空间充气展开绳网系统捕获目标自抗扰控制研究

空间充气展开绳网系统是依靠充气梁展开绳网进行目标捕获的航天器系统,具有更好的稳定性和可操控性.然而由于充气梁和绳网的大柔性变形以及捕获失稳自旋目标后的未知碰撞,使得捕获后的航天器姿态稳定控制困难.本文主要基于自抗扰控制解决了空间充气展开绳网系统捕获目标后的姿态稳定和消旋难题.首先,基于理想薄膜充压失效理论和绝对节点坐标方法建立充气展开绳网系统动力学模型,而后设计了航天器姿态稳定自抗扰控制器,用于实时估计并补偿系统捕获过程中未知惯量目标与捕获机构的碰撞干扰.仿真结果表明,动力学模型能够模拟捕获过程中充气梁的屈曲失效及碰撞特性,自抗扰控制器能够有效抑制碰撞带来的干扰,实现空间充气展开绳网系统捕获后的高精度姿态稳定控制,同时能够在有限时间内对自旋目标实现消旋.     

基于Karnopp摩擦的柔性滑移铰的建模与仿真

对含Karnopp摩擦的柔性滑移铰系统进行动力学建模和仿真.将滑移铰中的滑块视为柔性体,滑道视为刚性接触面,考虑滑道与滑块之间的间隙.由于柔性滑块与滑道的接触状态和摩擦情况比较复杂,采用有限元方法建立了柔性滑块的力学模型,基于罚函数方法建立含Karnopp摩擦柔性滑移铰接触力模型,通过试算迭代法判断柔性滑块各节点的接触状态,基于KED方法和Newmark方法给出了含该滑移铰机械系统动力学方程的数值算法.最后,以含Karnopp摩擦的柔性滑移铰和驱动摆杆构成的机械系统为例进行动力学仿真,分析了其动力学特性,验证了本文给出的方法的有效性.     

太阳电池阵展开与锁定过程的多体动力学分析

柔性太阳电池阵展开动力学分析一般将板间的铰链视为理想铰,展开到位时施加与角度相关的撞击力矩模拟锁定过程.本文采用多体动力学方法,在动力学建模时将板间铰链视为物体,考虑太阳电池阵的刚柔耦合效应,基于Hertz接触理论,建立锁销和锁槽的碰撞模型.然后实现了太阳电池阵展开锁定全过程的动力学数值仿真,并研究了碰撞模型中参数的选取对仿真结果的影响.研究结果表明,碰撞参数的选取不仅影响铰间碰撞力的大小,还会影响整个系统锁定后的频率响应.最后给出了如何选取碰撞参数进行太阳电池阵展开与锁定动力学仿真的策略.     

充气管展开过程仿真研究

采用有限元方法就空间充气结构的基本组成部件(充气管),展开动力学响应过程进行仿真研究.在对流固耦合问题的数值求解方法进行探讨的基础上,建立了充气管的原始折叠模型,利用瞬态动力学分析软件MSC.Dytran较为准确地模拟了折叠管完全展开的全过程.随后,分析对比了折叠方式的选取和控制机制的引入等外界因素对于展开历程的影响.仿真结果表明,外在因素的变化会直接影响展开过程的动力学响应模式,并改变充入气体总量、结构内部压差等重要系统参数.仿真过程中所采用的数值计算方法以及获取的各项仿真数据为更进一步的结构仿真模拟、系统总体方案设计和具体参量设定提供了重要依据.     

多柔体系统动力学研究进展与挑战

首先回顾多体系统动力学的学科发展和学术交流情况,然后系统概述了多柔体系统动力学方程数值算法、多柔体系统接触/碰撞动力学与柔性空间结构展开动力学三个方面的研究进展及值得关注的若干问题,最后给出了开展多柔体系统动力学研究的若干建议.     

高超声速折叠翼展开动力学研究

折叠翼飞行器在飞行过程中通过机翼的展开与折叠,来满足不同飞行任务时的最优飞行性能.在飞行过程中,折叠翼能够顺利展开并安全锁定是折叠翼飞行器顺利完成任务的根本原因之一.因此,针对高超声速折叠翼被动展开过程,研究其精确动力学建模与仿真,优化系统参数与飞行姿态,使得折叠翼展开锁定后的冲击响应满足结构要求.首先,采用绝对节点坐标法建立柔性折叠翼的柔性多体系统动力学模型,采用活塞理论建立气动力模型,从而形成折叠翼的柔-流耦合动力学模型,并采用广义a算法求解.其次,研究被动展开扭杆参数、阻力扭簧参数与飞行姿态等对高超声速折叠翼被动展开动态过程的影响,优化系统参数,有效降低展开锁定后的冲击响应.     

基于完全二叉树BVH的自碰撞检测算法

计算机图形学与虚拟现实应用的一个主要任务是对柔性物体的动态实时模拟。这类仿真任务需要能够快速计算的模型与动力学仿真算法,特别是高效的碰撞、自碰撞检测算法。尽管研究者们针对刚体的碰撞检测已经做了大量工作,但柔性物体对碰撞检测提出了更高的挑战。给出一种基于完全二叉树的包围盒层次结构,并运用基于此结构的构建、更新算法,优化仿真系统中数个环节,实现复杂场景中布料类柔性物体的自碰撞检测与物理模拟。     

变拓扑柔性多体系统接触碰撞动力学研究

在实际工程领域中存在着大量接触碰撞等非连续动力学问题,现有的解决柔性多体系统连续动力学过程的建模理论与方法,已经无法解决或无法很好解决这些问题.本文基于变拓扑思想,提出了附加接触约束的柔性多体系统碰撞动力学建模理论；通过设计柔性圆柱杆接触碰撞实验,验证了所提出附加约束接触碰撞模型的有效性；针对柔性多体系统全局动力学仿真面临时间和空间的多尺度问题,提出多变量的离散方法,从而提高了柔性多体系统非连续动力学的仿真效率.     

末敏弹旋转伞系统运动建模与仿真研究

结合有限元方法研究了末敏弹旋转伞运动建模及仿真.针对降落伞具有非线性柔性变形的特点,利用粒子系统来构造伞三维模型;建立充气运动的粒子节点动力学模型;通过仿真计算,其结果与实拍伞形运动变化规律基本一致,该仿真为末敏弹旋转伞运动研究提供一种新的思路.     

柔性梁线接触碰撞的动力学建模和实验研究

研究作旋转运动的柔性梁的线接触正碰撞问题.基于Goldsmith的线接触撞击力模型,分别用基于小变形的混合坐标法和基于大变形的绝对坐标法建立了柔性梁的动力学方程,考虑了几何非线性效应.在此基础上,进一步考虑非线性阻尼项的影响,将Hunt,Crossley的阻尼模型推广到线接触问题.介绍了柔性梁线接触碰撞的实验方法.计算结果显示,在考虑阻尼的情况下,计算结果与实验结果吻合很好.比较了混合坐标法和绝对坐标法的撞击力计算结果,与实验结果对比表明,绝对坐标法更适用于大变形的撞击问题.     

Mechanical design and control of inflatable robotic arms for high positioning accuracy

In recent years, inflatable robotic arms have been developed so that physical contact with humans and working environments could be performed safety. In industry, there is a growing demand for safe industrial robots to collaborate with people and work in various environments. In general, however, the positioning accuracy of inflatable robotic arms has not been discussed. This paper proposes an inflatable link structure and a non-inflatable joint structure that could realize a high positioning accuracy for such robotic arms. This paper experimentally demonstrates that these structures can improve positioning accuracy. In addition to these structures, the joint torque characteristics of the inflatable robotic arms were investigated. In order to perform accurate motion control, a visual feedback control method was introduced for inflatable robotic arms. The mechanism and control system used in this paper can improve the positioning accuracy performance of inflatable robots. A 2-DOF inflatable robotic arm and a camera system were found to be able to achieve a high positioning accuracy (i.e. less than 1 mm).     

An augmented Lagrangian optimization method for inflatable structures analysis problems

This paper describes the development of an augmented Lagrangian optimization method for the numerical simulation of the inflation process in the design of inflatable space structures. Although the Newton–Raphson scheme was proven to be efficient for solving many nonlinear problems, it can lead to lack of convergence when it is applied to the simulation of the inflation process. As a result, it is recommended to use an optimization algorithm to find the minimum energy configuration that satisfies the equilibrium equations characterizing the final shape of the inflated structure subject to an internal pressure. On top of that, given that some degrees of freedom may be linked, the optimum may be constrained, and specific optimization methods for constrained problems must be considered. The paper presents the formulation and the augmented Lagrangian method (ALM) developed in SAMCEF Mecano for inflatable structures analysis problems. The related quasi-unconstrained optimization problem is solved with a nonlinear conjugate gradient method. The Wolfe conditions are used in conjunction with a cubic interpolation for the line search. Equality constraints are considered and can be easily treated by the ALM formulation. Numerical applications present simulations of unconstrained and constrained inflation processes (i.e., where the motion of some nodes is ruled by a rigid body element restriction and/or problems including contact conditions).Part of this paper was presented at the sixth world congress of Structural and Multidisciplinary Optimization held in Rio de Janeiro, June 2005.     

Robotic manipulators based on inflatable structures

This paper deals with a new kind of mechanical structure for the robotic arm based on elements made of thin, inflatable shells. This approach offers an increase of the payload-to-weight ratio of the robot. Moreover, it allows compact packaging and easier robot deployment, which is critical in hard-to-reach spaces and where volume and weight are of utmost importance. An inflatable link was constructed and tested statically and dynamically as part of the robot structure. To overcome the flexibility effects, an end-point sensor was installed that enables closing the control loop on the tip location. Path tracking performances of the experimental system, which consists of a SCARA type robot arm with an inflatable forearm, an end-effector position sensor and a digital controller, are presented.     

空间充气展开天线支撑结构尺寸优化

为优化充气展开天线支撑结构,采用四边形四节点薄壳单元建立充气支撑管和支撑圆环的有限元分析模型.利用ANSYS软件,首先计算内压作用下结构的应力和固有频率,然后依次采用0阶和1阶优化算法对结构尺寸进行参数优化,有效地降低结构整体质量.该尺寸优化可以大大缩短设计周期,提高设计水平.     

空间碎片对充气天线性能的影响

空间碎片对航天器安全造成很大威胁,为了分析宇宙环境中空间碎片对充气天线物理性能的影响,采用LS-DYNA软件定量给出空间碎片对充气天线外形的影响,进而分析了天线形面变形对电性能的降低和破坏,结果显示受较大尺寸空间碎片冲击时,充气天线会被穿透,必须补充一定的气体才能保持充气天线的形状和压力。     

Grasping impact force control of a flexible robotic gripper using a piezoelectric actuator

This paper presents robust force tracking control of a flexible beam during a grasping operation using a piezoceramic actuator. Equations describing the motion of the gripper in conditions of contact and noncontact are derived based on the cantilever beam. In this study, contact force is regulated, in addition to the impact force generated at the instant of contact, based on variable structure model reference adaptive control theory using only force measurements. For the derivation of the control law, it is assumed that parameters of the beam and the stiffness of the object are unknown. Computer simulations show the effectiveness the controller. This work was presented, in part, at the Fourth International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–22, 1999     

基于功能图形对象的杆系结构计算方法

针对现有杆系结构建模算法效率较低的问题,提出并实现基于功能图形对象的杆系结构计算新方法.该方法通过创建和操作一系列功能图形对象实现杆系结构有限元建模、载荷与约束布置和计算结果处理等,既充分利用图形系统的绘图功能,又可挖掘丰富多样的个性化建模功能,使杆系结构计算成为便捷、高效的动态绘图过程.     

Stabilization and shape control of a 1D piezoelectric Timoshenko beam

In this paper we show how to perform stabilization and shape control for a finite dimensional model that recasts the dynamics of an inflatable space reflector in port-Hamiltonian (pH) form. We show how to derive a decentralized passivity-based controller which can be used to stabilize a 1D piezoelectric Timoshenko beam around a desired shape. Furthermore, we present simulation results obtained for the proposed decentralized control approach.