CN108190053B - Triangle truss flexible accessory simulator and design method thereof - Google Patents
Triangle truss flexible accessory simulator and design method thereof Download PDFInfo
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- CN108190053B CN108190053B CN201810131739.4A CN201810131739A CN108190053B CN 108190053 B CN108190053 B CN 108190053B CN 201810131739 A CN201810131739 A CN 201810131739A CN 108190053 B CN108190053 B CN 108190053B
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- 238000005452 bending Methods 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims description 20
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000005457 optimization Methods 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 6
- 229910000639 Spring steel Inorganic materials 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 239000000725 suspension Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
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- 238000004088 simulation Methods 0.000 abstract description 5
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- 238000005516 engineering process Methods 0.000 description 3
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- 238000009434 installation Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention relates to a triangle truss flexible accessory simulator and a design method thereof, wherein the triangle truss flexible accessory simulator comprises a triangle truss, a mounting seat, an adjustable weight and a constant force spring hanger; the mounting seat is provided with a horizontal bottom plate and a vertical side plate, wherein the bottom plate is fixedly connected with an external air bearing table, and the side plate is connected with a triangular truss; one end of the triangular truss is fixedly connected with the mounting seat to form a cantilever structure, and the other end of the triangular truss is provided with an adjustable weight; the adjustable weights are suspended and supported by a constant force spring hanger. The simulator is used for being arranged on an air bearing table during ground simulation test of a spacecraft, can truly simulate flexible accessories with larger rotational inertia and frequency span of the spacecraft, has lower first-order bending frequency, and can adjust the first-order frequency and the rotational inertia in a larger range.
Description
Technical Field
The invention relates to the technical field of spacecraft simulation experiments, in particular to a triangle truss flexible accessory simulator and a design method thereof.
Background
With the comprehensive improvement of information technology and industrial technology, the aerospace technology has been developed rapidly, and the aerospace field is a competition field which is extremely important in all countries of the world. The spacecraft structure is developing towards large-scale and flexible, the structure of the spacecraft is complex, and the number of flexible accessories is more and more along with the increase of functions; the flexible accessory has a complex structure, and meanwhile, in order to consider the cost, the required quality is very light, so that the flexibility is more obvious, and the performance requirement on the attitude control system of the spacecraft is continuously improved.
Insufficient control of the flexibility of the structure can lead to substantial vibration of the flexible part of the spacecraft, which after coupling with the spacecraft can have an influence on the attitude stability and accuracy of the spacecraft, so far, a plurality of such aerospace accidents have occurred. In order to avoid accidents, the influence of the flexible component on the whole spacecraft is fully considered in the ground simulation test, and the common means is to simulate the flexible component through a flexible simulator arranged on an air bearing table.
At present, when the ground physical simulation test is carried out, the flexible accessories are mostly realized by adopting a thin plate and a central rigid body to be installed on an air floatation table, and the simulator has the advantages of simple structure, low cost, small size, high natural frequency and difficulty in simulating flexible accessories with larger deflection. The other simulator consists of a plurality of plates, flexible joints and air feet, wherein the first-order natural frequency is low, but the cost is high due to the adoption of the air feet.
Disclosure of Invention
The invention provides a triangle truss flexible accessory simulator and a design method thereof, wherein the simulator is used for being installed on an air bearing table during ground simulation test of a spacecraft, can truly simulate flexible accessories with larger rotational inertia and frequency span of the spacecraft, has lower first-order bending frequency, and has adjustable first-order frequency and rotational inertia in a larger range.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
a triangle truss flexible accessory simulator comprises a triangle truss, a mounting seat, an adjustable weight and a constant force spring hanger; the mounting seat is provided with a horizontal bottom plate and a vertical side plate, wherein the bottom plate is fixedly connected with an external air bearing table, and the side plate is connected with a triangular truss; one end of the triangular truss is fixedly connected with the mounting seat to form a cantilever structure, and the other end of the triangular truss is provided with an adjustable weight; the adjustable weights are suspended and supported by a constant force spring hanger.
The adjustable weight consists of a plurality of weight plates with different thicknesses.
The adjustable weight blocks are positioned and fixed with the triangular truss through the positioning plates.
A disc spring is arranged in the constant force spring hanging bracket to serve as an elastic element, and a suspension point is positioned at the center of the top of the adjustable weight.
The triangular truss is formed by connecting spring steel plates through bolts.
A plurality of reinforcing ribs are arranged between the bottom plate and the side plate of the mounting seat.
The design method of the triangle truss flexible accessory simulator comprises the following steps:
1) Taking first-order frequency and moment of inertia as design parameters, and adopting a dynamic compliance method to carry out theoretical calculation on the structure of the simulator; for the convenience of calculation, a low-degree-of-freedom differential equation is calculated by modal tail cutting;
simplifying the simulator into a constraint structure with an elastic support boundary, and generating an internal force R b (omega) on the support boundary when the simulator vibrates in a simple harmonic way at a natural frequency omega; the corresponding free structure is equivalent to forced vibration under the action of exciting force R b (omega) at the position corresponding to the constraint boundary; the forced motion equation is:
The corresponding characteristic equation is:
Considering only the stiffness characteristic k of the support system, ignoring the mass m of the simulator, the equilibrium equation of the support system when the constraint structure is in simple harmonic vibration with ω can be written as:
the derived characteristic equation is:
[κ(ω)-ω2μ(ω)]qt＝0
Solving the natural frequency omega and q i space internal model matrix of the constraint structure;
2) After the natural frequency of the fixed constraint structure is obtained, adopting a finite element method, and adopting an APDL module and a Design Exploration module of ANSYS Workbench to design and adjust the size of each part of the simulator, and verifying the strength, the rigidity and the stability of the whole structure;
Firstly, carrying out static analysis to verify that the strength and the rigidity are in a safety range, and then carrying out buckling analysis to verify the stability; the simulator adopts the constant force spring hanger to suspend and support the adjustable weight, so that the load factor of the first two-stage buckling mode is higher, and the stability of the simulator is greatly improved;
3) After the strength, the rigidity and the stability of the simulator are verified, carrying out modal analysis with prestress on the simulator; calculating the natural frequency of the simulator, and optimizing the main size of the influence frequency according to the set first-order bending frequency to obtain the specific size of each part of the simulator;
4) In the process of debugging and using, when the frequency needs to be adjusted in a large range, the thickness of the adjustable weight is calculated after finite element analysis and size optimization, and then the adjustable weight is formed by adjusting the weight pieces.
Compared with the prior art, the invention has the beneficial effects that:
1) The flexible accessory adopts a triangular truss structure, so that the manufacturing cost is low; the main body structure is formed by connecting narrow and thin spring steel plates through bolts, so that the required flexibility can be provided, and the rib plates in the cross section direction are used for improving the rigidity in the vertical direction;
2) The mounting seat is provided with a reinforcing rib structure for balancing overturning moment caused by the eccentricity of the simulator structure, reducing the deformation of the adjustable weight at the tail end of the simulator and enhancing the stability of the whole structure;
3) The adjustable weight is suspended and supported by a constant force spring hanger, the volume of the constant force spring hanger is small, the output of the tension force of the spring is stable, the displacement stress of the free end of the simulator can be reduced, and the deformation in the vertical direction is counteracted, so that the vibration of the simulator caused by suspension is reduced;
4) The adjustable weight consists of a plurality of weight plates with different thicknesses, and when the simulator is debugged and used, the frequency and the moment of inertia of the simulator can be adjusted by increasing and decreasing the weight plates.
Drawings
FIG. 1 is a schematic diagram of a flexible attachment simulator for a triangular truss according to the present invention.
Fig. 2 is a schematic perspective view of a flexible attachment simulator for a triangular truss (constant force spring hanger not shown) according to the present invention.
FIG. 3 is a graph of a 2D curve of the design points of the optimization results versus the first order natural frequency of the structure in an embodiment of the invention.
FIG. 4 is a graph of a 3D curve of the design points of the optimization results versus the first order natural frequency of the structure in an embodiment of the invention.
Fig. 5 is a static analysis deformation cloud of a triangle truss flex accessory simulator in an embodiment of the present invention.
Fig. 6 is a static analysis stress cloud of a triangle truss flex accessory simulator in an embodiment of the invention.
FIG. 7 is a graph of a first order vibration mode of a buckling analysis of a triangle truss flex accessory simulator in an embodiment of the present invention.
FIG. 8 is a graph of a first order mode shape of a modal analysis of a triangular truss flexible attachment simulator in an embodiment of the invention.
In the figure: 1. mounting seat 2, triangular truss 3, positioning plate 4, constant force spring hanger 5 and adjustable weight block
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
As shown in fig. 1 and 2, the invention provides a triangle truss flexible accessory simulator, which comprises a triangle truss 2, a mounting seat 1, an adjustable weight 5 and a constant force spring hanger 4; the installation seat 1 is provided with a horizontal bottom plate and a vertical side plate, wherein the bottom plate is fixedly connected with an external air floating platform, and the side plate is connected with a triangular truss 2; the triangular truss 2 is used as a flexible accessory, one end of the triangular truss is fixedly connected with the mounting seat 1 to form a cantilever structure, and the other end of the triangular truss is provided with an adjustable weight 5; the adjustable weights 5 are suspended and supported by a constant force spring hanger 4.
The adjustable weight 5 is composed of a plurality of weight plates with different thicknesses.
The adjustable weight 5 and the triangular truss 2 are positioned and fixed through the positioning plate 3.
A disc spring is arranged in the constant force spring hanging bracket 4 to serve as an elastic element, and a suspension point is positioned at the center of the top of the adjustable weight 5.
The triangular truss 2 is formed by connecting spring steel plates through bolts.
A plurality of reinforcing ribs are arranged between the bottom plate and the side plate of the mounting seat 1.
The design method of the triangle truss flexible accessory simulator comprises the following steps:
1) Taking first-order frequency and moment of inertia as design parameters, and adopting a dynamic compliance method to carry out theoretical calculation on the structure of the simulator; for the convenience of calculation, a low-degree-of-freedom differential equation is calculated by modal tail cutting;
simplifying the simulator into a constraint structure with an elastic support boundary, and generating an internal force R b (omega) on the support boundary when the simulator vibrates in a simple harmonic way at a natural frequency omega; the corresponding free structure is equivalent to forced vibration under the action of exciting force R b (omega) at the position corresponding to the constraint boundary; the forced motion equation is:
The corresponding characteristic equation is:
Considering only the stiffness characteristic k of the support system, ignoring the mass m of the simulator, the equilibrium equation of the support system when the constraint structure is in simple harmonic vibration with ω can be written as:
the derived characteristic equation is:
[κ(ω)-ω2μ(ω)]qt＝0
Solving the natural frequency omega and q i space internal model matrix of the constraint structure;
2) After the natural frequency of the fixed constraint structure is obtained, adopting a finite element method, and adopting an APDL module and a Design Exploration module of ANSYS Workbench to design and adjust the size of each part of the simulator, and verifying the strength, the rigidity and the stability of the whole structure;
Firstly, carrying out static analysis to verify that the strength and the rigidity are in a safety range, and then carrying out buckling analysis to verify the stability; the simulator adopts the constant force spring hanger to suspend and support the adjustable weight, so that the load factor of the first two-stage buckling mode is higher, and the stability of the simulator is greatly improved;
3) After the strength, the rigidity and the stability of the simulator are verified, carrying out modal analysis with prestress on the simulator; calculating the natural frequency of the simulator, and optimizing the main size of the influence frequency according to the set first-order bending frequency to obtain the specific size of each part of the simulator;
4) In the process of debugging and using, when the frequency needs to be adjusted in a large range, the thickness of the adjustable weight is calculated after finite element analysis and size optimization, and then the adjustable weight is formed by adjusting the weight pieces.
When the triangular truss flexible accessory simulator is used, the triangular truss flexible accessory simulator is installed on an air bearing table through the installation base 1. The triangular truss 2 is used as a flexible accessory to simulate a solar sailboard, a satellite antenna or a mechanical arm associated with the spacecraft body, is used for verifying the influence of flexible vibration interference of the flexible accessory and the coupling effect of the flexible accessory and the spacecraft body on the performance of a control system when the spacecraft moves, and provides support for the design improvement and verification of an attitude control system.
The following examples are given by way of illustration of detailed embodiments and specific procedures based on the technical scheme of the present invention, but the scope of the present invention is not limited to the following examples. The methods used in the examples described below are conventional methods unless otherwise specified.
[ Example ]
In this embodiment, after theoretical calculation, the size range of each part of the structure of the simulator is initially calculated, the strength, rigidity and stability of the structure are verified through finite element analysis, and then the first-order frequency of the structure is calculated, and then the size optimization is performed.
For example, the size of the adjustable weights 5, which have a large influence on the frequency, can be optimized; as shown in fig. 3, when the length of the adjustable weight 5 is 100-300mm, the first-order frequency of the simulator is changed within the range of 0.53944Hz-0.303 Hz; after the two dimensions of the length and the thickness of the adjustable weight 5 are optimized, the design points of the optimized result and the response curves of the two design targets are shown in fig. 4, and after the optimization, the precise dimension of the required structure and the dimension and the thickness of the adjustable weight 5 can be obtained.
In the embodiment, after optimization, the length of the triangular truss 2 in the simulator is 2.01m, the first-order frequency is 0.35Hz-3.3Hz, and the moment of inertia is adjustable within the range of 804kgm 2-5.95kgm2; when the adjustable weight is used, the frequency needs to be adjusted, and the combination mode of the adjustable weight can be determined according to the calculation result.
In the embodiment, the simulator with the first-order frequency requirement of 0.35Hz is subjected to verification calculation of strength, rigidity, stability and natural frequency after the size is optimized; as shown in fig. 5 and 6, the deformation cloud chart and the stress cloud chart of the dead weight load static analysis are obtained, the maximum deformation of the simulator is 1.8582mm, and the maximum stress is 34.165MPa. Fig. 7 is a graph of a first order flexural mode shape for flexural analysis with a first order flexural factor of 17.401. FIG. 8 is a graph of a mode analysis first order mode shape with prestress, the mode shape being first order bending and the first order frequency being 0.35221Hz.
In this embodiment, when the total thickness of the optimized adjustable weight 5 is 200mm, the first-order frequency is 0.35022Hz, and the moment of inertia is 804kgm 2.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. The design method of the triangle truss flexible accessory simulator is characterized in that the triangle truss flexible accessory simulator comprises a triangle truss, a mounting seat, an adjustable weight and a constant force spring hanger; the mounting seat is provided with a horizontal bottom plate and a vertical side plate, wherein the bottom plate is fixedly connected with an external air bearing table, and the side plate is connected with a triangular truss; one end of the triangular truss is fixedly connected with the mounting seat to form a cantilever structure, and the other end of the triangular truss is provided with an adjustable weight; the adjustable weight is suspended and supported by a constant force spring hanger;
the design method of the triangle truss flexible accessory simulator comprises the following steps:
1) Taking first-order frequency and moment of inertia as design parameters, and adopting a dynamic compliance method to carry out theoretical calculation on the structure of the simulator; for the convenience of calculation, a low-degree-of-freedom differential equation is calculated by modal tail cutting;
simplifying the simulator into a constraint structure with an elastic support boundary, and generating an internal force R b (omega) on the support boundary when the simulator vibrates in a simple harmonic way at a natural frequency omega; the corresponding free structure is equivalent to forced vibration under the action of exciting force R b (omega) at the position corresponding to the constraint boundary; the forced motion equation is:
The corresponding characteristic equation is:
Considering only the stiffness characteristic k of the support system, ignoring the mass m of the simulator, the equilibrium equation of the support system when the constraint structure is in simple harmonic vibration with ω can be written as:
the derived characteristic equation is:
[κ(ω)-ω2μ(ω)]qt＝0
Solving the natural frequency omega and q i space internal model matrix of the constraint structure;
2) After the natural frequency of the fixed constraint structure is obtained, adopting a finite element method, and adopting an APDL module and a DesignExploration module of ANSYSWorkbench to design and adjust the size of each part of the simulator, and verifying the strength, the rigidity and the stability of the whole structure;
Firstly, carrying out static analysis to verify that the strength and the rigidity are in a safety range, and then carrying out buckling analysis to verify the stability; the simulator adopts the constant force spring hanger to suspend and support the adjustable weight, so that the load factor of the first two-stage buckling mode is higher, and the stability of the simulator is greatly improved;
3) After the strength, the rigidity and the stability of the simulator are verified, carrying out modal analysis with prestress on the simulator; calculating the natural frequency of the simulator, and optimizing the main size of the influence frequency according to the set first-order bending frequency to obtain the specific size of each part of the simulator;
4) In the process of debugging and using, when the frequency needs to be adjusted in a large range, the thickness of the adjustable weight is calculated after finite element analysis and size optimization, and then the adjustable weight is formed by adjusting the weight pieces.
2. The method of claim 1, wherein the adjustable weight comprises a plurality of weight plates of different thickness.
3. The method for designing a flexible accessory simulator for a triangular truss of claim 1, wherein the adjustable weight is positioned and fixed with the triangular truss by a positioning plate.
4. The method of claim 1, wherein the constant force spring hanger has a disc spring as the elastic element and the suspension point is located at the center of the top of the adjustable weight.
5. The method for designing a flexible accessory simulator of a triangular truss of claim 1, wherein the triangular truss is formed by bolting spring steel plates.
6. The method for designing a flexible attachment simulator for triangular trusses according to claim 1, wherein a plurality of reinforcing ribs are provided between the bottom plate and the side plate of the mounting base.
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