空间站转位机构制动动力学特性研究

Study on Braking Dynamic Characteristics of Space Station Transfer Mechanism

针对中国空间站组建过程中转位机构的制动动力学问题,将其简化为两自由度弹簧阻尼扭振模型。选取工作载荷更恶劣的核心舱受控工况建立制动过程的动力学方程,通过解析法得到理想状态下关节制动后的动态响应结果。采用龙格-库塔数值计算的方法,进一步研究了关节传动链摩擦和间隙因素对关节动态响应的影响,比较了不同间隙大小下的动态响应结果。将关节的动态响应计算结果与试验结果进行了对比,定位精度的最大误差为8%,证明了制动动力学模型的合理性和结果的正确性。

To study the braking dynamics of the transfer mechanism during the construction of the Chinese space station,a simplified spring and damping torsional vibration model with two degrees of freedom was put forward.The dynamic equation of the braking process was established under the controlled conditions of the core cabin with worse working load.The dynamic response of joints un-der ideal conditions was obtained by analytical method.By using Runge-Kutta numerical method,the effects of friction and gap on the dynamic responses of joints were further studied,and the dy-namic responses of joints with different gap sizes were compared.The calculation results of joint dy-namic response were compared with the experimental results.The maximum error of positioning ac-curacy was 8%,which proved the rationality of the braking dynamic model and the correctness of the results.