北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (3): 614-620.doi: 10.13700/j.bh.1001-5965.2017.0194

• 论文 • 上一篇    下一篇

探测器触地关机软着陆稳定性分析

丁宗茂1, 王春洁1,2, 吴宏宇1, 丁建中1, 郭璠3   

  1. 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
  • 收稿日期:2017-04-05 出版日期:2018-03-20 发布日期:2017-09-18
  • 通讯作者: 王春洁 E-mail:wangcj@buaa.edu.cn
  • 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。
  • 基金资助:
    国家自然科学基金(51635002)

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

DING Zongmao1, WANG Chunjie1,2, WU Hongyu1, DING Jianzhong1, GUO Fan3   

  1. 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
  • Received:2017-04-05 Online:2018-03-20 Published:2017-09-18
  • Supported by:
    National Natural Science Foundation of China (51635002)

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%。

关键词: 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%.

Key words: planetary explorer, dynamic analysis, stability analysis, engine shutdown at touchdown, Monte Carlo simulation

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