论文部分内容阅读
以美俄在ＡＳＴＰ计划中“联盟号”飞船的对接机构为背景，首先研究了差动式机电缓冲阻尼系统的结构组成和运动原理，并且建立了由捕获环、传动丝杠和固定机架组成的六自由度并联多环机构的运动简化模型。然后运用运动影响系数（ＫＩＣ）方法，通过对位形函数直接求导，得到系统的一、二阶运动影响系数矩阵，从而描述了机构各部件的运动关系；在运动学模型的基础上，重点分析了对接过程中该缓冲阻尼机构主要运动部件的动能，与丝杠、差速器相连的弹簧机构的势能，以及考虑耗散力为速度的线性函数时，电磁制动器和摩擦制动器的瑞利耗散函数，并采用拉格朗日第二类方程建立了系统运动微分方程，从而得到了系统动力学模型。最后给出了差动式机电缓冲阻尼系统在一般工况下工程实用的刚度和阻尼系数简化模型。
Taking the docking mechanism of the Soyuz spacecraft in the ASTP program of the United States and Russia as the background, the structural composition and motion principle of the differential electro-mechanical buffer damping system are firstly studied, and the structure of the differential loop composed of the catching ring, the driving screw and the fixed frame A simplified model of six degrees of freedom parallel multi-loop mechanism. Then, by using the KIC method, the first and second order kinematic influence coefficient matrix of the system can be obtained by direct derivation of the position function, so as to describe the movement relation of each component of the mechanism. On the basis of the kinematics model, The kinetic energy of the main moving parts of the damper and damping mechanism, the potential energy of the spring mechanism connected with the lead screw and the differential, and the linear function considering the dissipative force as the velocity are analyzed. The Rayleigh consumption of the electromagnetic brake and the friction brake Dispersion function, and the Lagrange’s second type of equations is used to establish the system of differential equations of motion, resulting in a system dynamics model. Finally, a simplified model of stiffness and damping coefficient of differential mechanical damping system under normal working conditions is given.