小行星探测器电磁阻尼着陆缓冲遇阻特性  

Electromagnetic damping buffering characteristics of aster-oid probe upon encountering obstructions

作　　者：王廷章 全齐全[1] 艾鑫 唐德威[1] 邓宗全[1] WANG Tingzhang;QUAN Qiquan;AI Xin;TANG Dewei;DENG Zongquan(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)

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150001

出　　处：《航空学报》2023年第13期92-104,共13页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(51975139,52105012,52111530038)。

摘　　要：着陆缓冲是小行星原位探测的基础。探测前小行星表面形貌未知,着陆缓冲时容易遇到阻碍并产生倾覆,因此需要研究小行星探测器着陆缓冲遇阻特性。建立机械与控制耦合的着陆缓冲动力学联合仿真模型,并采用神经网络对其碰撞接触参数进行标定。基于建立的仿真模型,理论研究了切向着陆速度、法向着陆速度、探测器偏航角、着陆倾角对着陆缓冲遇阻过程的影响规律,探究了不同偏航角对着陆过程各着陆缓冲阶段的影响,分析了着陆遇阻倾覆的主要影响因素及其影响规律。在微重力环境模拟小行星着陆缓冲实验平台上开展了着陆缓冲遇阻实验,研究了初始着陆参数及着陆介质对着陆缓冲过程的影响规律并验证了仿真模型。仿真获得的着陆缓冲时间与实验结果的误差小于15%,表明建立的仿真模型是准确的。Landing buffer is the basis for in-situ exploration of asteroids.The unknown surface morphology of aster⁃oids could easily lead to overturn of the probe upon encountering obstacles during the landing process.It is therefore necessary to investigate the electromagnetic damping buffering characteristics in the obstruction encountering process.First,we establish a co-simulation model of landing buffering dynamics coupling mechanics and control,and calibrate the collision contact parameters with the neural network.Based on the established simulation model,the influence of tangential landing speed,normal landing speed,probe yaw angle,and landing inclination on the landing process is theoretically studied,and the effect of yaw angles on different landing buffer stages is explored.The main influencing factors and their influence on the overturning due to obstacle encounter are analyzed.Finally,landing buffer experi⁃ments are performed on the microgravity simulation asteroid landing buffer experimental platform to study the influence of the initial landing parameters and the landing medium on the landing buffer process,verifying the established simu⁃lation model.The error between the simulation landing buffer time and the experimental results is smaller than 15%,demonstrating the accuracy of the established simulation model.

关 键 词：小行星探测 电磁阻尼 着陆缓冲 遇阻特性 动力学仿真 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计]