一种垂直起降运载器着陆支腿设计与展开控制

doi:10.3901/JME.2020.19.171

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 171-181.doi: 10.3901/JME.2020.19.171

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

扫码分享

一种垂直起降运载器着陆支腿设计与展开控制

田保林, 高海波, 于海涛, 刘振, 李楠, 丁亮, 邓宗全

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

收稿日期:2019-12-16 修回日期:2020-03-20 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 于海涛(通信作者),男,1984年出生,博士,副研究员。主要研究方向为机器人技术、宇航空间机构与控制。E-mail:yht@hit.edu.cn
作者简介:田保林,男,1995年出生,博士研究生。主要研究方向为宇航空间机构及控制。E-mail:19b908094@stu.hit.edu.cn
基金资助:
“111”创新引智计划（B07018）、NSFC国家自然科学基金创新研究群体项目（51521003）和中央高校基本科研业务费专项基金（HIT.NSRIF.201833）资助项目。

Design and Deployment Control of Landing Leg for a Vertical Takeoff and Landing Vehicle

TIAN Baolin, GAO Haibo, YU Haitao, LIU Zhen, LI Nan, DING Liang, DENG Zongquan

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2019-12-16 Revised:2020-03-20 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 目前，实现垂直起降运载器可重复使用是降低发射成本的有效途径之一。当运载器完成着陆场返回后，需依靠着陆支撑机构的展开、锁定及缓冲吸能三阶段的协同配合，最终实现平稳软着陆。针对运载器着陆支撑机构，提出一种六杆式支撑机构构型，通过四连杆机构实现展开与收拢动作，利用双锁紧机构型式实现锁定动作，依据机构自锁原理完成单向运动。通过对实际展开工况进行分析，提出主动+随动控制方式和全程作动控制方式。在着陆支撑机构展开过程动力学建模的基础上，分别对两种展开运动控制策略进行优化。并完成不同控制方案对比分析，最终确定合理展开驱动方案，为运载器支撑机构的研制和展开控制提供技术支持。

关键词: 运载器回收, 结构设计, 动力学, 展开控制

Abstract: At present, realizing the reusability of vertical takeoff and landing vehicles is one of the effective ways to reduce launch cost. When the carrier returns to the landing site, it relies on the cooperation of deployment, locking and buffering that absorbs energy of the landing support mechanism, offering a smooth and soft landing. Aiming at devising a landing support mechanism of carrier, a six-bar support mechanism configuration is presented that can realize the unfolding and closing action via four-bar linkage mechanism, achieve the locking action by using double locking mechanism type, and complete one-way movement according to the self-locking principle of the mechanism. Two deployment strategies including the active-following mode and the entire active mode are proposed by virtue of analyzing the full stride of the deployment. The optimizations of the two deployment motion control strategies are implemented based on the dynamics modeling of the deployment process of the landing support mechanism. The scheme of deployment is ultimately determined through the comprehensive comparison among different control modes, which can provide technical support for the development and deployment control of carrier support mechanism.

Key words: carrier recovery, structural design, dynamics, deployment control

中图分类号:

V423

田保林, 高海波, 于海涛, 刘振, 李楠, 丁亮, 邓宗全. 一种垂直起降运载器着陆支腿设计与展开控制[J]. 机械工程学报, 2020, 56(19): 171-181.

TIAN Baolin, GAO Haibo, YU Haitao, LIU Zhen, LI Nan, DING Liang, DENG Zongquan. Design and Deployment Control of Landing Leg for a Vertical Takeoff and Landing Vehicle[J]. Journal of Mechanical Engineering, 2020, 56(19): 171-181.

参考文献

[1] FREEMAN D C,TALAT T A,AUSTIN R E. Reusable launch vehicle technology program[J]. Acta Astronautica,1997,41(11):777-790.
[2] 庞之浩. 回收火箭的重要意义与关键技术[J]. 科技导报,2016,34(1):15-19. PANG Zhihao. Significance and key technology of recovery rocket[J]. Science and Technology Review,2016,34(1):15-19.
[3] KELLY T. Manned lunar lander design-The Project Apollo Lunar Module (LM)[C]//Space Programs and Technologies Conference. Huntsville:AIAA,1992:AIAA 1992-1480.
[4] COPPER J. Single stage rocket concept selection and design[C]//Space Programs and Technologies Conference. Huntsville:AIAA,1992:AIAA 1992-1383.
[5] DUMBACHER D,KLEVATT P. DC-XA-First step top a reusable launch vehicle[C]//Space Programs and Technologies Conference and Exhibit. Huntsville:AIAA,1994:AIAA 1994-4682.
[6] 杨开,才满瑞. 蓝色起源公司"新谢泼德"飞行器及其未来发展分析[J]. 国际太空,2018,475(7):20-26. YANG Kai,CAI Manrui. Analysis of Blue Origin's "New Shepard" aircraft and its future development[J]. Space International,2018,475(7):20-26.
[7] 张雪松. Nemo.蓝色起源的新格伦火箭[J]. 卫星与网络,2017(4):68-69. ZHANG Xuesong. Nemo. new Glenn rocket of Blue Origin[J]. Satellite and Network,2017(4):68-69.
[8] DAVIS L A. Falcon heavy[J]. Engineering,2018,4(3):300-300.
[9] 徐倩,郭凤明,苏玲,等. 运载火箭助推器伞控回收方案及安全性分析[J]. 宇航总体技术,2017(3):13-19. XU Qian,GUO Fengming,SU Ling,et al. Recovery scheme and safety analysis of launch vehicle booster parachute control[J]. Astronautical Systems Engineering Technology,2017(3):13-19.
[10] 崔乃刚,吴荣,韦常柱,等. 垂直起降可重复使用运载器发展现状与关键技术分析[J]. 宇航总体技术,2018,2(2):27-42. CUI Naigang,WU Rong,WEI Changzhu,et al. Analysis on the development status and key technologies of vertical take-off and landing reusable carrier[J]. Astronautical Systems Engineering Technology,2018,2(2):27-42.
[11] 陈书钊,楚龙飞,杨秀梅,等. 状态预测神经网络控制应用于小型可回收火箭[J]. 航空学报,2019,40(3):154-168. CHEN Shuzhao,CHU Longfei,YANG Xiumei,et al. Application of state predictive neural network control algorithm in small reusable rocket[J]. Acta aeronautica et Astronautica Sinica,2019,40(3):154-168.
[12] 毕春莹. 平行四边形式可回收火箭着陆支撑机构的方案设计及着陆仿真分析[D]. 哈尔滨:哈尔滨工业大学,2016. BI Chunying. Design and simulation analysis of landing mechanism with parallelogram structure for recyclable rocket[D]. Harbin:Harbin Institute of Technology,2016.
[13] 肖杰,张明,岳帅,等. 新型垂直起降运载器着陆支架收放系统设计与分析[J]. 机械设计与制造工程,2017,46(3):30-35. XIAO Jie,ZHANG Ming,YUE Shuai,et al. Design and analysis on new landing support of vertical take-off and landing launch vehicle[J]. Machine Design and Manufacturing Engineering,2017,46(3):30-35.
[14] YUE S,NIE H,ZHANG M,et al. Optimization and performance analysis of oleo-honeycomb damper used in vertical landing reusable launch vehicle[J]. Journal of Aerospace Engineering,2018,31(2):04018002.
[15] WEI X,LIN Q,NIE H,et al. Investigation on soft-landing dynamics of four-legged lunar lander[J]. Acta Astronautica,2014,101:55-66.
[16] ZHANG M,XU D,YUE S,et al. Design and dynamic analysis of landing gear system in vertical takeoff and vertical landing reusable launch vehicle[J]. Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2019,233(10):3700-3713.
[17] HUANG M. Control strategy of launch vehicle and lander with adaptive landing gear for sloped landing[J]. Acta Astronautica,2019,161:509-523.
[18] GU H,LIU H,WEI C,et al. Design and Simulation of a low-inertia bionic leg for quadruped robots[C]//2018 2nd IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference (IMCEC). Xi'an:IEEE,2018:221-226.
[19] 陈金成,徐志明,徐正飞,等. 基于分段三次样条曲线的高速加工平滑运动轮廓自适应算法研究[J]. 机械工程学报,2002,38(5):61-65. CHEN Jincheng,XU Zhiming,XU Zhengfei,et al. Research on adaptive algorithm for generating smooth motion profile of high-speed machining based on piecewise 3-order spline curve[J]. Journal of Mechanical Engineering,2002,38(5):61-65.
[20] FARINA M,DEB K,AMATO P. Dynamic multiobjective optimization problems:Test cases,approximations,and applications[J]. IEEE Transactions on Evolutionary Computation,2004,8(5):425-442.

一种垂直起降运载器着陆支腿设计与展开控制

Design and Deployment Control of Landing Leg for a Vertical Takeoff and Landing Vehicle

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	崔歆, 李长河, 张彦彬, 杨敏, 周宗明, 刘波, 王春锦. 磁力牵引纳米润滑剂微量润滑磨削力模型与验证[J]. 机械工程学报, 2024, 60(9): 323-337.
[2]	张行, 富宽, 陈铭浩, 李睿, 石新娜. 压差式多节串联管道机器人越障时动力学演化规律及减振分析[J]. 机械工程学报, 2024, 60(8): 348-359.
[3]	畅博彦, 韩芳孝, 周杨, 金国光. 面向精梳任务的高速变胞机构冲击动力学研究[J]. 机械工程学报, 2024, 60(7): 54-65.
[4]	张俊, 吴成阳, 方汉良, 孙载超, 王凯龙, 汤腾飞. Z4型冗余驱动并联操作器的驱动特性研究[J]. 机械工程学报, 2024, 60(7): 66-78.
[5]	商德勇, 黄欣怡, 黄云山, 张天佑. 基于Kane方程的Delta并联机器人刚柔耦合动力学研究[J]. 机械工程学报, 2024, 60(7): 124-133.
[6]	杨炜烽, 刘检华, 吕乃静, 马江涛. 基于位置动力学的线缆运动过程仿真方法[J]. 机械工程学报, 2024, 60(6): 21-31,57.
[7]	水有富, 刘金祥, 黄渭清, 左正兴, 周海涛, 白文君. 发动机气缸盖用铸造Al-Si合金腐蚀动力学研究[J]. 机械工程学报, 2024, 60(6): 261-270.
[8]	陈清华, 杨云帆, 閤鑫, 凌亮, 王开云. 基于电磁力作用的地铁列车防滑控制研究[J]. 机械工程学报, 2024, 60(6): 334-341.
[9]	蔡腾飞, 潘岩, 王啸林, 马飞, 祝启恒, 韩健. 自振空化射流冲蚀模式与机制研究[J]. 机械工程学报, 2024, 60(6): 378-385.
[10]	张风利, 张荣荣, 罗秋丽, 张亚东, 李兵, 郭慧. 某SUV镂空扰流板气动噪声机理分析及降噪研究[J]. 机械工程学报, 2024, 60(6): 398-408.
[11]	周祖意, 杨玉维, 齐文耀, 龚健超, 李照童. 腰部外骨骼机器人多刚-柔体动力学等效逆解方法研究及其性能优化综合[J]. 机械工程学报, 2024, 60(5): 107-118.
[12]	华东鹏, 周青, 王婉, 李硕, 王志军, 王海丰. 碳化硅纳米抛光亚表面损伤机理的分子动力学模拟[J]. 机械工程学报, 2024, 60(5): 231-240.
[13]	周宁, 姚建勇, 邓文翔. 基于神经网络的比例伺服阀阀芯液动力补偿鲁棒智能控制[J]. 机械工程学报, 2024, 60(4): 126-133.
[14]	高强, 王健, 张严, 郑旭阳, 吕昊, 殷国栋. 拓扑优化方法及其在运载工程中的应用与展望[J]. 机械工程学报, 2024, 60(4): 369-390.
[15]	潘鑫, 张馨, 卢加乔, 吴海琦. 基于超声电机精稳调控的转子不平衡自愈执行装置设计与试验研究[J]. 机械工程学报, 2024, 60(4): 449-457.