某火箭箭体运动模拟系统设计研究

发布时间：2018-08-09 06:41

【摘要】：运载火箭发射前的燃料加注过程对安全性、可靠性要求极高。而火箭箭体运动模拟系统是燃料加注系统对接、加注燃料及脱落实验的一个独立系统,为连接器提供实验对接平台,对运载火箭燃料加注系统研究有重要的理论和实际意义。本文首先对火箭发射前箭体的空间运动规律进行分析,完成设计指标转换；分析论证串联机构、并联机构及混联机构的各自特点,并提出五自由度混联机构作为运动模拟系统执行机构的方案；提出“工控PC机+运动控制卡”的总体控制思路；进行箭体运动模拟器具体结构设计和主要零部件选型、校核。其次,对混联运动模拟系统中的并联部分进行运动学分析,基于螺旋理论计算机构的自由度；利用坐标系变换法得到并联机构的位置反解,并进一步进行机构的速度与加速度分析；利用牛顿迭代法获得并联机构的位置正解；在MATLAB软件中对位置正反解及速度、加速度分析分别进行算例验证。最后,基于拉格朗日方程法建立了并联机构的动力学模型,得到关节驱动力与执行末端位姿的关系；对箭体运动模拟系统的横向与纵向摆动运动过程进行动力学仿真,得到驱动关节的驱动力、速度及功率等数值；考虑机械结合面对系统动态性能的影响,利用有限元技术对系统进行模态分析和谐响应分析,得到了系统的振动特性参数。
[Abstract]:The fuel filling process before launch of launch vehicle requires high safety and reliability. The rocket motion simulation system is an independent system for fuel injection system docking, fuel injection and shedding experiment, which provides the experimental docking platform for the connector, which has important theoretical and practical significance for the research of fuel injection system of launch vehicle. In this paper, the law of space motion of rocket body before launching is analyzed, and the design index conversion is completed, and the characteristics of series mechanism, parallel mechanism and hybrid mechanism are analyzed and demonstrated. The scheme of five degrees of freedom hybrid mechanism as the executive mechanism of motion simulation system, the general control thought of "industrial control PC motion control card", the specific structure design of arrow motion simulator and the selection of main parts are put forward. Secondly, the kinematics analysis of the parallel part of the hybrid kinematic simulation system is carried out, and the degree of freedom of the mechanism is calculated based on the helical theory, and the inverse solution of the parallel mechanism is obtained by using the coordinate system transformation method. Furthermore, the velocity and acceleration of the mechanism are analyzed; the forward solution of the position of the parallel mechanism is obtained by Newton iteration method; the positive and negative solutions of the position and the velocity and acceleration of the parallel mechanism are verified by examples in MATLAB software. Finally, based on Lagrange equation method, the dynamic model of parallel mechanism is established, and the relationship between the joint driving force and the terminal position is obtained, and the dynamic simulation of the lateral and longitudinal swinging motion of the arrow motion simulation system is carried out. The driving force, speed and power of the drive joint are obtained, and the vibration characteristic parameters of the system are obtained by using the finite element technique to analyze the modal harmonic response of the system, considering the effect of the mechanical combination on the dynamic performance of the system.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V475.1

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