10自由度全物理对接动力学仿真器

10 DOF Physical Docking Dynamics Test Facility

为了研究对接机构在对接过程中受力情况,检验对接机构缓冲能力和捕获能力,研制了10自由度全物理对接动力学仿真器。它能够在地面上比较真实的模拟航天器在太空中对接相互作用力和相对运动。仿真器每个试验台采用3自由度气浮滑台和2自由度转台模拟航天器的姿态,采用质量、惯量模拟件模拟航天器质量、惯量,并且通过调整质量、惯量模拟件参数可使试验台能够模拟不同质量、惯量的航天器,采用内撑式绳索吊装装置平衡对接环重力。主要介绍该仿真器的组成、功能和特点,对二轴转台摩擦进行了试验研究,主动二轴转台最大摩擦力矩7.45N.m,被动二轴转台最大摩擦力矩1.97N.m,最大误差9.3%,确定了质量、惯量模拟件调整参数及调整方法,介绍了内撑式绳索吊装装置特点,其结构紧凑,随动性好,失重误差1%。

A 10 degrees of freedom （DOF） Physical Docking Dynamics Test Facility （PDDTF） was designed to study impact loads and to verify the capturing and buffering capabilities of docking mechanism during docking. The PDDTF can reproduce same impact loads and relative motion dynamics on the ground which would occur in space. Each test bed of the PDDTF uses 3 DOF air bearing and 2 DOF turntable to simulate spacecraft＇ s relative attitudes, uses mass and inertia simulator to simulate spacecraft＇ s mass and inertia which can simulate different spacecraft＇s mass and inertia only by adjusting the simulator parameters, uses inner support structure with rope to balance gravity of the docking ring. This paper describes the PDDTF with emphasis on the configuration, functions and features, bearing friction of 2 DOF turntable was test, the active 2 DOF turntable friction is 7.45N· m, the passive＇ s is 1.97N· m, the biggest error is 9.3%, parameters and adjusting method of the mass and inertia simulator were made, features of the inner support structure with rope are presented, it has small dimensions and good motion following ability , weightlessness error is 1%.