CN-121980680-A - Unfolding process optimization method of foldable landing mechanism

CN121980680ACN 121980680 ACN121980680 ACN 121980680ACN-121980680-A

Abstract

The invention provides an optimal design method for a unfolding process of a foldable landing mechanism, which at least comprises the following steps of determining size parameters and quality characteristics of a main landing leg and an auxiliary landing leg in the foldable landing mechanism, determining parameters required by kinematic calculation of all parts in the foldable landing mechanism, determining an unfolding control mode, design parameters and loads born by the unfolding process of the foldable landing mechanism, determining parameters and parameter ranges to be optimized, establishing parameterized and modularized air pressure-mechanical structure joint dynamics models by means of system simulation software based on the above steps, determining an optimization algorithm, an optimization target and constraint conditions, setting up an optimization analysis flow in the system simulation software, compiling and extracting a calculation result flow, driving the air pressure-mechanical structure joint dynamics models, the optimization analysis flow and extracting the calculation result flow to operate, extracting the calculation result after batch processing calculation of the parameterized model, and judging whether the calculation result meets the constraint conditions or not by means of convergence conditions of the optimization algorithm.

Inventors

LI JIAJIAN
WANG CHANGJIANG
ZHU QIAN
WANG MINGGANG
JI BIN
GENG LICHAO
SU ZHIQIANG
DAI ZHENG
ZHANG CHANGWU

Assignees

蓝箭航天空间科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260106

Claims (10)

1. The optimal design method for the unfolding process of the foldable landing mechanism is characterized by at least comprising the following steps of: Step one, determining size parameters and quality characteristics of a main supporting leg and an auxiliary supporting leg in a retractable landing mechanism; Step two, determining parameters required by kinematic calculation of each component in the retractable landing mechanism; Step three, determining the unfolding control mode, design parameters and the load born by the unfolding process of the foldable landing mechanism; determining parameters to be optimized and parameter ranges in the design parameters according to a design scheme; Step five, based on the step one, the step two and the step three, establishing a parameterized and modularized retractable landing mechanism air pressure-mechanical structure joint dynamics model by means of system simulation software; step six, determining an optimization algorithm, an optimization target and constraint conditions, constructing an optimization analysis flow in system simulation software, and compiling a flow for extracting a calculation result; step seven, driving the air pressure-mechanical structure joint dynamics model, optimizing the analysis flow and extracting the flow operation of the calculation result, extracting the calculation result after the parameterized model batch processing calculation, and judging whether the calculation result meets the constraint condition or not through the convergence condition of the optimization algorithm; And step eight, if the calculation result does not meet the constraint condition, automatically optimizing and adjusting the parameter to be optimized by utilizing an optimization algorithm, and repeating the operation of the step seven until the calculation result meets the constraint condition and reaches the optimization target.
2. The method of optimizing design of the deployment process of the retractable landing gear according to claim 1, wherein the dimensional parameters and mass characteristics of the main leg and the auxiliary leg in the step one at least comprise the number of stages of the multi-stage sleeve of the main leg, the diameter, the length, the mass, the centroid position and the moment of inertia of each stage of sleeve, and the overall length, the mass, the centroid position and the moment of inertia of the auxiliary leg.
3. The method for optimizing the design of the unfolding process of the foldable landing gear according to claim 1, wherein the parameters required by the kinematic calculation of each component in the second step at least comprise the installation positions of the main supporting leg and the auxiliary supporting leg on the carrier, and the relative positions, the kinematic pair positions and the kinematic pair types of each component of the main supporting leg and the auxiliary supporting leg.
4. The optimal design method for the unfolding process of the foldable landing mechanism according to claim 1, wherein in the third step, the unfolding control mode adopts an air pressure driving control mode; The design parameters comprise the diameters of each stage of cylinders and the diameters of push rods among the multi-stage sleeves of the main support leg, the strokes of each stage of cylinders, the diameters and the lengths of air inlet holes and air outlet holes of each stage of cylinders, the time sequence of control signals, the type of gas, the capacity and the pressure of a gas cylinder and the orifice area of an electromagnetic valve; The load applied in the unfolding process at least comprises pneumatic load acting on the landing mechanism in the unfolding process, friction force and damping force between each kinematic pair, external air pressure, overload acceleration and attitude angle load parameters of the landing mechanism.
5. The method for optimizing the deployment process of a retractable landing gear according to any one of claims 1 to 4, wherein the model of the combined pneumatic-mechanical structure dynamics of the retractable landing gear in the fifth step at least comprises: The control module is used for time sequence control of the cylinder action and acquisition of in-place time and in-place speed; The pneumatic system module is used for receiving the signals of the control module and simulating the movement of the air cylinder; The mechanical system module comprises a main supporting leg structure, an auxiliary supporting leg structure, parts thereof, a kinematic pair and a sensor, wherein the mechanical system module is used for defining an overall coordinate system, the size and the direction of a gravitational field, the spatial position, the quality characteristic and the relative motion relation of each mechanical element and simulating the overall unfolding motion process of a landing mechanism and the extraction of required motion parameters; In the running process of the pneumatic-mechanical structure combined dynamic model of the retractable landing mechanism, the control module is used for driving the pneumatic system module to act and driving the landing leg structure in the mechanical system module to open through the simulation cylinder so as to simulate the integral deployment of the landing mechanism.
6. The method for optimizing the design of the unfolding process of the foldable landing mechanism according to claim 5, wherein the parameters to be optimized, the optimization algorithm, the constraint conditions and the optimization targets are all customized according to design requirements.
7. The optimal design method for the unfolding process of the retractable landing mechanism according to claim 6, wherein the pneumatic system module comprises a gas cylinder, an electromagnetic valve, a gas pipeline, a primary gas cylinder and a secondary gas cylinder, wherein the gas cylinder is respectively connected with the primary gas cylinder and the secondary gas cylinder through the electromagnetic valve arranged on the gas pipeline; The control module controls the switch of the electromagnetic valve, after the electromagnetic valve is controlled to be opened, gas in the gas cylinder is filled into the primary cylinder and the secondary cylinder, after the gas filling is completed, the control module controls the electromagnetic valve to close the valve, and after the primary cylinder and the secondary cylinder are filled, the main leg structure is driven to be unfolded.
8. The method for optimizing the deployment process of the retractable landing mechanism according to claim 7, wherein the calculation result extracted in the step six mainly comprises the speed and time for the landing mechanism to be deployed in place; the speed of the main leg of the landing mechanism reaching the maximum unfolding travel time is the speed of one end of the main leg, far away from the carrier, relative to the ground; the time for unfolding in place refers to the time required for the main landing gear leg to start unfolding action to unfolding in place.
9. The method of claim 2, wherein the moment of inertia is the moment of inertia of each component about its centroid.
10. The method for optimizing the design of the deployment process of the retractable landing gear according to claim 1, wherein the optimization algorithm is one of a sequence quadratic programming algorithm and a genetic algorithm.

Description

Unfolding process optimization method of foldable landing mechanism Technical Field The invention relates to the technical field of reusable space launch vehicles, in particular to a deployment process optimization method for a retractable landing mechanism. Background In the technical field of reusable space launch vehicles, the retractable landing mechanism is a key functional component for realizing vertical recovery and reuse of the vehicles. The working principle of the device is that the device is folded and clung to the surface of an arrow body in the launching stage to ensure the pneumatic appearance, and the device is unfolded and reliably locked through the driving mechanism in the recovery stage to form a stable landing support. The kinematic and dynamic characteristics of the deployment process are critical, for example, the deployment in-place speed directly affects the structural impact strength and locking reliability, and the time of deployment in place affects the functional implementation of the landing mechanism. Currently, the design and analysis of this deployment process relies mainly on a combination of design experience, kinetic simulation and numerical computation. The typical design flow is that firstly, configuration and size parameters of a mechanism are preliminarily set according to engineering experience, then, a kinematic model and a dynamics control equation set of the mechanism are established, then, numerical calculation software or a special dynamics simulation platform is utilized for solving, and finally, a design scheme is adjusted according to a numerical result and is iterated in a circulating mode. The traditional method has the inherent defects that firstly, the initial design quality is highly dependent on personal experience, the initial scheme is easy to deviate from a better solution, a large number of iterations are needed, the design period is long, the cost is high, secondly, the analysis process usually fails to fully consider the dynamic coupling effect between the pneumatic driving system and the mechanical structure, the simulation precision is deviated from the actual physical process due to lack of joint simulation, thirdly, the method is difficult to systematically and quantitatively reveal the influence rules of various design parameters and interaction thereof on the unfolding performance, so that the overall optimal design parameter combination cannot be efficiently guided, and the further improvement of the mechanism performance is restricted. Therefore, it is desirable to provide a method for optimizing the deployment process of a retractable landing gear, which allows for the combination of pneumatic drive system and mechanical system and the inefficiency of the design. Disclosure of Invention In order to solve the technical problems, the invention provides an unfolding process optimization method of a retractable landing mechanism. The invention provides a deployment process optimization method of a retractable landing mechanism, which at least comprises the following steps: Step one, determining size parameters and quality characteristics of a main supporting leg and an auxiliary supporting leg in a retractable landing mechanism; Step two, determining parameters required by kinematic calculation of each component in the retractable landing mechanism; Step three, determining the unfolding control mode, design parameters and the load born by the unfolding process of the foldable landing mechanism; determining parameters to be optimized and parameter ranges in the design parameters according to a design scheme; Step five, based on the step one, the step two and the step three, establishing a parameterized and modularized retractable landing mechanism air pressure-mechanical structure joint dynamics model by means of system simulation software; step six, determining an optimization algorithm, an optimization target and constraint conditions, constructing an optimization analysis flow in system simulation software, and compiling a flow for extracting a calculation result; step seven, driving the air pressure-mechanical structure joint dynamics model, optimizing the analysis flow and extracting the flow operation of the calculation result, extracting the calculation result after the parameterized model batch processing calculation, and judging whether the calculation result meets the constraint condition or not through the convergence condition of the optimization algorithm; And step eight, if the calculation result does not meet the constraint condition, automatically optimizing and adjusting the parameter to be optimized by utilizing an optimization algorithm, and repeating the operation of the step seven until the calculation result meets the constraint condition and reaches the optimization target. Further, the size parameters and the mass characteristics of the main support leg and the auxiliary support leg in the first step at least comprise t