多刚体系统分离策略及释放动力学研究

罗操群; 孙加亮; 文浩; 胡海岩; 金栋平

doi:10.6052/0459-1879-19-307

多刚体系统分离策略及释放动力学研究

罗操群^*,,
孙加亮^*,
文浩^*,
胡海岩^*†,
金栋平^*2),

* 南京航空航天大学机械结构力学及控制国家重点实验室, 南京 210016
† 北京理工大学宇航学院飞行器动力学与控制教育部重点实验室, 北京 100081

基金项目: 1)载人航天预研项目(060101);装备预研基金项目(6140210010202)

详细信息

通讯作者:
金栋平

中图分类号: O313
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出版历程
- 收稿日期: 2019-11-06
- 刊出日期: 2020-04-09

RESEARCH ON SEPARATION STRATEGY AND DEPLOYMENT DYNAMICS OF A SPACE MULTI-RIGID-BODY SYSTEM

* State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
† MOE Key Laboratory of Dynamics and Control of Flight Vehicle, School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 紧密连接的多刚体系统可在脱离运载航天器后在轨自主分离,无需多次利用航天器发射装置或在航天器中安装多个发射装置进行分离释放,从而有效提高运载航天器空间利用率, 简化分离释放操作和降低碰撞风险.本文针对多刚体系统的在轨分离释放问题, 研究在轨分离策略及释放过程动力学.首先, 考虑刚体相对运动及姿态变化,基于虚功原理及自然坐标方法建立单个刚体的动力学模型.考虑多刚体系统在轨分离释放阶段的轨道运动和连接约束变化,计入分离时刚体间的相互作用,利用拉格朗日乘子法获得含连接约束的非线性动力学模型. 考虑到实际工程应用,在多刚体系统分离释放阶段,通过安装在刚体间每个接触表面4个角上的弹射装置实现自主分离. 其次,为保证分离过程中刚体之间无碰撞发生, 规划了多刚体系统的分离时序,并基于不同弹射方向及分离顺序设计了两种分离释放方案. 最后,通过算例研究分析了在轨分离释放过程中刚体的非线性动力学行为,验证了分离释放方案的有效性.
- 多刚体系统 /
- 分离释放 /
- 弹射 /
- 约束 /
- 碰撞
Abstract: The paper focuses on the separation and deployment dynamics of an on-orbit compactly connected multi-rigid-body (MRB) system, which could separate autonomously from a carrier spacecraft. Based on the focused MRB system, it is not necessary to repeatedly use the launcher of the carrier spacecraft or install multiple launchers in the spacecraft to separate the MRB system. This is advantageous because it can effectively improve the space utilization rate of the spacecraft, simplify the separation deployment operations and reduce the risk of collision between rigid bodies. To realize the separation of such a MRB system, the paper presents an investigation on its on-orbit dynamics and the design of collision-free separation deployment schemes. Firstly, a dynamic model of a single rigid body is established based on the principle of virtual work and the Natural Coordinate Formulation (NCF) method accounting for the relative motion between rigid bodies and attitude changes of each rigid body. Considering the orbital motion, the variations of connecting constraints of the MRB system and the interactions between rigid bodies during the separation, the governing nonlinear dynamic equations including constraints of the system are obtained with a method of Lagrange multipliers. With practical engineering applications taken into consideration, the separation deployment of MRB system is realized through ejection mechanisms mounted on the four corners of each contact surface between rigid bodies. Secondly, the timing sequences of separation maneuvers are specially programmed and two separation schemes are developed by adjusting different ejection directions and ejection sequences to guarantee the non-collision between rigid bodies in the separation deployment. Finally, numerical case studies are presented for investigating the nonlinear dynamic behaviors of rigid bodies and demonstrating the effectiveness of separation schemes.
- multi-rigid-body /
- separation deployment /
- ejection /
- constrain /
- collision

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