垂直降落运载器着陆动力学建模与稳定性分析  

Landing Dynamics Modeling and Stability Analysis of Vertical-landing Carrier

作　　者：王英超 高海波[1] 于海涛[1] 刘振[1] 丁亮[1] 宋宝玉[1] 邓宗全[1] WANG Yingchao;GAO Haibo;YU Haitao;LIU Zhen;DING Liang;SONG Baoyu;DENG Zongquan(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《机械工程学报》2020年第11期37-47,共11页Journal of Mechanical Engineering

基　　金：“111”创新引智计划(B07018);国家自然科学基金创新研究群体项目(51521003);中央高校基本科研业务费专项基金(HIT.NSRIF.201833)资助项目。

摘　　要：目前,垂直起降运载器的可重复使用是大量节约空间进入成本的直接有效方式。如若运载器在整个着陆过程中维持未倾翻状态直至安全着陆,则意味着实现了运载器的成功回收。在垂直起降可重复使用运载器着陆过程中,利用着陆装置吸收冲击能量以协助运载器实现稳定是其最终环节,此过程对运载器能否安全着陆有重要影响。针对支腿式运载器着陆装置,在传统多体动力学分析基础上,引入含摩擦单点碰撞模型以模拟足地碰撞引起的动力学不连续过程,建立典型着陆模式下运载器各着陆状态动力学方程,构建腿式着陆装置运载器完整着陆过程有限状态机。通过数值仿真计算,对运载器着陆结果进行参数化区间划分,获得稳定着陆的参数组合,可为后续运载器着陆控制提供策略参考和技术支撑。At present,the reusability of vertical takeoff and landing vehicles is a direct and effective way to save a large amount of cost of space entry.If the carrier remains untilted throughout the landing until a safe landing,this means a successful recovery of the carrier.In the vertical landing and reusable carrier landing process,the use of landing devices to absorb impact energy to assist the carrier to achieve stability is the final step,which has a significant impact on the safe landing of the vehicle.Based on the traditional multi-body dynamics analysis,a friction-containing single-point collision model is introduced to simulate the dynamic discontinuity process caused by the foot-ground collision,and the landing state dynamics of the carrier in a typical landing mode is established.And constructed a finite state machine for the complete landing process of the leg landing gear carrier.Through numerical simulation calculation,the parameterization interval of the carrier landing results is divided to obtain a stable landing parameter combination,which can provide strategic reference and technical support for subsequent carrier landing control.

关 键 词：运载器回收 动力学建模 碰撞 稳定性 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]