The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space m...The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.展开更多
基于水力学原理,设计一种新型复合冲击破岩钻井提速工具,该工具可以通过内部配流机构控制轴扭冲击行程关系,由扭转冲击间接控制轴向冲击进而实现轴扭复合冲击。对新型复合冲击破岩提速工具的工作性能进行了数值模拟分析,结果表明,工具...基于水力学原理,设计一种新型复合冲击破岩钻井提速工具,该工具可以通过内部配流机构控制轴扭冲击行程关系,由扭转冲击间接控制轴向冲击进而实现轴扭复合冲击。对新型复合冲击破岩提速工具的工作性能进行了数值模拟分析,结果表明,工具内部流体最大流速、液压锤转速皆与入口流量呈线性关系,液压锤、液压锤座受到的最大应力皆与入口流量呈近似二次曲线关系,工具能够承受的最大入口流量为29.38 L s。展开更多
基金supported by the National Natural Science Foundation of China(Nos.11072061 and 11372073)the Natural Science Foundation of Fujian Province(No.2010J01003)
文摘The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.
文摘基于水力学原理,设计一种新型复合冲击破岩钻井提速工具,该工具可以通过内部配流机构控制轴扭冲击行程关系,由扭转冲击间接控制轴向冲击进而实现轴扭复合冲击。对新型复合冲击破岩提速工具的工作性能进行了数值模拟分析,结果表明,工具内部流体最大流速、液压锤转速皆与入口流量呈线性关系,液压锤、液压锤座受到的最大应力皆与入口流量呈近似二次曲线关系,工具能够承受的最大入口流量为29.38 L s。
