摘要
为验证航天器处于低重力环境条件下在目标天体表面着陆起飞的适应能力,三维随动系统采用大范围随动和快速精确跟踪两级联动驱动技术构建了低重力环境,在地面进行航天器的着陆起飞试验。该试验方法克服了试验空间要求大、控制精度要求高等技术指标难点,解决了三维随动系统多自由度联动,大惯量机电设备高速、高精度协同控制等多项关键技术难题。通过并联索系统驱动技术控制快速随动平台运动,完成对航天器试验过程中的大范围随动跟踪;通过快速随动平台装置对航天器施加高精度的吊绳拉力控制,并在水平方向上跟随航天器运动,同时保持吊绳绝对倾角要求;通过提高快速随动平台的水平刚度,从而克服两级联动设备耦合晃动对航天器试验的不利影响。系统成功应用于中国探月工程中嫦娥三号、嫦娥五号和火星探测任务中天问一号航天器在低重力条件下悬停、避障、缓速下降和着陆,以及起飞等一系列地面真实工况验证试验,为航天器的综合性能参数验证与优化提供了关键技术手段。
[Objective]Lunar and Mars exploration projects face the issue of autonomous spacecraft landing or taking off on the surface of the target celestial body in a low-gravity environment.Several mechanical problems arise when a spacecraft is flying in a low-gravity environment,which is different from Earth’s gravity environment.To solve these problems,it is necessary to verify the key actions of spacecraft for soft landing on or taking off from the target celestial body.[Methods]Since the Chang’e-3 mission of the second stage of lunar exploration,the test system of the suspension low-gravity simulation technology has been studied via fast follow-up and multilevel compensation,and the real-time tracking technology for the spacecraft motion in large space has been developed to keep the pulling force applied in the entire process constant and the deflection angle of the force direction relative to the vertical direction sufficiently small.Through the technical improvement of the third stage of the lunar exploration mission and the technical upgrade iteration of the Mars exploration,a complete set of technical systems for the spacecraft has been successfully constructed to simulate the low-gravity landing and take-off test of extraterrestrial celestial bodies on the earth.A three-dimensional(3D)follow-up system adopts the two-level linkage driving technology of a large-scale follow-up and rapid and accurate tracking to construct a landing and take-off test method for simulating the low-gravity environment of a spacecraft on the ground,thus overcoming a series of technical difficulties,such as large test space and high control accuracy,and employing several key technologies,including multi degree-of-freedom linkage of the 3D follow-up system and high-speed and high-precision coordinated control of the large-inertia electromechanical equipment.[Results]The large-scale follow-up tracking of the spacecraft in the test process was achieved by controlling the movement of the rapid follow-up platform through the parallel-lin
作者
董强
陈强
黄科
邢伟
沈兵
DONG Qiang;CHEN Qiang;HUANG Ke;XING Wei;SHEN Bing(Beijing Institute of Special Engineering Design and Research,Beijing 100028,China)
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2023年第3期449-460,共12页
Journal of Tsinghua University(Science and Technology)
基金
首次火星探测任务探测器系统研制保障项目
载人航天领域第四批预先研究资助项目(060201)。
关键词
三维随动系统
低重力模拟
着陆起飞试验
索并联驱动
快速随动
真实工况验证
three-dimensional follow-up system
low-gravity simulation
landing and take-off test
cable parallel drive
fast follow-up
verification of real working
