【摘要】：運(yùn)載火箭發(fā)射前的燃料加注過(guò)程對(duì)安全性、可靠性要求極高。而火箭箭體運(yùn)動(dòng)模擬系統(tǒng)是燃料加注系統(tǒng)對(duì)接、加注燃料及脫落實(shí)驗(yàn)的一個(gè)獨(dú)立系統(tǒng),為連接器提供實(shí)驗(yàn)對(duì)接平臺(tái),對(duì)運(yùn)載火箭燃料加注系統(tǒng)研究有重要的理論和實(shí)際意義。本文首先對(duì)火箭發(fā)射前箭體的空間運(yùn)動(dòng)規(guī)律進(jìn)行分析,完成設(shè)計(jì)指標(biāo)轉(zhuǎn)換；分析論證串聯(lián)機(jī)構(gòu)、并聯(lián)機(jī)構(gòu)及混聯(lián)機(jī)構(gòu)的各自特點(diǎn),并提出五自由度混聯(lián)機(jī)構(gòu)作為運(yùn)動(dòng)模擬系統(tǒng)執(zhí)行機(jī)構(gòu)的方案；提出“工控PC機(jī)+運(yùn)動(dòng)控制卡”的總體控制思路；進(jìn)行箭體運(yùn)動(dòng)模擬器具體結(jié)構(gòu)設(shè)計(jì)和主要零部件選型、校核。其次,對(duì)混聯(lián)運(yùn)動(dòng)模擬系統(tǒng)中的并聯(lián)部分進(jìn)行運(yùn)動(dòng)學(xué)分析,基于螺旋理論計(jì)算機(jī)構(gòu)的自由度；利用坐標(biāo)系變換法得到并聯(lián)機(jī)構(gòu)的位置反解,并進(jìn)一步進(jìn)行機(jī)構(gòu)的速度與加速度分析；利用牛頓迭代法獲得并聯(lián)機(jī)構(gòu)的位置正解；在MATLAB軟件中對(duì)位置正反解及速度、加速度分析分別進(jìn)行算例驗(yàn)證。最后,基于拉格朗日方程法建立了并聯(lián)機(jī)構(gòu)的動(dòng)力學(xué)模型,得到關(guān)節(jié)驅(qū)動(dòng)力與執(zhí)行末端位姿的關(guān)系；對(duì)箭體運(yùn)動(dòng)模擬系統(tǒng)的橫向與縱向擺動(dòng)運(yùn)動(dòng)過(guò)程進(jìn)行動(dòng)力學(xué)仿真,得到驅(qū)動(dòng)關(guān)節(jié)的驅(qū)動(dòng)力、速度及功率等數(shù)值；考慮機(jī)械結(jié)合面對(duì)系統(tǒng)動(dòng)態(tài)性能的影響,利用有限元技術(shù)對(duì)系統(tǒng)進(jìn)行模態(tài)分析和諧響應(yīng)分析,得到了系統(tǒng)的振動(dòng)特性參數(shù)。
[Abstract]:The fuel filling process before launch of launch vehicle requires high safety and reliability. The rocket motion simulation system is an independent system for fuel injection system docking, fuel injection and shedding experiment, which provides the experimental docking platform for the connector, which has important theoretical and practical significance for the research of fuel injection system of launch vehicle. In this paper, the law of space motion of rocket body before launching is analyzed, and the design index conversion is completed, and the characteristics of series mechanism, parallel mechanism and hybrid mechanism are analyzed and demonstrated. The scheme of five degrees of freedom hybrid mechanism as the executive mechanism of motion simulation system, the general control thought of "industrial control PC motion control card", the specific structure design of arrow motion simulator and the selection of main parts are put forward. Secondly, the kinematics analysis of the parallel part of the hybrid kinematic simulation system is carried out, and the degree of freedom of the mechanism is calculated based on the helical theory, and the inverse solution of the parallel mechanism is obtained by using the coordinate system transformation method. Furthermore, the velocity and acceleration of the mechanism are analyzed; the forward solution of the position of the parallel mechanism is obtained by Newton iteration method; the positive and negative solutions of the position and the velocity and acceleration of the parallel mechanism are verified by examples in MATLAB software. Finally, based on Lagrange equation method, the dynamic model of parallel mechanism is established, and the relationship between the joint driving force and the terminal position is obtained, and the dynamic simulation of the lateral and longitudinal swinging motion of the arrow motion simulation system is carried out. The driving force, speed and power of the drive joint are obtained, and the vibration characteristic parameters of the system are obtained by using the finite element technique to analyze the modal harmonic response of the system, considering the effect of the mechanical combination on the dynamic performance of the system.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：V475.1

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