六自由度航天模拟器优化设计与精度分析

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题名	六自由度航天模拟器优化设计与精度分析
作者	王昊
学位类别	硕士
答辩日期	2014-05-28
授予单位	中国科学院沈阳自动化研究所
导师	徐志刚
关键词	气浮法六自由度航天模拟器运动物理属性匹配精度分析
其他题名	The Structural Optimization and Precision Analysis of 6-DOF Space Simulator
学位专业	机械电子工程
中文摘要	航天模拟器是指在航天器的研制中，为验证系统方案设计的正确性，提高其在轨运行的可靠性，对系统进行仿真试验的全物理仿真设备。随着航天技术的发展，许多高性能航天器在太空中需要有很高的机动性，要完成变轨飞行、目标跟踪与捕获等任务，对航天模拟器提出了更高的性能要求，往往要求航天模拟器具有六个运动自由度，且具有更高的仿真试验精度。六自由度航天模拟器设计的重点是实现6自由度空间失重运动状态的模拟，目前实际应用的航天器六自由仿真试验都通过柔索悬挂法或液浮法实现，但柔索悬挂法存在重力平衡精度差，液浮法只适应特定种类的模拟器，不满足现代高性能航天器的试验需求。针对上述问题，本文提出了一种基于气浮的六自由度航天模拟器，主要提出了一种基于气浮的航天模拟器垂向失重运动模拟方法，实现了垂向运动自由度的高精度失重运动状态模拟；优化设计了航天模拟器低摩擦二维转动装置，实现了模拟器滚转、俯仰二维转动的空间失重运动高精度模拟；根据数学模型对模拟器运动物理属性进行了高精度匹配；最后建立了模拟器综合运动误差模型，分析了模拟器综合运动模拟精度。从实时性和高精度的角度提出了一种基于等效动力学原理和气浮技术实现的垂向失重运动模拟方式。建立了系统等效动力学模型，并给出了等效动力学模型的适用条件，根据气浮组件尺寸、气压与承载力的关系，优化设计了模拟器气浮组件，并详细分析了其垂向失重运动模拟精度，验证了该模拟方式的有效性。在高刚度、低质量及低摩擦要求下，优化设计了模拟器二维转动装置，并在其误差源分析的基础上建立其姿态模拟误差数学模型，得到其模拟误差对运动精度的影响。质量惯量等运动物理属性是影响航天模拟器模拟精度的重要因素，建立了模拟器运动物理属性匹配的数学模型，并依据数学模型优化了其匹配构型，在此基础上分析了惯量的耦合性误差，使模拟器物理属性模拟精度达到了要求。最后，运用多体运动学理论建立了六自由度航天模拟器机械运动误差模型，并通过仿真算法计算了模拟器综合运动精度，计算结果表明运动精度满足高精度仿真要求。
索取号	V216.8/W33/2014
英文摘要	Gas flotation as a way to offset the effects of gravity, has been widely used in the aerospace simulator ground simulation experiments. Compared with liquid float, flexible cable suspension method, it has flexible configuration design, trajectory unlimited advantages. Lack of Freedom and not high simulation accuracy is important factors for further development of flotation space simulator. Difficult to achieve weightlessness vertical movement is the main reason for lack of freedom of the simulator, which is the key the 6-DOF Space Simulator distinguishes with the 5-DOF Space Simulator. Simulation accuracy is not high mainly includes two questions. The motion state of weightlessness simulation accuracy and the motion physical attributes matching accuracy.In response to these problems, this paper proposes a new flotation 6-DOF Space Simulator configuration. From the viewpoint of design and precision, the main study focus on 4 quertions. Precision vertical weightlessness movement simulation mode, configuration optimization and precision analysis of two-dimensional turntable,the precision way to match motion physical attributes and the overall movement accuracy of simulator.Firstly, studied the way to achieve high-precision vertical weightlessness movement, Considering the real-time and high precision, presents a method of weightlessness vertical movement which combines the principles of proportional weight and flotation techniques.By studying its implementation principle, noting that the conditions of its design and implementation.Through the study of flotation techniques to obtain the relationship between component size and flotation capacity.Carried out a detailed configuration design for a specific requirement of the simulator, and make a study of its simulation accuracy.Secondly,design the two dimensional turntable in the configuration requirements of high stiffness and low quality. Give the mathematical model based on its analysis of the pointing error error sources. Through analysis of a simulation of a two-dimensional turntable,get pointing errors affect on movement precision.It has reference values for the simulation accuracy analysis of the two dimensional turntable.Thirdly, The study on the precision way to match motion physical attributes, pointed out the seven equations conditions which need to meet, the design premise and match method. Through the analysis of inertia coupling, pointed out the matching simulation accuracy.Lastly,Established the space simulator’s error model based on the Many-body kinematics theory. Comparative ideal model, get the integrated simulation accuracy of this configuration design.
语种	中文
产权排序	1
页码	63页
分类号	V216.8
内容类型	学位论文
源URL	[http://ir.sia.ac.cn/handle/173321/14783]
专题	沈阳自动化研究所_装备制造技术研究室
推荐引用方式 GB/T 7714	王昊. 六自由度航天模拟器优化设计与精度分析[D]. 中国科学院沈阳自动化研究所. 2014.