大型降落伞抽打现象及运动稳定性研究
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摘要
回收着陆作为载人飞船天地间往返最为重要和关键的阶段之一,对可靠性有着很高的要求。本文以我国“神舟”号载人飞船回收系统为研究对象,结合工程实际问题,围绕回收过程中带牵顶伞的大型主伞拉直过程及抽打现象、降落伞系统运动稳定性和全张满状态主伞气动力参数辨识三个问题展开研究。主要研究内容如下:
研究了带牵顶伞和剥离带的大型降落伞拉直过程分阶段动力学建模问题。以我国“神舟”8号飞船带牵顶伞和剥离带的主伞拉直过程为研究背景,建立了多阶段、多绳段、多自由度的动力学模型。模型中针对主伞包连接带和牵顶伞连接带建立了剥离带模型及牵顶伞的拉直充气模型,考虑了伞绳和伞衣在伞包中的叠放次序、绳段拉出过程、捆绑绳约束等因素,可以模拟伞绳和伞衣非连续和非均匀拉出的情况。论文利用空投试验录像统计数据对仿真结果进行了对比分析,验证了模型和程序的正确性和有效性。
分析和评估了牵顶伞和剥离带对抽打现象的作用。通过仿真分析对“神舟”8号飞船回收系统改进措施的作用进行了分析和评估,重点研究了牵顶伞和剥离带对主伞拉直过程的影响,针对不同面积牵顶伞、不同强度和长度剥离带对抽打现象的作用进行了深入的研究。研究结果表明,牵顶伞和剥离带能够减小抽打速度、抽打幅度和抽打弧度,改善伞绳和伞衣的张力分布,有效抑制抽打现象的发生。所得结论为“神舟”8号飞船回收系统的出厂评审提供了重要依据。
研究了大型降落伞抽打现象的特点和形成原因。定义了伞衣位形、抽打速度、抽打幅度和抽打弧度四个反映抽打现象特征的状态参数,通过数值计算得到了抽打现象形成时伞绳、伞衣的动力学状态参数和变化曲线,并对影响抽打现象的因素进行了仿真研究。结合录像观察,经过分析计算提出降落伞拉直过程中伞绳和伞衣上下部分存在较大的速度差以及伞绳和伞衣的绳帆现象是形成抽打现象两个基本条件的观点,并通过仿真分析对此观点进行了验证。
研究了降落伞系统的运动稳定性。通过仿真分析得出降落伞系统的姿态变化规律与其气动力系数尤其是法向力系数密切相关的结论,对现有的稳定型伞和非稳定型伞的气动力模型进行研究,分析了不同风场和气动力模型下降落伞系统姿态变化规律。利用空投录像和试验测量数据研究并总结出“神舟”号飞船主伞返回舱系统在单点吊挂和双点吊挂阶段的基本运动模式。
研究了大型降落伞全张满状态下的气动力参数辨识问题。针对降落伞的运动参数不易测量的特点,提出利用遗传算法辨识降落伞气动力参数的方案。通过仿真分析验证了方案的有效性,并提出了一种逐步缩小搜索空间提高辨识精度的方法。结合空投试验测量数据得到一组精度更高的“神舟”号飞船主伞全张满状态下的气动力参数,利用试验测量数据对辨识结果进行了验证。分析结果表明,辨识的主伞气动力模型在姿态预测方面较原有模型更为准确,且和主伞运动姿态的录像分析结果基本一致。
As one of the most important and critical phases of tripping from space to earth, the process of recovery and landing of manned spacecraft requires very high reliability and safety. Considering the practical problems of the recovery system of ShenZhou manned spacecraft, this dissertation focuses on three problems existing in the process of recovery system working, the first problem is the deployment of large main parachute with attached apex drogue and the bull whipping phenomenon, the second problem is the dynamic stability of the system of main parachute and cabin, and the third problem is aerodynamic parameters identification of main parachute in the full inflation state. The main contents in this dissertation are summarized as follows:
The dynamic models of deployment process of the main parachute with attached apex drogue and peel off band was researched. Based on the deployment process of the main parachute with attached apex drogue and peel off band of ShenZhou-8 manned spacecraft, the dynamic models of multi-phase, multi-segment, and multi-freedom was built. Considering the improved design of the recovery system of ShenZhou-8 spacecraft, a dynamic model of the connecting band of the main parachute bag and the connecting band of attached apex drogue were built, and the deployment and inflation models of attached apex drogue were presented also. The factors of folding sequence of lines and canopy, deployment process of line segments, restrictions of binding lines were considered in detail, it may simulate the case of non-uniformity and non-continuously deployment process of main parachute. In the end, correctness and validity of the dynamic models and programs were verified through comparative analysis of the statistics dates from airdrop tests kinescope and simulation results.
The effects of the attached apex drogue and peel off band on the bull whipping phenomenon were analyzed and evaluated. The improved measurements of the deployment process of main parachute of ShenZhou-8 spacecraft were analyzed and evaluated, and the effects of the attached apex drogue and peel off band were researched in focus. The results indicated that the attached apex drogue and peel off band could minish the velocity, range and radian of bull whipping, reform the distribution of tensile force in the lines and canopy, and restrain the forming of bull whipping phenomenon effectively. The effects of different intensity and length of the peel off band and different drag area of the attached apex drogue on the bull whipping phenomenon were researched also, and the conclusions were used as important evidences for the checking and accepted of ShenZhou-8 recovery system.
The characteristics and causes of the bull whipping phenomenon in the deployment process of large parachute were researched. This dissertation defined four status parameters for the bull whipping phenomenon, and dynamic parameters and variety curves of lines and canopy were provided, the influence factors of the bull whipping were analyzed also. Combined with the observation of airdrop video, the viewpoint of forming the bull whipping phenomenon were proposed, one essential factor is the velocity difference between the upper and bottom segment of lines, the other is the linesail phenomenon of lines and canopy, this viewpoint was validated by simulation results also.
The dynamic stability of the parachute recovery systems was researched. The conclusion that the attitudes of parachute recovery system were interrelated with the aerodynamic coefficients, especially the lateral force coefficients of parachute were educed through simulate analysis, and the different aerodynamic models of stability and instability for the parachutes were summarized. The different modes of attitudes were analyzed with different wind models and aerodynamic models in simulation, and finally the basic motion patterns of single point suspension and double point suspension were researched and summarized by the airdrop video and experimental data.
The problem of aerodynamic coefficients identification of large parachute was researched. For the difficulty in measuring the kinematics parameters of parachute, this dissertation proposed a method to estimate aerodynamic coefficients of the parachute. The validity of the method was verified through simulation analysis, and a method which improved the precision by decreasing the searching space was presented. Combined with the experimental data of airdrop video, a more precise set of aerodynamic coefficients of the main parachute of ShenZhou-8 manned spacecraft was identified, and the result was validated by experiment. The results indicate that the identification results were more precise than the originally ones, and the attitudes of main parachute in simulation were basically consistent with the airdrop video.
研究了带牵顶伞和剥离带的大型降落伞拉直过程分阶段动力学建模问题。以我国“神舟”8号飞船带牵顶伞和剥离带的主伞拉直过程为研究背景,建立了多阶段、多绳段、多自由度的动力学模型。模型中针对主伞包连接带和牵顶伞连接带建立了剥离带模型及牵顶伞的拉直充气模型,考虑了伞绳和伞衣在伞包中的叠放次序、绳段拉出过程、捆绑绳约束等因素,可以模拟伞绳和伞衣非连续和非均匀拉出的情况。论文利用空投试验录像统计数据对仿真结果进行了对比分析,验证了模型和程序的正确性和有效性。
分析和评估了牵顶伞和剥离带对抽打现象的作用。通过仿真分析对“神舟”8号飞船回收系统改进措施的作用进行了分析和评估,重点研究了牵顶伞和剥离带对主伞拉直过程的影响,针对不同面积牵顶伞、不同强度和长度剥离带对抽打现象的作用进行了深入的研究。研究结果表明,牵顶伞和剥离带能够减小抽打速度、抽打幅度和抽打弧度,改善伞绳和伞衣的张力分布,有效抑制抽打现象的发生。所得结论为“神舟”8号飞船回收系统的出厂评审提供了重要依据。
研究了大型降落伞抽打现象的特点和形成原因。定义了伞衣位形、抽打速度、抽打幅度和抽打弧度四个反映抽打现象特征的状态参数,通过数值计算得到了抽打现象形成时伞绳、伞衣的动力学状态参数和变化曲线,并对影响抽打现象的因素进行了仿真研究。结合录像观察,经过分析计算提出降落伞拉直过程中伞绳和伞衣上下部分存在较大的速度差以及伞绳和伞衣的绳帆现象是形成抽打现象两个基本条件的观点,并通过仿真分析对此观点进行了验证。
研究了降落伞系统的运动稳定性。通过仿真分析得出降落伞系统的姿态变化规律与其气动力系数尤其是法向力系数密切相关的结论,对现有的稳定型伞和非稳定型伞的气动力模型进行研究,分析了不同风场和气动力模型下降落伞系统姿态变化规律。利用空投录像和试验测量数据研究并总结出“神舟”号飞船主伞返回舱系统在单点吊挂和双点吊挂阶段的基本运动模式。
研究了大型降落伞全张满状态下的气动力参数辨识问题。针对降落伞的运动参数不易测量的特点,提出利用遗传算法辨识降落伞气动力参数的方案。通过仿真分析验证了方案的有效性,并提出了一种逐步缩小搜索空间提高辨识精度的方法。结合空投试验测量数据得到一组精度更高的“神舟”号飞船主伞全张满状态下的气动力参数,利用试验测量数据对辨识结果进行了验证。分析结果表明,辨识的主伞气动力模型在姿态预测方面较原有模型更为准确,且和主伞运动姿态的录像分析结果基本一致。
As one of the most important and critical phases of tripping from space to earth, the process of recovery and landing of manned spacecraft requires very high reliability and safety. Considering the practical problems of the recovery system of ShenZhou manned spacecraft, this dissertation focuses on three problems existing in the process of recovery system working, the first problem is the deployment of large main parachute with attached apex drogue and the bull whipping phenomenon, the second problem is the dynamic stability of the system of main parachute and cabin, and the third problem is aerodynamic parameters identification of main parachute in the full inflation state. The main contents in this dissertation are summarized as follows:
The dynamic models of deployment process of the main parachute with attached apex drogue and peel off band was researched. Based on the deployment process of the main parachute with attached apex drogue and peel off band of ShenZhou-8 manned spacecraft, the dynamic models of multi-phase, multi-segment, and multi-freedom was built. Considering the improved design of the recovery system of ShenZhou-8 spacecraft, a dynamic model of the connecting band of the main parachute bag and the connecting band of attached apex drogue were built, and the deployment and inflation models of attached apex drogue were presented also. The factors of folding sequence of lines and canopy, deployment process of line segments, restrictions of binding lines were considered in detail, it may simulate the case of non-uniformity and non-continuously deployment process of main parachute. In the end, correctness and validity of the dynamic models and programs were verified through comparative analysis of the statistics dates from airdrop tests kinescope and simulation results.
The effects of the attached apex drogue and peel off band on the bull whipping phenomenon were analyzed and evaluated. The improved measurements of the deployment process of main parachute of ShenZhou-8 spacecraft were analyzed and evaluated, and the effects of the attached apex drogue and peel off band were researched in focus. The results indicated that the attached apex drogue and peel off band could minish the velocity, range and radian of bull whipping, reform the distribution of tensile force in the lines and canopy, and restrain the forming of bull whipping phenomenon effectively. The effects of different intensity and length of the peel off band and different drag area of the attached apex drogue on the bull whipping phenomenon were researched also, and the conclusions were used as important evidences for the checking and accepted of ShenZhou-8 recovery system.
The characteristics and causes of the bull whipping phenomenon in the deployment process of large parachute were researched. This dissertation defined four status parameters for the bull whipping phenomenon, and dynamic parameters and variety curves of lines and canopy were provided, the influence factors of the bull whipping were analyzed also. Combined with the observation of airdrop video, the viewpoint of forming the bull whipping phenomenon were proposed, one essential factor is the velocity difference between the upper and bottom segment of lines, the other is the linesail phenomenon of lines and canopy, this viewpoint was validated by simulation results also.
The dynamic stability of the parachute recovery systems was researched. The conclusion that the attitudes of parachute recovery system were interrelated with the aerodynamic coefficients, especially the lateral force coefficients of parachute were educed through simulate analysis, and the different aerodynamic models of stability and instability for the parachutes were summarized. The different modes of attitudes were analyzed with different wind models and aerodynamic models in simulation, and finally the basic motion patterns of single point suspension and double point suspension were researched and summarized by the airdrop video and experimental data.
The problem of aerodynamic coefficients identification of large parachute was researched. For the difficulty in measuring the kinematics parameters of parachute, this dissertation proposed a method to estimate aerodynamic coefficients of the parachute. The validity of the method was verified through simulation analysis, and a method which improved the precision by decreasing the searching space was presented. Combined with the experimental data of airdrop video, a more precise set of aerodynamic coefficients of the main parachute of ShenZhou-8 manned spacecraft was identified, and the result was validated by experiment. The results indicate that the identification results were more precise than the originally ones, and the attitudes of main parachute in simulation were basically consistent with the airdrop video.
引文
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