一种垂直起降运载器着陆支腿设计与展开控制

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。

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

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.