对接机构隔框锁的接触碰撞动力学研究及仿真  

Dynamic simulation and research of structure locks based on contact-impact theory in space docking system

作　　者：陈萌[1] 张新访[1] 张云清[1] 肖余之[2] 柏合民[2] 

机构地区：[1]华中科技大学机械科学与工程学院国家企业信息化应用支撑软件工程技术研究中心,武汉430074 [2]上海航天技术研究院第805研究所,上海201108

出　　处：《宇航学报》2002年第6期43-49,共7页Journal of Astronautics

摘　　要：为了给空间对接飞行器提供地面试验的参考依据 ,验证隔框锁结构设计的正确性和对接过程的可行性 ,本文针对隔框锁实例 ,在其运动平面内以均匀 B样条曲线拟合锁钩外轮廓 ,并建立起接触碰撞动力学微分方程和仿真模型。分析了刚体碰撞的过程、刚性接触的单边约束条件和考虑变形接触的法向力计算方法。文章还提出了基于几何引擎的接触点的实时判别算法 ,并给出了对接完成后锁钩的接触力、动能及动量的仿真曲线图。计算过程稳定、所得结果合理 ,具有重要的参考价值。In order to provide a reference for docking experiments of aircraft on the ground,and to validate the design and docking movement,an impact simulation should be adopted.In this paper,the uniform B splines were utilized for modeling the contour of structure locks on planar moving.With this model,the colliding process of rigid bodies,and the unilateral constraints of contact were analyzed and the numerical methods for solving normal force were abtained.Moreover,a real time optimization algorithm was presented for deciding contact points based on geometric engine.By means of impact method,simulation results are illustrated including contact forces,kinetic energy and momentum of slave lock during docking.The dynamic modeling with contact impact is implemented by simulation software ADAMS,and the stable numerical integration results and reasonable data are obtained.

关 键 词：对接机构 隔框锁 接触碰撞 动力学 仿真 空间对接 

分 类 号：V526[航空宇航科学与技术—人机与环境工程] V414