基于三维有限段的柔性折叠结构展开动力学建模方法  

A Dynamic Modeling Method for Flexible Folding Structure based on Three Dimensional Finite Segments

作　　者：李轩 黄铁球[1] LI Xuan;HUANG Tieqiu(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing,100044)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《导弹与航天运载技术(中英文)》2025年第2期22-30,共9页Missiles and Space Vehicles

摘　　要：针对空间柔性折叠展开飞行器在展开时存在的大变形、多接触、折叠刚度时变等问题,开展了一类大柔度折叠结构展开过程相关的动力学建模方法研究。基于该类大柔度结构的折叠方式,简化并抽取典型折叠模型,采用有限段方法建立了适用于大柔度折叠结构展开的三维有限段离散模型;采用矢量力学方法,从牛顿-欧拉方程出发,推导出相邻单元间连接力的力学模型,并给出连接力的刚度矩阵;引入非线性等效接触弹簧阻尼和连续摩擦系数库伦摩擦力模型模拟相应段间接触与摩擦状态,保证求解的稳定性和效率;提出折痕处时变非线性弹性连接模型并给出弯折刚度的参数辨识方法。借助ADAMS软件对4种工况下典型折叠模型进行了展开动力学仿真分析,并设计了相应状态下的展开试验,比较二者结果可知,典型折叠模型在受拉展开过程中拉力变化吻合良好,验证了该类结构展开动力学建模的可行性和准确性,为后续整体折叠结构展开的仿真奠定了基础。In response to the problems of large deformation,multi-contacts,and time-varying folding stiffness during the deployment of flexible folding spacecraft,research has been conducted on the dynamic modeling methods of the deployment process of large-flexibility folding structures.Based on the folding method of such large-flexibility structures,a typical folding model is simplified and extracted,and a three-dimensional finite-segment discrete model suitable for the deployment of large-flexibility folding structures is established using the finite segment method.Utilizing vector mechanics,a mechanical model of the connecting forces between adjacent units is derived from the Newton-Euler equations,and the stiffness matrix of the connection forces is provided.Nonlinear equivalent contact spring damping and a continuous friction coefficient Coulomb friction force model are introduced to simulate the contact and friction states between units,ensuring the stability and efficiency of the solution.A time-varying nonlinear elastic connection model at the crease is proposed,along with a parameter identification method for bending stiffness.Using ADAMS software,dynamic simulations of deployment are conducted for typical folding models under four working conditions,and corresponding deployment experiments are designed.The comparison between the two results shows that the change in tensile force during the deployment process of typical folding models matches well,validating the feasibility and accuracy of dynamic modeling for such structures,and laying the foundation for subsequent simulations of the overall structure's unfolding.

关 键 词：大柔度折叠结构 有限段法 牛顿-欧拉法 弯折刚度参数辨识 动力学分析与试验 

分 类 号：V412[航空宇航科学与技术—航空宇航推进理论与工程]