小行星着陆装置着陆动力学及着陆性能分析.pdf

2013年 12月 北 京 航 空航 天 大 学 学 报 December摇 2013 摇 第39卷 第12期 Journal of Beijing University of Aeronautics and Astronautics Vol.39摇 No郾12 小小行星着陆装置着陆动力学及着陆性能分析 赵志军摇 摇 赵京东摇 摇 刘摇 宏 (哈尔滨工业大学 机器人技术与系统国家重点实验室,哈尔滨 150080) 摇 摇 摘摇 摇 摇 要:小行星着陆装置实现着陆器在小行星表面的着陆,其动力学及着陆性能研 究对着陆装置研制具有重要意义.基于三腿式小型着陆装置,在对其结构特点及着陆策略分析 的基础上,采用Lagrange 方程建立了二维着陆动力学模型,模型对着陆及翻转阶段的动力学特 性进行了描述,其计算结果与仿真验证较为接近且具有一致的变化趋势.在最大允许倾角为 30毅的着陆面上,采用仿真分析方法对着陆装置在不同着陆速度及偏航角下的着陆性能进行了 统计分析,结果表明着陆装置具有良好的着陆性能. 关摇 键摇 词:小行星着陆装置;着陆动力学;Lagrange 方程;过载加速度;稳定性 中图分类号:V476.4 文献标识码:A摇 摇 摇 摇 文 章 编 号:1001鄄5965(2013)12鄄1676鄄06 Development of the landing dynamic and performance of an asteroid landing mechanism Zhao Zhijun摇 Zhao Jingdong摇 Liu Hong (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China) Abstract:The asteroid landing mechanism is used to landing on the asteroid. Its landing dynamic and landing performancestudieshaveagratefulguidancetothedesignof itself. Themechanicalcharacteristicsand landing strategy of the small landing mechanism with three legs were analyzed,and then a Lagrange method wasintroducedtobuilditstwo鄄dimensionallandingdynamicmodel. Thismodeldescribedthedynamiccharac鄄 teristics of the landing mechanism in the landing and turning stages. The analyzing results of this model were validated by simulation. Their results were close and had accordant changing trends. On the most permitted inclinedlandingslopewith30 degree,thelandingperformanceofthelandingmechanismwithdifferentlanding velocities and yaw angels were simulated in Adams software and analyzed statistically. The results show that the landing mechanism has a reasonable landing performance. Key words:asteroid landing mechanism;landing