探测器触地关机软着陆稳定性分析

丁宗茂; 王春洁; 吴宏宇; 丁建中; 郭璠

doi:10.13700/j.bh.1001-5965.2017.0194

探测器触地关机软着陆稳定性分析

doi: 10.13700/j.bh.1001-5965.2017.0194

丁宗茂¹,
王春洁^{1, 2, ,},
吴宏宇¹,
丁建中¹,
郭璠³

1.
北京航空航天大学机械工程及自动化学院, 北京 100083
2.
虚拟现实技术与系统国家重点实验室, 北京 100083
3.
中国空间技术研究院, 北京 100094

基金项目:

国家自然科学基金 51635002

详细信息

作者简介:
丁宗茂男, 硕士研究生。主要研究方向:机械设计及理论

王春洁女, 博士, 教授, 博士生导师。主要研究方向:机械设计及理论

通讯作者:
王春洁, E-mail: wangcj@buaa.edu.cn

中图分类号: V476.4
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- 被引次数: 0
出版历程
- 收稿日期: 2017-04-05
- 录用日期: 2017-05-12
- 网络出版日期: 2018-03-20

Stability analysis of explorer in soft landing mode of engine shutdown at touchdown

1.
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
State Key Laboratory of Virtual Reality and Systems, Beijing 100083
3.
China Academy of Space Technology, Beijing 100094, China

Funds:

National Natural Science Foundation of China 51635002

More Information

Corresponding author: WANG Chunjie, E-mail:wangcj@buaa.edu.cn

摘要

摘要:
深空探测器软着陆过程中发动机未能正常关闭将极大降低其软着陆稳定性，因此引入了触地关机着陆方案。针对触地关机方案，建立了腿式探测器动力学分析模型及发动机推力控制模型。考虑着陆环境与探测器着陆状态的不确定性，采用蒙特卡罗模拟分别对探测器在主发动机关闭失败时、触地关机着陆方案下、带有姿态控制的触地关机着陆模式下的软着陆稳定性进行了分析。采用描述性采样方法抽取样本点，基于均值估计相对误差建立模拟终止准则，在保证模拟精度的前提下提高蒙特卡罗模拟效率。计算并对比了3种着陆方式下探测器软着陆可靠度，触地关机方案可在主发动机关闭失败后将探测器稳定着陆可靠度提升11.6%，姿态控制的引入可进一步将安全着陆的可靠度提升9.7%。
- 深空探测器 /
- 动力学分析 /
- 稳定性分析 /
- 触地关机 /
- 蒙特卡罗模拟
Abstract:
The soft landing stability will be greatly reduced if the main engine of planetary explorer fails to shut down timely. In order to avoid this reduction, a new shutdown mode is introduced to serve as a remedy where engine is shut down at touchdown. The dynamic model of the explorer equiped with novel landing gear system was established, and the model of variable thrust rocket engine and attitude control thrusters were attached to it for the analysis of the remedy. The Monte Carlo simulation is used to analyze the soft landing stability of the explorer under three shutdown modes, which include the mode that main engine fails to be shut down, the mode of shutdown at touchdown mode and the mode of shutdown at touchdown with attitude controlling, considering the uncertainty of the landing site and the explorer state at touchdown. By adopting the descriptive sampling method and a termination criterion based on the relative error of the mean estimation, the efficiency of Monte Carlo simulation is improved on the premise of ensuring the accuracy. By comparing the landing reliability among three modes, the pad contact engine shutdown technique efficiently improves the landing stability by 11.6% after failure of main engine shutdown occurs, and the introduction of the attitude control system increases the reliability of successful landing by 9.7%.
- planetary explorer /
- dynamic analysis /
- stability analysis /
- engine shutdown at touchdown /
- Monte Carlo simulation

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图 1 探测器构型

Figure 1. Structures of explorer

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图 2 坐标系定义

Figure 2. Definition of coordinate system

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图 3 辅助支柱缓冲特性曲线

Figure 3. Load-stroke characteristic curve of secondary strut

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图 4 缓冲杆示意图^[11]及其特性曲线

Figure 4. Schematic diagram of load limiter^[11] and its characteristic curves

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图 5 软着陆阶段主发动机推力控制过程

Figure 5. Main engine thrust control process during soft landing

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表 1 着陆初始条件参数分布^[7]

Table 1. Parameter distribution of initial landing conditions^[7]

参数	分布
v_x/(m·s^-1)	N(μ=1.5, σ=0.15)
v_y/(m·s^-1)	N(μ=0, σ=0.33)
ψ/(°)	N(μ=0, σ=1.0)
φ/(°)	U(min=0, max=45)
μ_f	U(min=0.3, max=0.8)
α_e/(°)	W(α=5.608, β=1.717)

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表 2 仿真算例配置

Table 2. Configuration of simulation examples

算例	发动机控制模型	模拟的着陆方式
1	主发动机不关闭	主发动机关闭失败
1	不添加姿控推力	主发动机关闭失败
2	首个触地足垫触发关机	触地关机着陆方案
2	不添加姿控推力	触地关机着陆方案
3	首个触地足垫触发关机	带姿控触地关机着陆方案
3	添加姿控推力	带姿控触地关机着陆方案
4	第2个触地足垫触发关机	带姿控触地关机着陆方案
4	添加姿控推力	下首个触地足垫触发失败

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表 3 仿真结果对比

Table 3. Comparison of simulation results

仿真结果	算例1	算例2	算例3	算例4
触发足垫		1	1	2
姿控	×	×	√	√
模拟次数	600	900	2 600	1 500
翻倒数	84	86	19	8
倾转角超标数	34	8	25	11
P的均值	12.23	3.39	2.26	2.28
P的精度	0.041	0.023	0.020	0.027
可靠度估计值	0.803	0.896	0.983	0.987
99%置信区间	[0.758, 0.844]	[0.867, 0.920]	[0.975, 0.989]	[0.978, 0.994]
注：×表示未进行姿控；√表示进行姿控。

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