浅层月壤铲挖动力学建模及应用研究
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摘要
随着我国深空探测任务，特别是嫦娥三期工程的顺利开展，浅层月壤采样成为了当前航天领域的重要研究内容。由于月面1/6重力环境及月壤颗粒间范德华力对月壤力学特性的影响，使得月面环境下的浅层月壤铲挖动力学特性不但难以通过地面试验进行模拟，也无法直接利用传统的铲挖阻力经验公式进行计算。因此，为了深入了解采样器在月壤中的运动阻力及两者间的耦合动力学特性，降低最大铲挖阻力和总能耗，提高柔性采样机械臂的铲挖控制精度，本文在结合已有国内外研究成果的基础上，推导了浅层月壤铲挖阻力公式，并采用离散元法对铲挖阻力参数和月壤流变参数进行回归分析，建立月面环境下的铲挖工程模型，用以实现对不同采样方式下的浅层月壤铲挖动力学分析和应用工作。
为了解决1/6重力环境下月壤力学特性的分析和计算问题，本文在离散元仿真框架下，通过建立带范德华力的粘-弹颗粒接触关系的离散元模型，利用多输出最小二乘支持向量机（SVM）及自适应遗传算法，以当前已公开的真实月壤地面三轴试验数据为参数标定依据，实现对能够表征月壤宏观力学性质的离散元等效细观参数进行标定，最终建立了浅层月壤离散元模型。
切削是铲挖过程中的一个重要动作。在浅层月壤铲挖过程中，采样器侧板对月壤进行切削，实现样本月壤与原位月壤的分离。为解决浅层月壤的切削阻力预测问题，本文利用静止土压力理论及Kostritsyn切削阻力理论，分别对切削过程中月壤预应力和挤压变形恢复力导致的侧板压力进行分析，并依据上述分析成果建立平行、直立两种切削模式下的浅层月壤纯切削阻力的计算模型。针对不同月壤基本参数，即不同平均粒径、孔隙率和级配下的浅层月壤具有不同静止土压力系数、变形比阻和外摩擦系数的特点，本文采用离散元法开展了侧限压缩试验和机-土摩擦试验，建立了月壤基本参数与上述宏观力学参数间的回归模型。在此基础上，通过对比月壤切削模型预测结果和月壤离散元仿真结果，验证了切削计算模型的正确性和精度。
推移是铲挖过程中的另一个重要动作。在浅层月壤推移过程中，采样器铲平面带动月壤向铲挖方向整体运动，实现样本与采样器的随动。为解决浅层月壤在不同运动模式下的推移阻力预测问题，本文结合Rankine被动土压力理论和水平层分析法，建立了针对铲平面整体平移、顶点转动两种模式下的铲面阻力分布方程组，并针对该方程组在DFP求解算法中的不具有全局初值收敛性的特点，提出了DFP+遗传算法的求解方法，实现对铲面阻力分布及月壤滑移线形状的求解，最终建立月壤推移阻力的计算模型。针对不同基本参数的浅层月壤具有不同抗剪强度的特点，本文采用离散元法开展了静三轴试验离散元仿真，建立了月壤基本参数与月壤内聚力、内摩擦角间的回归模型。在此基础上，通过对比月壤推移模型和月壤离散元仿真得出的阻力分布结果，验证了推移计算模型的正确性和精度。
在实际铲挖过程中，铲斗形状、铲前堆积月壤量、月壤基本参数均会影响对月壤的铲挖阻力。本文对铲挖全过程中铲斗、月壤状态进行分析，并基于Hemami铲挖阻力理论，综合考虑铲挖过程中的切削阻力、推移阻力和月壤滑移体惯性力，建立铲挖全过程中的月壤阻力预测工程模型。在此基础上，以凤凰号上采样器基本结构参数为例，设计独立采样器算例对月壤采样过程进行分析，基于最小阻力和最小功耗分析铲抬模式下的最佳切入角，并分别计算旋刨模式和铲抬模式下的全过程采样阻力变化，分析两模式在不同月壤条件下的适用性。
除铲挖阻力外，铲挖过程中的变铲挖阻力还会导致铲斗与斗内月壤间的耦合振动问题。本文引入土壤流变理论，利用离散元动三轴试验得出的并联Iwan模型对时变铲挖力造成的月壤激励响应进行研究，实现对月壤机-土耦合作用的分析，最终建立考虑机-土耦合的浅层月壤铲挖动力学模型。在此基础上，分析机械臂铲挖采样过程。由于铲挖控制过程中机械臂末端铲斗对月壤存在时变铲挖力，因此铲斗与月壤间存在一定的耦合作用。应用考虑机-土耦合的浅层月壤铲挖动力学模型分析柔性采样机械臂在铲挖月壤时的动力学及控制问题。基于模态综合法建立包括铲斗在内的4自由度机械臂，设计合理的月壤铲挖策略和轨迹，并采用计算力矩控制器实现柔性采样机械臂的浅层月壤铲挖控制。对于待铲挖月壤的未知参数会影响控制性能的问题，设计在初期阶段通过测量不同铲挖位置的阻力，采用Newton-Raphson法对铲挖点的原位月壤实施参数估计，并利用该估计结果修正控制器参数，提高铲挖后程的轨迹跟踪控制精度。
With a successfully development of deep space exploration mission, especially for the stage III of Chang E project, the excavation of lunar regolith becomes the focus of the current research. It is difficult to simulate or test the dynamics of the lunar regolith excavation on earth environment, because of the influence of1/6gravity and lunar regolith’s adhensive sand type. Moreover, the difference between lunar regolith and earth soil in Marco physical properties will make it hard to use the traditional empirical resistance formula for lunar surface environment. Therefore, to get a grip on the dynamics of the lunar regolith sampler, and for further improvement of the excavation control accuracy, the dynamics modeling of lunar regolith excavation is been researched based on the domestic and foreign research results and the correcting of resistance coefficient and rheometry parameters.
To counteract the problems of simulation and analysis of lunar regolith’s mechanical properties in1/6gravity environment, a viscosity-elastic contact model with adhension is established using discrete element method (DEM). By using multiple-output Least Squares Support Vector Machines, self-adaptor Genetic Algorithms (AGA) and real lunar regolith trixial testing data, the sphere particle equivalent micro parameters which can describe lunar regolith’s macroscopic mechanical properties is standardized.
Penetration is an important phenomenon in lunar regolith excavation. It can separate the sample from lunar regolith in suit by the bucket’s penetration action. In order to predict the penetration resistance of lunar regolith, a penetration resistance model in1/6gravity environment is established by combining the static earth pressure theory and Kostritsyn resistance formula. According to the relevance between porosity, grandation and lunar regolith mechanical properties, the earth pressure coefficient and the specific resistance are corrected by DEM confined compression simulation, and the friction coefficient is corrected by DEM friction testing simulation. On this basis, By comparison an example’s penetration resistance which is calculated respectively by prediction model and discrete element model, the correctness and accuracy of penetration model are verified.
Cutting is the other important phenomenon in lunar regolith excavation. It can make the lunar regolith moved as an entire substance in cutting action. In order to predict the cutting resistance of lunar regolith, a cutting resistance model,which is suitable for the translation motion and top rotation motion, is establish by using the mothod of level layer element. According to the feature of the non global convergence in the cutting model, a new solving method which integrated the DFP and genetic algorithms is proposed, and it realizes the solution of the resistance distribution. According to the relevance between lunar regolith basic properties and shear strength, the lunar regolith conhesion and internal friction angle are corrected by DEM triaxial testing simulation. On this basis, By comparison the cutting distribution which is calculated respectively by prediction model and discrete element model, the correctness and accuracy of cutting model are verified.
The actual excavation process is very complicated, the bucket shape and the lunar regolith accumulation influence the excavation resistance. Therefore, an excavation resistance model considing penetration and cutting action is established based on Hemami excavation theory. On this basis, using the excavation resistance model in optimization of bucket penetration angle, calculating the specified lunar regolith’s excavation resistance in condition of the rotation action and shoveling action, and then analyze the optimal structure parameters in minimum resistance using AGA.
Meanwhile, according to the soil rheological theory, a variable excavation force makes the lunar regolith vibrate. So a lunar regolith’s parallel connection Iwan model is established, and the Iwan parameters are calculated by DEM dynamic trixial testing. Finally, a lunar regolith simple substance2-DOF vibration equation which is used in soil-tool interaction is established by using this Iwan model. On this basis, using the excavation dynamics model in control algorithm design of sample manipulator. With this object, a4-DOF flexible manipulator model is created using modal synthesis method, an excavation strategy is designed, and an excavation controller based on computed torque method is achieved. In view of the characteristic that different lunar regolith owns differnet marco parameters, this paper estimates the regolith in suit in early stage of the excavation, making use of Newton-Raphson method, then corrects the controller parameters by this estimation value, to improve the excavation control accuracy.
为了解决1/6重力环境下月壤力学特性的分析和计算问题，本文在离散元仿真框架下，通过建立带范德华力的粘-弹颗粒接触关系的离散元模型，利用多输出最小二乘支持向量机（SVM）及自适应遗传算法，以当前已公开的真实月壤地面三轴试验数据为参数标定依据，实现对能够表征月壤宏观力学性质的离散元等效细观参数进行标定，最终建立了浅层月壤离散元模型。
切削是铲挖过程中的一个重要动作。在浅层月壤铲挖过程中，采样器侧板对月壤进行切削，实现样本月壤与原位月壤的分离。为解决浅层月壤的切削阻力预测问题，本文利用静止土压力理论及Kostritsyn切削阻力理论，分别对切削过程中月壤预应力和挤压变形恢复力导致的侧板压力进行分析，并依据上述分析成果建立平行、直立两种切削模式下的浅层月壤纯切削阻力的计算模型。针对不同月壤基本参数，即不同平均粒径、孔隙率和级配下的浅层月壤具有不同静止土压力系数、变形比阻和外摩擦系数的特点，本文采用离散元法开展了侧限压缩试验和机-土摩擦试验，建立了月壤基本参数与上述宏观力学参数间的回归模型。在此基础上，通过对比月壤切削模型预测结果和月壤离散元仿真结果，验证了切削计算模型的正确性和精度。
推移是铲挖过程中的另一个重要动作。在浅层月壤推移过程中，采样器铲平面带动月壤向铲挖方向整体运动，实现样本与采样器的随动。为解决浅层月壤在不同运动模式下的推移阻力预测问题，本文结合Rankine被动土压力理论和水平层分析法，建立了针对铲平面整体平移、顶点转动两种模式下的铲面阻力分布方程组，并针对该方程组在DFP求解算法中的不具有全局初值收敛性的特点，提出了DFP+遗传算法的求解方法，实现对铲面阻力分布及月壤滑移线形状的求解，最终建立月壤推移阻力的计算模型。针对不同基本参数的浅层月壤具有不同抗剪强度的特点，本文采用离散元法开展了静三轴试验离散元仿真，建立了月壤基本参数与月壤内聚力、内摩擦角间的回归模型。在此基础上，通过对比月壤推移模型和月壤离散元仿真得出的阻力分布结果，验证了推移计算模型的正确性和精度。
在实际铲挖过程中，铲斗形状、铲前堆积月壤量、月壤基本参数均会影响对月壤的铲挖阻力。本文对铲挖全过程中铲斗、月壤状态进行分析，并基于Hemami铲挖阻力理论，综合考虑铲挖过程中的切削阻力、推移阻力和月壤滑移体惯性力，建立铲挖全过程中的月壤阻力预测工程模型。在此基础上，以凤凰号上采样器基本结构参数为例，设计独立采样器算例对月壤采样过程进行分析，基于最小阻力和最小功耗分析铲抬模式下的最佳切入角，并分别计算旋刨模式和铲抬模式下的全过程采样阻力变化，分析两模式在不同月壤条件下的适用性。
除铲挖阻力外，铲挖过程中的变铲挖阻力还会导致铲斗与斗内月壤间的耦合振动问题。本文引入土壤流变理论，利用离散元动三轴试验得出的并联Iwan模型对时变铲挖力造成的月壤激励响应进行研究，实现对月壤机-土耦合作用的分析，最终建立考虑机-土耦合的浅层月壤铲挖动力学模型。在此基础上，分析机械臂铲挖采样过程。由于铲挖控制过程中机械臂末端铲斗对月壤存在时变铲挖力，因此铲斗与月壤间存在一定的耦合作用。应用考虑机-土耦合的浅层月壤铲挖动力学模型分析柔性采样机械臂在铲挖月壤时的动力学及控制问题。基于模态综合法建立包括铲斗在内的4自由度机械臂，设计合理的月壤铲挖策略和轨迹，并采用计算力矩控制器实现柔性采样机械臂的浅层月壤铲挖控制。对于待铲挖月壤的未知参数会影响控制性能的问题，设计在初期阶段通过测量不同铲挖位置的阻力，采用Newton-Raphson法对铲挖点的原位月壤实施参数估计，并利用该估计结果修正控制器参数，提高铲挖后程的轨迹跟踪控制精度。
With a successfully development of deep space exploration mission, especially for the stage III of Chang E project, the excavation of lunar regolith becomes the focus of the current research. It is difficult to simulate or test the dynamics of the lunar regolith excavation on earth environment, because of the influence of1/6gravity and lunar regolith’s adhensive sand type. Moreover, the difference between lunar regolith and earth soil in Marco physical properties will make it hard to use the traditional empirical resistance formula for lunar surface environment. Therefore, to get a grip on the dynamics of the lunar regolith sampler, and for further improvement of the excavation control accuracy, the dynamics modeling of lunar regolith excavation is been researched based on the domestic and foreign research results and the correcting of resistance coefficient and rheometry parameters.
To counteract the problems of simulation and analysis of lunar regolith’s mechanical properties in1/6gravity environment, a viscosity-elastic contact model with adhension is established using discrete element method (DEM). By using multiple-output Least Squares Support Vector Machines, self-adaptor Genetic Algorithms (AGA) and real lunar regolith trixial testing data, the sphere particle equivalent micro parameters which can describe lunar regolith’s macroscopic mechanical properties is standardized.
Penetration is an important phenomenon in lunar regolith excavation. It can separate the sample from lunar regolith in suit by the bucket’s penetration action. In order to predict the penetration resistance of lunar regolith, a penetration resistance model in1/6gravity environment is established by combining the static earth pressure theory and Kostritsyn resistance formula. According to the relevance between porosity, grandation and lunar regolith mechanical properties, the earth pressure coefficient and the specific resistance are corrected by DEM confined compression simulation, and the friction coefficient is corrected by DEM friction testing simulation. On this basis, By comparison an example’s penetration resistance which is calculated respectively by prediction model and discrete element model, the correctness and accuracy of penetration model are verified.
Cutting is the other important phenomenon in lunar regolith excavation. It can make the lunar regolith moved as an entire substance in cutting action. In order to predict the cutting resistance of lunar regolith, a cutting resistance model,which is suitable for the translation motion and top rotation motion, is establish by using the mothod of level layer element. According to the feature of the non global convergence in the cutting model, a new solving method which integrated the DFP and genetic algorithms is proposed, and it realizes the solution of the resistance distribution. According to the relevance between lunar regolith basic properties and shear strength, the lunar regolith conhesion and internal friction angle are corrected by DEM triaxial testing simulation. On this basis, By comparison the cutting distribution which is calculated respectively by prediction model and discrete element model, the correctness and accuracy of cutting model are verified.
The actual excavation process is very complicated, the bucket shape and the lunar regolith accumulation influence the excavation resistance. Therefore, an excavation resistance model considing penetration and cutting action is established based on Hemami excavation theory. On this basis, using the excavation resistance model in optimization of bucket penetration angle, calculating the specified lunar regolith’s excavation resistance in condition of the rotation action and shoveling action, and then analyze the optimal structure parameters in minimum resistance using AGA.
Meanwhile, according to the soil rheological theory, a variable excavation force makes the lunar regolith vibrate. So a lunar regolith’s parallel connection Iwan model is established, and the Iwan parameters are calculated by DEM dynamic trixial testing. Finally, a lunar regolith simple substance2-DOF vibration equation which is used in soil-tool interaction is established by using this Iwan model. On this basis, using the excavation dynamics model in control algorithm design of sample manipulator. With this object, a4-DOF flexible manipulator model is created using modal synthesis method, an excavation strategy is designed, and an excavation controller based on computed torque method is achieved. In view of the characteristic that different lunar regolith owns differnet marco parameters, this paper estimates the regolith in suit in early stage of the excavation, making use of Newton-Raphson method, then corrects the controller parameters by this estimation value, to improve the excavation control accuracy.
引文
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