月面重力模拟系统恒拉力绳索的动力学研究

月面巡视器在未来探月工程中有非常重要的作用.月球重力场是影响月面巡视器运动性能的重要环境因素,需要对其进行地面模拟试验.文章基于绳索悬挂建立月面重力模拟系统,其关键是对恒拉力绳索进行建模和动力学分析.通过将绳索离散化为一系列集中质量的弹簧阻尼结构,得到多刚体系统来代替连续的弹性系统,用数值计算方法来研究绳索系统的动力学参数(如刚度和阻尼)对月面重力模拟系统的影响,来优化月面重力模拟系统.

Dynamics of cable in constant tension in lunar gravity simulation system

Lunar rover plays an important role in the lunar exploration.Lunar gravity is an important environmental factor concerning the locomotion performance of the rover,which has to be simulated in the ground test.In this paper,a lunar gravity simulation system(LGSS) is proposed based on the cable suspension method,and the modeling and the dynamic analysis of the control servomechanism of the cable in constant tension in the LGSS,as the key issue of the system,are specially addressed.By discretizing the cable into a series of mass-spring-damping systems,a multiple body system is obtained in place of a continuous elastic system,and then the numerical method is applied to study the dynamics of the cable system.The parameters,such as the point mass,the stiffness and the damping of the cable,are analyzed to improve the design of the lunar gravity simulator.