基于两级对准模型的运载火箭自动转载  

Automatic Transfer of Launch Vehicle Based on Two-stage Alignment Model

作　　者：孙长军[1] 闫欣鹏 王帅旗[3] 王磊 SUN Chang-Jun;YAN Xin-Peng;WANG Shuai-Qi;WANG Lei(Beijing Institute of Tracking and Telecommunications Technology,Beijing 100094,China;Fourth Military Representative Office of Military Representative Bureau of Equipment Department of Aerospace System Department in Beijing,Beijing 100841,China;Beijing Institute of Mechanical Equipment,Beijing 100854,China)

机构地区：[1]北京跟踪与通信技术研究所,北京100094 [2]航天系统部装备部军事代表局驻北京地区第四军事代表室,北京100841 [3]北京机械设备研究所,北京100854

出　　处：《计算机系统应用》2024年第7期248-255,共8页Computer Systems & Applications

摘　　要：固体运载火箭作为我国航天运输系统的重要组成部分,具有整箭贮存运输、快速发射响应等特点,在军民商发射领域受到广泛青睐.针对车载起重设备在自动化转载运载火箭中面临的执行机构变形所导致的对准误差问题,本文提出了基于两级对准模型的运载火箭自动转载方法,以解决常规转载方法无法应对的机构变形误差闭环检测缺陷,通过蒙特卡洛仿真对所提方法进行了验证.结果表明:相比于常规转载方法,所提方法的一次转载成功率约为96%,解决了重载大变形下自动转载对准精度问题,转载精度良好,可以保证车箭精确对接.As an important part of China’s space transportation system,the solid launch vehicle has characteristics of storage and transportation of the whole rocket and rapid launch response,and is widely favored in the field of military,civilian,and commercial launch.In response to the alignment error problem caused by actuator deformation of vehiclemounted lifting equipment in the automated transfer of launch vehicles,this study refines an automatic transfer method based on a two-stage alignment model.This method aims to solve the closed-loop detection deficiency of alignment error caused by mechanism deformation that conventional transfer methods cannot effectively handle.The proposed method is verified by using Monte Carlo simulation.The results show that compared with conventional transfer methods,the proposed method has a success rate of about 96%for a single transfer,which solves the accuracy problem of automatic transfer alignment under heavy loads and large deformation.The transfer accuracy is good and can ensure accurate docking between rockets and vehicles.

关 键 词：固体运载火箭 精度分析 位姿检测 自动转载 

分 类 号：V475.1[航空宇航科学与技术—飞行器设计]