空间站舱体转动惯量地面仿真研究

Ground Simulation of Moment of Inertia of Space Station Cabin

机械臂带动舱体的转位对接是空间站建设的核心步骤,因舱体的质量和体积较大在转动过程中会产生不小于3.2×10^5 kg·m^2转动惯量.在地面模拟出如此大的转动惯量,并利用此惯量对舱体进行转位对接实验是空间站建设的关键.对比国内外转动惯量地面模拟加载方法,提出一种基于气浮的全物理的实验方法,并创建三维模型;利用拉格朗日功能平衡法(Lagrange equation)对其进行动力学数学建模,计算结果表明该方法能够模拟所需转动惯量,并通过ADAMS仿真验证,两者对机械臂肩关节和腕关节的数值误差分别为4.40%和5.59%.综合结果表明全物理地面模拟加载方法能够计算出地面模拟舱体转位时所产生的转动惯量.

It is the core step of space station construction that the mechanical arm drives the cabin to carry out the docking.Due to the large mass and volume of the cabin,it will produce no less than moment of inertia in the process of rotation.How to simulate such a large moment of inertia on the ground and use it to carry out the docking experiment on the ground is the key to space station construction.Compared with the method of ground simulation loading of the moment of inertia at home and abroad,a full-physics experimental method based on air floatation is proposed.A three-dimensional model is created for this method,and the Lagrange function balance method is used.The simulation results show that the method can simulate the required moment of inertia,and the numerical errors of the two to the shoulder joint and the wrist joint of the manipulator are 4.40%and 5.59%respectively,which are verified by ADAMS simulation.The comprehensive results show that the full physical ground simulation loading method can simulate the moment of inertia generated by the rotation of the cabin on the ground.