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  本文關(guān)鍵詞：空間繩網(wǎng)捕獲后繩系組合體張力控制技術(shù)研究　出處：《浙江大學(xué)》2015年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 空間繩網(wǎng) 繩系組合體 張力控制 非線性動力學(xué) 擺振耦合 防沖擊 防纏繞 擺動抑制 扭轉(zhuǎn)耗散 被動消旋方法

【摘要】：空間繩網(wǎng)捕獲是近年提出的一種新型柔性抓捕方式,具有抓捕容錯性強(qiáng)、作業(yè)距離長及飛行器間耦合作用弱等優(yōu)點,具有廣闊的應(yīng)用前景,是近年來空間研究的熱點之一�？臻g繩網(wǎng)捕獲系統(tǒng)涉及到力學(xué)、機(jī)械、電氣、控制及材料等多個學(xué)科,在總體方案設(shè)計、動力學(xué)分析及控制系統(tǒng)設(shè)計等多個方面都存在較多的科學(xué)問題需要研究�？臻g繩網(wǎng)捕獲系統(tǒng)捕獲目標(biāo)物的工作過程主要可分為任務(wù)平臺跟瞄、接近、繩網(wǎng)發(fā)射、網(wǎng)口鎖緊和位姿調(diào)整等過程。目標(biāo)物捕獲后可根據(jù)需要再動作,一般主要有拖曳、離軌等動作過程。任務(wù)平臺和目標(biāo)物是通過系繩連接的,系繩長度和張力的控制由安裝在任務(wù)平臺上的張力控制機(jī)構(gòu)實現(xiàn),可對目標(biāo)物進(jìn)行回收、釋放和狀態(tài)保持。但張力控制過程相對復(fù)雜,如繩網(wǎng)收口鎖緊目標(biāo)物后,任務(wù)平臺和目標(biāo)物仍是兩分散的剛體系統(tǒng),要通過系繩的收、放或張力保持等操作使任務(wù)平臺與目標(biāo)物之間實現(xiàn)動量交換或能量耗散,使兩剛體的運(yùn)動速度盡量保持一致,實現(xiàn)兩剛體的有效連接,避免沖擊、擺動、纏繞等問題的出現(xiàn)。鑒于國內(nèi)外對這方面的研究不多,本論文在國家863計劃項目和國家自然科學(xué)基金資助下,以空間繩網(wǎng)捕獲后的繩系組合體為研究對象,針對上述張力問題,主要的研究工作和相應(yīng)成果如下：(1)提出了一種多功能、高效能的系繩張力控制機(jī)構(gòu)。通過論證空間繩網(wǎng)捕獲后系統(tǒng)可能存在的多種運(yùn)動現(xiàn)象,對張力控制機(jī)構(gòu)提出了系繩姿態(tài)角、繩長及張力等方面的功能需求,據(jù)此研制了張力控制機(jī)構(gòu)樣機(jī),并分析討論了張力控制機(jī)構(gòu)的張力跟蹤等各類靜、動態(tài)性能。(2)建立了考慮任務(wù)平臺與目標(biāo)物自身姿態(tài)及系繩二次非線性彈性的繩系組合體普遍動力學(xué)模型,進(jìn)行了擺振耦合分析。根據(jù)組合體普遍動力學(xué)模型,仿真研究系統(tǒng)多個運(yùn)動自由度之間的耦合情況,分析各種初始擾動對組合體運(yùn)動的影響。利用攝動法給出了系統(tǒng)動力學(xué)簡化模型的近似解析解,得到了系統(tǒng)穩(wěn)態(tài)運(yùn)行時產(chǎn)生內(nèi)共振的條件,為繩網(wǎng)捕獲系統(tǒng)的設(shè)計提供了理論基礎(chǔ)。(3)提出了一種防沖擊防纏繞的組合體協(xié)調(diào)控制策略。建立包含張力控制機(jī)構(gòu)機(jī)電系統(tǒng)及目標(biāo)物姿態(tài)的系統(tǒng)機(jī)電耦合模型,為防止目標(biāo)物捕獲后的初始速度帶來的沖擊、系繩纏繞等問題,根據(jù)模型特點,提出了一種系繩張力與目標(biāo)物轉(zhuǎn)矩協(xié)調(diào)控制方法。數(shù)值仿真表明：在目標(biāo)物只存在初始平動及同時存在初始平動與轉(zhuǎn)動兩種情形下,控制策略都是充分有效的。研制了地面氣浮實驗平臺,進(jìn)行了目標(biāo)物初始平動情形下的防沖擊緩沖釋放實驗,取得了良好的控制效果,驗證了控制方法和技術(shù)的有效性。(4)提出了一種組合體面內(nèi)擺動抑制方法。借鑒秋千激蕩原理的逆向思維,提出了一種面內(nèi)擺動抑制控制方法,對地面恒重力場下的擺動系統(tǒng)進(jìn)行了研究,數(shù)值仿真與實驗驗證了所提出的擺動抑制策略的有效性。進(jìn)一步,將方法推廣應(yīng)用于空間繩系系統(tǒng),數(shù)值仿真驗證了此擺動抑制策略對空間繩系組合體的適用性。(5)研究了Kevlar系繩縱向非線性特性及扭轉(zhuǎn)耗散特性,提出了一種目標(biāo)物被動消旋方法。設(shè)計了系繩縱向吊掛試驗方案,試驗表明系繩縱向剛度存在很強(qiáng)的非線性,利用三次函數(shù)和冪函數(shù)分別對試驗結(jié)果進(jìn)行了擬合,取得了良好的擬合效果�？v向加減載試驗表明系繩存在較明顯的遲滯效應(yīng),利用Kawabata應(yīng)力—應(yīng)變模型對試驗結(jié)果進(jìn)行了擬合,同樣取得了良好的擬合結(jié)果。開展了系繩扭轉(zhuǎn)試驗,根據(jù)試驗結(jié)果利用彈簧阻尼模型研究了系繩扭轉(zhuǎn)耗散規(guī)律與扭轉(zhuǎn)過程中的縱向縮短特性,著重研究了系繩扭轉(zhuǎn)剛度與阻尼與系繩長度及系繩張力大小的關(guān)系。另外,針對捕獲后繩系組合體繞系繩軸線方向存在的自旋運(yùn)動問題,提出了利用扭轉(zhuǎn)過程耗散能量的機(jī)構(gòu)實現(xiàn)目標(biāo)物被動消旋的方法,試驗驗證了方法的有效性。
[Abstract]:Net capture is a new flexible way to arrest put forward in recent years, with the arrest of fault tolerance, long distance working vehicle and the coupling between the weak and other advantages, has broad application prospects, is one of the hot research in recent years. Net capture system involves mechanics, mechanical, electrical, control and multi discipline materials, in the overall design scheme, dynamic analysis of scientific problems in many aspects and control system design are more need to study. The working process of net capture system to capture the target can be divided into task tracking platform, close to the net emission process of net mouth locking and posture adjustment. Things captured according to the need for action, which mainly has the drag deorbit action process. Task platform and target is connected through a tether, control tether length and tension by the installation in Ren Wuping The tension control mechanism on the platform, can be recycled to the target, and maintain the state of release. But the tension control process is relatively complex, such as closing rope locking the target, task and target platform is still the two dispersed rigid body system, through a tether, or other operations so that the implementation of the tension maintaining momentum exchange or the energy dissipation between task and target platform, the moving speed of two rigid bodies as consistent as possible, to achieve the effective connection of two rigid bodies to avoid shock, swing, wind and other issues. In view of the domestic and international research in this area is not much, this thesis is supported by the National 863 project and National Natural Science Fund. The rope combined net capture the body as the research object, aiming at the problem of tension, the main research work and corresponding results are as follows: (1) proposed a versatile, efficient tether tension control machine Structure. Through a variety of motion phenomena may prove the existence of net capture system, the tension control mechanism put forward the tether attitude angle, functional requirements and other aspects of the length of the rope tension, the tension control mechanism is developed, and discuss the tension tracking and other kinds of tension control mechanism of the static and dynamic performance. (2 a rope) combination of general dynamics model of attitude and task and target platform tethers two nonlinear elastic considerations, the pendulum vibration coupling analysis. According to the combination of general dynamics model, the coupling between multiple degrees of freedom of motion simulation system, analysis of various initial disturbance influence on body movement. By using the perturbation method gives the approximate analytical solution of the system dynamics model, the steady-state operation generated when internal resonance conditions, provides for the design of net capture system On the basis of. (3) proposed a combination of anti shock anti winding coordinated control strategy is established. The electromechanical coupling system model of tension control mechanism of electromechanical system and target attitude, in order to prevent the initial velocity of the object after the capture of the impact problem of tether winding, according to the characteristics of the model, put forward the control method a tether tension and target torque coordination. Numerical simulation shows that only exists in the initial target of translation and the translation and rotation and the initial two cases, the control strategy is effective. The development of ground air experimental platform, the target under the condition of initial translational anti shock buffer release experiment achieved a good control effect, verify the effectiveness of the proposed control method and technology. (4) proposed a method to suppress in-plane swing. From the reverse thinking principle put forward swing agitation. A plane swing suppression control method of ground swing system with constant gravity field is studied, the numerical simulation and experiments verify the effectiveness of the proposed suppression strategy swing. Further, the method is applied to the space tethered system, the numerical simulation verifies the applicability of this swing suppression strategy for space rope the combination of body. (5) studied the longitudinal nonlinear characteristics of Kevlar tether and torsion dissipation characteristics, proposes a target passive despinning method is designed. The longitudinal tether hanging test plan, test shows that tether longitudinal stiffness is nonlinear strong, respectively, the results were fitted using cubic function and exponential function and achieved good fitting results. Longitudinal load tests show that tether hysteresis effect obviously, using the Kawabata model of the stress and strain of the test results were also obtained a good fitting. Good fitting results. The tether torsion test, according to test results using spring damping model of tether torsion dissipation and longitudinal shortening characteristics of torsion in the process, focusing on the torsional stiffness and damping between the tether and tether length and tether tension. In addition, the captured tethered spin motion combination around the axis of the tether, the method of using reverse process energy dissipation mechanism to realize the target of passive racemization, test and verify the validity of the method.

【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V52

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