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硬式加油装置是由加油机与伸缩管内外管构成的多体系统,为了得到更精确的系统模型,需要考虑加油机运动以及内管伸缩运动。将建模对象视为加油机、外管与内管构成的三刚体系统,建立了描述系统的坐标系,定义了广义坐标与广义速率,用凯恩法推导得到系统的动力学模型。估算了作用于外管上的气动力,并假定了内管的运动规律,对系统进行了仿真研究。结果表明:建立的模型能够反映加油机与伸缩管的相互影响,以及内管伸缩对伸缩管姿态的影响。该方法能为系统仿真等应用提供较同类研究更为精确的动力学模型。
Hard refueling device is a multi-body system consisting of tanker and telescopic pipe inside and outside the tube, in order to get a more accurate system model, need to consider the tanker movement and telescopic movement of the inner tube. The model object is regarded as the three rigid body system composed of tanker, outer tube and inner tube. The coordinate system describing the system is established, the generalized coordinate and generalized velocity are defined, and the kinetic model of the system is deduced by Kane method. The aerodynamic forces acting on the outer tube are estimated, and the movement rule of the inner tube is assumed. The simulation of the system is carried out. The results show that the model can reflect the interaction between tanker and telescopic tube and the influence of telescopic tube on telescopic tube attitude. This method can provide a more accurate kinetic model than other similar systems for system simulation and other applications.