacecraft simulation piece, wherein the inclination angle is an included angle between the rope and the ground;
the motor rope set in the vertical direction is used for carrying out gravity unloading on the spacecraft simulation piece and controlling the gesture of the spacecraft simulation piece; the motor rope combination in the horizontal direction is used for simulating the horizontal direction thrust generated when the spacecraft engine ignites; the motor rope combination in the oblique direction is used for generating braking tension to the spacecraft simulation.
Further, the support frame comprises upright posts and cross beams;
the lower end of the upright post is fixed on the ground;
the cross beam is fixed on the upright post, and the height of the cross beam is higher than the maximum lifting height of the spacecraft simulation piece.
Further, a sliding rail component in the horizontal sliding table is arranged on the lower surface of the cross beam;
the sliding rail component in the vertical sliding table is arranged on the side face of the upright post and is positioned between the ground and the cross beam.
Further, the motor rope combination in the vertical direction is at least 3 groups.
Further, the motor rope combinations in the vertical direction are 3 groups, which are respectively marked as a motor rope combination I in the vertical direction, a motor rope combination II in the vertical direction and a motor rope combination III in the vertical direction; each group of motor rope combinations in the vertical direction comprises a rope and a rope driving mechanism;
the motor rope combination I in the vertical direction, the motor rope combination II in the vertical direction and the 3 ropes in the motor rope combination III in the vertical direction are respectively connected with the tail part, the mass center position and the head part of the spacecraft simulation piece; the motor rope combination I in the vertical direction, the motor rope combination II in the vertical direction and 3 rope driving mechanisms in the motor rope combination III in the vertical direction are fixedly connected to a sliding table component of the horizontal sliding table;
the motor rope combination II in the vertical direction is used for unloading the gravity of the spacecraft simulation part and simulating the vertical thrust generated when the spacecraft engine ignites; the motor rope combination I in the vertical direction and the motor rope combination III in the vertical direction are used for controlling the gesture of the spacecraft simulation piece.
Further, the rope driving mechanism comprises a motor, a speed reducer and a winding drum;
one end of the rope is fixed and wound on the winding drum, the motor drives the winding drum to rotate after being decelerated by the speed reducer, and the winding drum drives the rope to stretch out and draw back.
Further, the motor rope combination in the horizontal direction comprises two ropes and a rope driving mechanism, one ends of the two ropes are respectively connected with the left side and the right side of the mass center position of the spacecraft simulation piece, and the other ends of the two ropes are connected with the same rope driving mechanism.
Further, the motor rope combination in the inclined direction comprises two ropes and a rope driving mechanism, one ends of the two ropes are respectively connected with the left side and the right side of the mass center position of the spacecraft simulation piece, and the other ends of the two ropes are connected with the same rope driving mechanism.
The test method for simulating cold launching and taking off of the extraterrestrial celestial body in the low gravity environment is realized by adopting the test device for simulating cold launching and taking off of the extraterrestrial celestial body in the low gravity environment, and comprises the following steps:
the catapulting device catapulting and lifting the spacecraft simulation piece;
after the spacecraft simulation piece is lifted off, the motor rope combination in the vertical direction performs gravity unloading on the spacecraft simulation piece, and the gesture of the spacecraft simulation piece is controlled; when the spacecraft simulation piece rises to the highest point, the motor rope combination in the vertical direction locks the position and the gesture of the spacecraft simulation piece;
after the position and the gesture of the spacecraft simulation piece are locked, the motor rope combination in the horizontal direction applies a pulling force to the spacecraft simulation piece so as to simulate the horizontal direction pushing force generated when the spacecraft engine is ignited, and simultaneously the motor rope combination in the vertical direction applies an upward pulling force to the spacecraft simulation piece so as to simulate the vertical direction pushing force generated when the spacecraft engine is ignited, and the spacecraft simulation piece moves forwards and upwards under the combined action of the motor rope combination in the horizontal direction and the motor rope combination in the vertical direction until the ignition duration requirement is met;
recording the change condition of the position and the posture of the spacecraft simulation piece along with time in the process, and verifying the design parameters of the spacecraft according to the change condition;
after the ignition duration requirement is met, the motor rope combination in the horizontal direction and the motor rope combination in the vertical direction stop applying the pulling force to the spacecraft simulation member, and the motor rope combination in the inclined direction applies the braking pulling force to the spacecraft simulation member, so that the spacecraft simulation member is decelerated and stops moving.
Further, the motor rope combinations in the vertical direction are 3 groups, which are respectively marked as a motor rope combination I in the vertical direction, a motor rope combination II in the vertical direction and a motor rope combination III in the vertical direction; each group of motor rope combinations in the vertical direction comprises a rope and a rope driving mechanism;
the motor rope combination I in the vertical direction, the motor rope combination II in the vertical direction and the 3 ropes in the motor rope combination III in the vertical direction are respectively connected with the tail part, the mass center position and the head part of the spacecraft simulation piece; the motor rope combination I in the vertical direction, the motor rope combination II in the vertical direction and 3 rope driving mechanisms in the motor rope combination III in the vertical direction are fixedly connected to a sliding table component of the horizontal sliding table;
the test method comprises the following steps:
the catapulting device catapulting and lifting the spacecraft simulation piece;
after the spacecraft simulation piece is lifted off, the gravity unloading is carried out on the spacecraft simulation piece by the motor rope combination II in the vertical direction, the posture of the spacecraft simulation piece is freely changed by the free motion of the spacecraft simulation piece in the process, the motor rope combination III in the vertical direction and the motor rope combination I in the vertical direction are not needed to control the posture, the motor rope combination I in the vertical direction and the motor rope combination III in the vertical direction are needed to interfere with the free change of the posture of the spacecraft simulation piece as little as possible, the gravity unloading is carried out by the motor rope combination II in the vertical direction, and the motor rope combination III in the vertical direction only keep small pulling force to follow the lifting motion of the spacecraft simulation piece, because the motor rope combination III in the vertical direction and the motor rope combination III in the vertical direction can be loosened to be incapable of synchronously following the lifting motion of the spacecraft simulation piece if the pulling force is not needed, and the posture change of the spacecraft simulation piece can be interfered if the pulling force is too large; when the spacecraft simulation piece rises to the highest point, the tension applied to the spacecraft simulation piece by the motor rope combination II in the vertical direction completely counteracts the gravity born by the spacecraft simulation piece, and the motor rope combination I in the vertical direction and the motor rope combination III in the vertical direction control the posture of the spacecraft simulation piece to be unchanged, so that the position and the posture of the spacecraft simulation piece are locked; at the moment, the current position of the motor rope combination I in the vertical direction and the current position of the motor rope combination III in the vertical direction are kept unchanged, the posture of the aerospace simulation part is kept unchanged, namely, the current position is controlled to be kept static in a closed loop feedback mode, and the control target is the motor rotation angle or the rope length. Instead of not applying a pulling force, the process is not targeted for control, and the actual pulling force value should be variable at high frequencies. Because the motion state of the spacecraft simulation piece is suddenly changed, the spacecraft simulation piece is easy to vibrate, the vibration suppression function is started according to the frequency and the amplitude of the vibration, reverse waveforms are output, and the vibration of the spacecraft simulation piece caused by the instant stop of rotation is suppressed as soon as possible. "
After the position and the gesture of the spacecraft simulation piece are locked, the motor rope combination in the horizontal direction applies a pulling force to the spacecraft simulation piece so as to simulate the horizontal direction pushing force generated when the spacecraft engine is ignited, and simultaneously the motor rope combination II in the vertical direction applies an upward pulling force to the spacecraft simulation piece so as to simulate the vertical direction pushing force generated when the spacecraft engine is ignited, and the spacecraft simulation piece moves forwards and upwards under the combined action of the motor rope combination in the horizontal direction and the motor rope combination II in the vertical direction until the ignition duration requirement is met;
recording the change condition of the position and the posture of the spacecraft simulation piece along with time in the process, and verifying the design parameters of the spacecraft according to the change condition;
after the ignition duration requirement is met, the motor rope combination in the horizontal direction and the motor rope combination II in the vertical direction stop applying the pulling force to the spacecraft simulation member, and the motor rope combination in the inclined direction applies the braking pulling force to the spacecraft simulation member, so that the spacecraft simulation member is decelerated and stops moving. The braking tension need not be guaranteed in the direction of the very opposite vector of the combined forces of the motor rope combination in the horizontal direction and the motor rope combination ii in the vertical direction, but need only be in the vicinity of the generally opposite direction. Since there is no requirement for the braking trajectory, it is reasonable in principle that the angle between the braking tension direction and the direction of the combined force is greater than 90 ° as long as the tension of the motor rope combination in the oblique direction acts as a deceleration braking rather than an acceleration, the closer the angle is to 180 ° (i.e. the directions are diametrically opposite) the better naturally, but the actual operation does not require too strict requirements.
Compared with the prior art, the invention has at least one of the following beneficial effects:
(1) The invention provides a test device for simulating cold launching and taking-off in a low-gravity environment of an extraterrestrial celestial body for the first time, and the test verification can be carried out on the ground in the ejection and ignition process of the cold launching and taking-off rising by adopting rope control, so that the test device simulates the stress condition and the movement condition of the cold launching and taking-off, and has important guiding significance for the design of a spacecraft;
(2) Compared with the ground direct ignition test, the rope system test device can be reused, so that the test cost is saved;
(3) The invention adopts rope control, provides long movement stroke and large mechanism working space, and can simulate ejection and ignition tests in a relatively large range. Compared with a rigid mechanism, the rope mechanism has small mass and inertia, has small interference on the motion process during the catapult-assisted take-off of the spacecraft, and can more accurately simulate the take-off and lifting process of the spacecraft;
(4) The rope has flexibility, has higher fault tolerance rate for catapulting of the spacecraft, can slowly correct the position and posture errors even if the position and posture errors are generated in the catapulting process, is not easy to cause abrupt rise of internal force of a mechanism and mechanical damage, and can carry out a test more safely.
Drawings
FIG. 1 is a schematic diagram of a test device for simulating the cold launching, taking-off and lifting movement process of an extraterrestrial celestial body in a low gravity environment;
FIG. 2 is a schematic diagram of a combination of 3 sets of motor ropes in the vertical direction on a horizontal slipway;
FIG. 3 is a schematic diagram of a motor rope combination in the horizontal direction for a vertical slipway of the present invention;
fig. 4 shows a motor rope combination in the tilting direction according to the invention;
fig. 5 is a schematic view of an ejector according to the present invention.
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.
The invention relates to a test device for simulating the cold launching, taking-off and lifting movement process of an extraterrestrial celestial body in a low-gravity environment, and aims to provide a reusable low-cost ground test device which can realize a simulation test with adjustable gravitational acceleration environment and adjustable parameters such as spacecraft quality, engine thrust and the like. The test device for simulating the cold launching, taking-off and lifting movement process of the extraterrestrial celestial body in the low gravity environment can test and verify the catapulting and ignition process of the cold launching, taking-off and lifting on the ground, simulate the stress condition and the movement condition of the cold launching, and identify, test and verify the uncertainty of each key link (such as the stability, initial reference precision, navigation guidance control strategy, spacecraft trajectory parameter design and the like) in the launching process.
The invention relates to a test device for simulating the cold launching, taking-off and lifting movement process of an extraterrestrial celestial body in a low-gravity environment, which uses ropes instead of rigid connecting rods as main components of a system device, and the device comprises a supporting frame 4, a movable sliding table system, an active rope system, an ejection device 1 and a spacecraft simulation part 3 as shown in figure 1. The mobile slipway system comprises a horizontal slipway 5 and a vertical slipway 2. The active rope system comprises 5 sets of motor rope combinations. Wherein, 3 sets of motor rope combinations in the vertical direction are marked as motor rope combination I6 in the vertical direction, motor rope combination II 7 in the vertical direction and motor rope combination III 8 in the vertical direction, and 1 rope is driven by 1 motor respectively, and motor rope combination 9 in the horizontal direction and motor rope combination 10 in the inclined direction are all driven by 2 ropes by 1 motor. The motor and the rope combination are driven in such a way that the motor drives the winding drum to rotate after being decelerated by the speed reducer, and the winding drum drives the rope to stretch out and draw back, so that the rope length is controlled or the pulling force is provided. One end of a rope I in a motor rope combination I6 in the vertical direction is connected with the upper end of the tail part of the spacecraft simulation piece 3, and the other end of the rope I is connected with a winding drum I; one end of a rope II in a motor rope combination II 7 in the vertical direction is connected with the upper end of the mass center position of the spacecraft simulation piece 3, and the other end of the rope II is connected with a winding drum II; one end of a rope III in a motor rope combination III 8 in the vertical direction is connected with the upper end of the head of the spacecraft simulation piece 3, and the other end of the rope III is connected with a winding drum III; one end of two ropes in the motor rope combination 9 in the horizontal direction is respectively connected with the left side and the right side of the mass center position of the spacecraft simulation piece 3, and the other ends of the two ropes are connected with the winding drum; one end of two ropes in the motor rope combination 10 in the inclined direction is connected with the left side and the right side of the mass center position of the spacecraft simulation piece 3, and the other end of the two ropes is connected with the winding drum. In the test process, the vertical direction motor rope combination I6, the vertical direction motor rope combination II 7 and the vertical direction motor rope combination III 8 keep vertical direction all the time, the horizontal direction motor rope combination 9 keeps horizontal direction all the time, the inclined direction of the inclined direction motor rope combination 10 keeps inclined, and in the test process, the inclined angle gradually becomes larger along with the rising of the spacecraft simulation piece. Because the ropes of the motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the motor rope combination III 8 in the vertical direction are only required to be respectively connected to the independent connection points at the upper end of the spacecraft simulation piece 3, only 1 motor is required to drive 1 rope; and the ropes of the motor rope combination 9 in the horizontal direction and the motor rope combination 10 in the oblique direction need to be connected to two connection points on the left and right sides of the centroid position of the spacecraft simulation piece 3, so that 1 motor is needed to drive 2 ropes.
The supporting frame 4, the ejector 1 and the motor of the motor rope combination 10 in the tilting direction are all fixed on the ground. The sliding rail components of the horizontal sliding table 5 and the vertical sliding table 2 are fixedly connected with the supporting frame 4. The motor of the motor rope combination 9 in the horizontal direction is fixedly connected to the slide table part of the vertical slide table 2. The motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the 3 motors of the motor rope combination III 8 in the vertical direction are fixedly connected to a sliding table component of the horizontal sliding table 5.
In the simulation test process, the ejection device 1 is used for ejecting the spacecraft simulation piece 3 to lift off. The motor rope combination II 7 positioned in the middle in the vertical direction is used for unloading the redundant gravity of the spacecraft simulation piece 3 to simulate the low gravity environment of the extraterrestrial body and simulate the vertical direction thrust generated when the spacecraft engine is ignited. The motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction are used for controlling the gesture of the spacecraft simulation piece 3. The motor rope combination 9 in the horizontal direction is used for simulating the horizontal thrust generated when the spacecraft engine is ignited. During the test, the horizontal slipway 5 and the vertical slipway 2 follow the horizontal and vertical movements of the spacecraft simulation 3, so that during the test. The motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the ropes in the motor rope combination III 8 in the vertical direction keep the vertical direction, so that the motor rope combination 9 in the horizontal direction keeps the horizontal direction in the test process, and the active rope system can better apply tensile force. At the end of the test, the spacecraft simulation piece 3 still has a speed of moving obliquely upwards, and the motor rope combination 10 in the oblique direction is used for generating braking tension to force the spacecraft simulation piece 3 to be decelerated to be stationary, so that the spacecraft simulation piece 3 is prevented from further moving and colliding with the supporting frame 4.
Examples:
the invention discloses a test device for simulating the cold launching, taking-off and lifting movement process of an extraterrestrial celestial body in a low-gravity environment, which is shown in figure 1.
The device comprises a supporting frame 4, a movable slipway system, an active rope system, an ejection device 1 and a spacecraft simulation part 3. The mobile slipway system comprises a horizontal slipway 5 and a vertical slipway 2. The active rope system comprises 5 sets of motor rope combinations. Wherein, 3 sets of motor rope combination in the vertical direction motor rope combination I6 in the vertical direction, motor rope combination II 7 in the vertical direction and motor rope combination III 8 in the vertical direction respectively drive 1 rope with 1 motor, and motor rope combination 9 in the horizontal direction and motor rope combination 10 in the tilting direction drive 2 ropes with 1 motor. The motor and the rope combination are driven in such a way that the motor drives the winding drum to rotate after being decelerated by the speed reducer, and the winding drum drives the rope to stretch out and draw back, so that the rope length is controlled or the pulling force is provided.
In the simulation test process, the ejection device 1 is used for ejecting the spacecraft simulation piece 3 to lift off. The motor rope combination II 7 in the vertical direction is used for unloading the redundant gravity of the spacecraft simulation piece 3 to simulate the low gravity environment of the extraterrestrial body and simulate the vertical thrust generated when the spacecraft engine is ignited. The motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction are used for controlling the gesture of the spacecraft simulation piece 3. The motor rope combination 9 in the horizontal direction is used for simulating the horizontal thrust generated when the spacecraft engine is ignited. The motor rope combination 10 in the tilting direction serves to generate a braking tension and to protect the spacecraft simulation 3 and the support frame 4 from impact damage. During the test, the horizontal slipway 5 and the vertical slipway 6 follow the horizontal and vertical movements of the spacecraft simulation 3, so that the active rope system can exert a better tensile force.
The supporting frame 4, the ejector 1 and the motor of the motor rope combination 10 in the tilting direction are all fixed on the ground. The sliding rail components of the horizontal sliding table 5 and the vertical sliding table 2 are fixedly connected with the supporting frame 4. The motor of the motor rope combination 9 in the horizontal direction is fixedly connected to the slide table part of the vertical slide table 2. The motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the 3 motors of the motor rope combination III 8 in the vertical direction are fixedly connected to a sliding table component of the vertical sliding table 2. The rope ends of the 5 sets of motor rope combinations are fixedly connected to the proper positions on the spacecraft simulation element 3. The motor rope combination II 7 in the vertical direction is used for unloading the redundant gravity of the spacecraft simulation piece 3 to simulate the low gravity environment of the extraterrestrial body and simulate the vertical thrust generated when the spacecraft engine is ignited. The motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction are used for controlling the gesture of the spacecraft simulation piece 3.
Fig. 2 shows a specific mechanism of the horizontal slipway 5, the motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the motor rope combination III 8 in the vertical direction. The horizontal slide 5 includes a horizontal slide rail member 51, a horizontal slide rail member 52, and a horizontal drive motor 53. The horizontal sliding rail part 51 is fixedly connected with the lower end of the cross beam of the supporting frame 4, and the horizontal sliding table part 52 is driven by the horizontal driving motor 53 to move in the horizontal direction of the horizontal sliding rail part 51. The motor rope combination I6 positioned on the left side in the vertical direction comprises a rope I61, a drum speed reducer combination I63 and a driving motor I62. The motor rope combination ii 7 in the middle vertical direction includes a rope ii 71, a drum reducer combination ii 73, and a driving motor ii 72. The motor rope combination iii 8 in the vertical direction on the right side is composed of a rope iii 81, a drum reducer combination iii 83, and a driving motor iii 82. The driving motor I62, the driving motor II 72 and the driving motor III 82 are fixedly connected with the horizontal sliding table component 52 of the horizontal sliding table 5. The ends of the ropes I61, II 71 and III 81 are fixedly connected to the proper positions of the spacecraft simulation element 3.
Fig. 3 shows a specific structural composition of the vertical sliding table 2 and the motor rope combination 9 in the horizontal direction. The vertical slide table 2 includes a vertical slide rail member 21, a vertical slide table member 22, and a vertical drive motor 23. The vertical sliding rail part 21 is fixedly connected with the side wall of the upright post of the supporting frame 4, and the vertical sliding table part 22 is driven by a vertical driving motor 23 to move along the vertical sliding rail part 21 in the vertical direction. The motor-rope combination 9 in the horizontal direction comprises 2 ropes (91, 92), 2 reels (93, 94), a decelerator 95 and a drive motor iv 96. The driving motor IV 96 is fixedly connected with the vertical sliding table component 22 of the vertical sliding table 2. The ends of the 2 ropes are each fixedly connected to a suitable position of the spacecraft simulation element 3. The motor rope combination 9 in the horizontal direction is used for simulating the horizontal thrust generated when the spacecraft engine is ignited.
Fig. 4 shows a specific composition of the motor rope combination 10 in an oblique direction. The motor rope combination 10 in the tilting direction comprises 2 ropes (101, 102), 2 reels (103, 104), one decelerator 105 and a driving motor v 106. The driving motor v 106 of the motor rope assembly 10 in the tilting direction is fixed to the ground. The ends of the 2 ropes are each fixedly connected to a suitable position of the spacecraft simulation element 3.
Fig. 5 shows a specific composition of the ejector 1. The ejection device 1 comprises an actuator cylinder 11 and a support frame 12. The support frame 12 is fixedly connected with the ground, and the upper part of the support frame 12 can support the spacecraft simulation part 3 when not ejected. The actuator cylinder 11 is telescopic, and thrust generated by short-time extension of the actuator cylinder can throw the spacecraft simulation member 3 into the air. The spacecraft simulation piece 3 is horizontally placed at a proper position of the ejection device 1 before ejection.
The functions produced by the various parts of the device during and during the course of the simulation test are as follows.
The catapulting device 1 catapulting and lifting the spacecraft simulation piece 3;
before the spacecraft simulation piece 3 rises to the highest point, the motor rope combination II 7 in the vertical direction actively provides pulling force, and the redundant gravity of the spacecraft simulation piece 3 is unloaded to simulate the extraterrestrial celestial body low gravity environment; at this stage, the motor rope combination i 6 in the vertical direction and the motor rope combination iii 8 in the vertical direction need to adopt a rope force control mode, and a small constant pulling force of about 0 to 100N is maintained, so that the motor rope combination i 6 in the vertical direction and the motor rope combination iii 8 in the vertical direction can follow the ascending motion of the spacecraft simulation piece, and the influence of the pulling force on the rotational motion of the spacecraft simulation piece is reduced as much as possible. The attitude change or the rotation angle of the spacecraft simulation part basically changes by means of the rotation inertia of the spacecraft simulation part, ropes in the motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the motor rope combination III 8 in the vertical direction do not affect the rotation change of the spacecraft simulation part as far as possible, and therefore the motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction also need to keep a certain tensile force so that the motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction ascend along with the spacecraft simulation part, so that the task of the subsequent stage is facilitated.
The position and the posture of the spacecraft simulation piece 3 are rapidly locked through the cable force control by the motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the motor rope combination III 8 in the vertical direction when the spacecraft simulation piece 3 rises to the highest point, and the moment when the spacecraft simulation piece 3 rises to the highest point is the starting moment of locking action execution. At this time, the pulling force of the motor rope combination II 7 in the vertical direction counteracts the whole gravity of the spacecraft simulation member 3, and the motor rope combination I6 in the vertical direction and the motor rope combination III 8 in the vertical direction control the posture change of the spacecraft simulation member 3 and stop the movement of the spacecraft simulation member. Starting at the moment when the spacecraft simulation piece 3 rises to the highest point, the motor rope combination I6 in the vertical direction, the motor rope combination II 7 in the vertical direction and the motor rope combination III 8 in the vertical direction start to lock the position and the posture of the spacecraft simulation piece, and the locking cannot be completed instantaneously, and perhaps the position and the posture can be locked within a period of several seconds or a fraction of seconds from the moment. The locking process here refers to: the spacecraft simulation piece originally has the trend of continuing rotation and continuing movement, and the spacecraft simulation piece stops the movement as soon as possible by a motor position control and vibration suppression method, so that the current position and the gesture are kept from moving for a long time in the later period.
Subsequently, the motor rope combination II 7 in the vertical direction and the motor rope combination 9 in the horizontal direction together provide a suitable pulling force to simulate the same magnitude of pushing force generated when the spacecraft engine is ignited. The spacecraft simulation 3 moves forward and upward a distance after being subjected to the rope tension.
After the tension time meets the ignition duration requirement, the motor rope combination II 7 in the vertical direction and the motor rope combination 9 in the horizontal direction do not provide tension any more, and the motor rope combination 10 in the inclined direction starts to generate braking tension, so that the spacecraft simulation piece 3 is decelerated and stops moving, and the spacecraft simulation piece 3 is prevented from further moving and colliding with the supporting frame 4. So far, one round of simulation test is ended. In the test process, the change of the movement position and the gesture of the spacecraft simulation piece 3 along with time before the motor rope combination 10 in the inclined direction works is recorded, and whether the spacecraft parameter design is reasonable can be verified.
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 (10)
1. The test device for simulating cold launching and taking-off of an extraterrestrial celestial body in a low-gravity environment is characterized by comprising a supporting frame (4), a movable sliding table system, an active rope system, an ejection device (1) and a spacecraft simulation piece (3);
the supporting frame (4) and the ejection device (1) are fixed on the ground, and the ejection device (1) is used for ejecting the spacecraft simulation piece (3) to lift off;
the movable sliding table system comprises a horizontal sliding table (5) and a vertical sliding table (2); the sliding rail components in the horizontal sliding table (5) and the vertical sliding table (2) are fixedly connected with the supporting frame (4);
the active rope system comprises a motor rope combination in the vertical direction, a motor rope combination (9) in the horizontal direction and a motor rope combination (10) in the inclined direction; each group of motor rope combination comprises a rope and a rope driving mechanism, and two ends of the rope are respectively connected with the rope driving mechanism and a spacecraft simulation piece (3);
the rope driving mechanism in the motor rope group in the vertical direction is fixedly connected to a sliding table component of the horizontal sliding table (5), and ropes in the motor rope group in the vertical direction are kept vertical after the spacecraft simulation piece (3) is lifted off; the rope driving mechanism in the motor rope combination (9) in the horizontal direction is fixedly connected to a sliding table component of the vertical sliding table (2), and the rope in the motor rope combination (9) in the horizontal direction keeps horizontal after the spacecraft simulation piece (3) is lifted off; the rope driving mechanism in the motor rope combination (10) in the inclined direction is fixed on the ground, and the rope inclination angle in the motor rope combination (10) in the inclined direction gradually becomes larger along with the rising of the spacecraft simulation piece (3), wherein the inclination angle is an included angle between the rope and the ground;
the motor rope set in the vertical direction is used for carrying out gravity unloading on the spacecraft simulation piece (3) and controlling the gesture of the spacecraft simulation piece (3); the motor rope combination (9) in the horizontal direction is used for simulating the horizontal thrust generated when the spacecraft engine ignites; the motor rope combination (10) in the inclined direction is used for generating braking tension to the spacecraft simulation part (3).
2. A test device for simulating cold launch take-off in a low gravity environment of an extraterrestrial body according to claim 1, wherein the support frame (4) comprises uprights and cross-beams;
the lower end of the upright post is fixed on the ground;
the cross beam is fixed on the upright post, and the height of the cross beam is higher than the maximum lifting height of the spacecraft simulation piece (3).
3. The test device for simulating cold launching and taking-off in a low gravity environment of an extraterrestrial body according to claim 2, wherein the sliding rail component in the horizontal sliding table (5) is arranged on the lower surface of the cross beam;
the sliding rail component in the vertical sliding table (2) is arranged on the side surface of the upright post and is positioned between the ground and the cross beam.
4. A test device for simulating cold launch take-off in a low gravity environment of an extraterrestrial object according to claim 1 wherein the number of motor rope combinations in the vertical direction is at least 3.
5. The test device for simulating cold launching and taking-off in an extraterrestrial low-gravity environment according to claim 4, wherein the motor rope combinations in the vertical direction are 3 groups, and are respectively marked as a motor rope combination I (6) in the vertical direction, a motor rope combination II (7) in the vertical direction and a motor rope combination III (8) in the vertical direction; each group of motor rope combinations in the vertical direction comprises a rope and a rope driving mechanism;
the motor rope combination I (6) in the vertical direction, the motor rope combination II (7) in the vertical direction and the 3 ropes in the motor rope combination III (8) in the vertical direction are respectively connected with the tail part, the mass center position and the head part of the spacecraft simulation part (3); the motor rope combination I (6) in the vertical direction, the motor rope combination II (7) in the vertical direction and 3 rope driving mechanisms in the motor rope combination III (8) in the vertical direction are fixedly connected to a sliding table component of the horizontal sliding table (5);
the motor rope combination II (7) in the vertical direction is used for unloading the gravity of the spacecraft simulation piece (3) and simulating the vertical thrust generated when the spacecraft engine ignites; the motor rope combination I (6) in the vertical direction and the motor rope combination III (8) in the vertical direction are used for controlling the gesture of the spacecraft simulation piece (3).
6. A test device for simulating cold launch take-off in a low gravity environment of an extraterrestrial body according to claim 1, wherein the rope drive mechanism comprises a motor, a decelerator and a spool;
one end of the rope is fixed and wound on the winding drum, the motor drives the winding drum to rotate after being decelerated by the speed reducer, and the winding drum drives the rope to stretch out and draw back.
7. The test device for simulating cold launching and taking-off in a low-gravity environment of an extraterrestrial body according to claim 1, wherein the motor rope combination (9) in the horizontal direction comprises two ropes and a rope driving mechanism, one ends of the two ropes are respectively connected with the left side and the right side of the mass center position of the spacecraft simulation piece (3), and the other ends of the two ropes are connected with the same rope driving mechanism.
8. The test device for simulating cold launching and taking-off in a low gravity environment of an extraterrestrial body according to claim 1, wherein the motor rope combination (10) in the inclined direction comprises two ropes and a rope driving mechanism, one ends of the two ropes are respectively connected with the left side and the right side of the mass center position of the spacecraft simulation piece (3), and the other ends of the two ropes are connected with the same rope driving mechanism.
9. A test method for simulating cold launching and taking off in a low gravity environment of an extraterrestrial body, which is characterized by being implemented by adopting the test device for simulating cold launching and taking off in a low gravity environment of an extraterrestrial body according to any one of claims 1 to 8, comprising:
the catapulting device (1) catapulting and lifting the spacecraft simulation piece (3);
after the spacecraft simulation piece (3) is lifted off, the motor rope combination in the vertical direction performs gravity unloading on the spacecraft simulation piece (3) and controls the posture of the spacecraft simulation piece (3); when the spacecraft simulation piece (3) rises to the highest point, the motor rope combination in the vertical direction locks the position and the gesture of the spacecraft simulation piece (3);
after the position and the gesture of the spacecraft simulation piece (3) are locked, a horizontal motor rope combination (9) applies a pulling force to the spacecraft simulation piece (3) so as to simulate a horizontal pushing force generated when a spacecraft engine is ignited, and a vertical motor rope combination applies an upward pulling force to the spacecraft simulation piece (3) so as to simulate a vertical pushing force generated when the spacecraft engine is ignited, and the spacecraft simulation piece (3) moves forwards under the combined action of the horizontal motor rope combination (9) and the vertical motor rope combination until the ignition duration requirement is met;
recording the time-dependent change conditions of the position and the posture of the spacecraft simulation piece (3) in the process, and verifying the design parameters of the spacecraft according to the change conditions;
after the ignition duration requirement is met, the motor rope combination (9) in the horizontal direction and the motor rope combination in the vertical direction stop applying tension to the spacecraft simulation piece (3), and the motor rope combination (10) in the inclined direction applies braking tension to the spacecraft simulation piece (3) so as to enable the spacecraft simulation piece (3) to slow down and stop moving.
10. The test method for simulating cold launching and taking off in a low gravity environment of an extraterrestrial body according to claim 9, wherein the motor rope combinations in the vertical direction are 3 groups, and are respectively marked as a motor rope combination I (6) in the vertical direction, a motor rope combination II (7) in the vertical direction and a motor rope combination III (8) in the vertical direction; each group of motor rope combinations in the vertical direction comprises a rope and a rope driving mechanism;
the motor rope combination I (6) in the vertical direction, the motor rope combination II (7) in the vertical direction and the 3 ropes in the motor rope combination III (8) in the vertical direction are respectively connected with the tail part, the mass center position and the head part of the spacecraft simulation part (3); the motor rope combination I (6) in the vertical direction, the motor rope combination II (7) in the vertical direction and 3 rope driving mechanisms in the motor rope combination III (8) in the vertical direction are fixedly connected to a sliding table component of the horizontal sliding table (5);
the test method comprises the following steps:
the catapulting device (1) catapulting and lifting the spacecraft simulation piece (3);
after the spacecraft simulation piece (3) is lifted off, the motor rope combination II (7) in the vertical direction performs gravity unloading on the spacecraft simulation piece (3); when the spacecraft simulation piece (3) rises to the highest point, the tension applied to the spacecraft simulation piece (3) by the motor rope combination II (7) in the vertical direction completely counteracts the gravity borne by the spacecraft simulation piece (3), and the motor rope combination I (6) in the vertical direction and the motor rope combination III (8) in the vertical direction control the posture of the spacecraft simulation piece (3) to be unchanged, so that the position and the posture of the spacecraft simulation piece (3) are locked;
after the position and the gesture of the spacecraft simulation piece (3) are locked, a horizontal motor rope combination (9) applies a pulling force to the spacecraft simulation piece (3) so as to simulate a horizontal pushing force generated when a spacecraft engine is ignited, and a vertical motor rope combination II (7) applies an upward pulling force to the spacecraft simulation piece (3) so as to simulate a vertical pushing force generated when the spacecraft engine is ignited, and the spacecraft simulation piece (3) moves forwards and upwards under the combined action of the horizontal motor rope combination (9) and the vertical motor rope combination II (7) until the ignition duration requirement is met;
recording the time-dependent change conditions of the position and the posture of the spacecraft simulation piece (3) in the process, and verifying the design parameters of the spacecraft according to the change conditions;
after the ignition duration requirement is met, the motor rope combination (9) in the horizontal direction and the motor rope combination II (7) in the vertical direction stop applying the pulling force to the spacecraft simulation member (3), and the motor rope combination (10) in the inclined direction applies the braking pulling force to the spacecraft simulation member (3) so as to enable the spacecraft simulation member (3) to slow down and stop moving.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311712493.7A CN117657481A (en) | 2023-12-13 | 2023-12-13 | Test device and method for simulating cold launching and taking-off of extraterrestrial celestial body in low gravity environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311712493.7A CN117657481A (en) | 2023-12-13 | 2023-12-13 | Test device and method for simulating cold launching and taking-off of extraterrestrial celestial body in low gravity environment |
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| CN117657481A true CN117657481A (en) | 2024-03-08 |
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