航天器柔性线缆拖拽力学建模及线缆系统布线规划研究

项目名称： 航天器柔性线缆拖拽力学建模及线缆系统布线规划研究

项目编号： No.51205079

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 游斌弟

作者单位： 哈尔滨工业大学

项目金额： 25万元

中文摘要： 航天器结构质量优化几乎达到了极限，线缆系统总体集成规划设计已成为研究的焦点。而传统航天器布线一般采用1:1比例模拟实物样机模型通过人工模拟装配，缺乏统一总体规划及理论依据。本项目以航天器柔性活动线缆布线系统为研究对象，考虑线缆拖拽呈现蜿蜒、扭转、缠绕等几何大变形，结合非线性本构关系，建立柔性线缆力学模型；考虑空间几何约束、线缆物理性能约束和载荷约束等，研究柔性活动线缆运动学与动力学分析求解问题。通过开发相应的虚拟仿真环境，实现线缆路径规划的三维实体动态仿真。通过划界与规划研究高效的路径规划算法实现线缆在有各种约束工况下的可行空间域的求解，进而研究不同柔性线缆物理特性参数对整个可行空间域的影响规律。最后通过各种物理试验与虚拟环境仿真试验相结合，运用可靠性分析技术和方法，研究线缆在各种约束工况作用下的规划路径可行性评价与性能预测方法。研究工作对提高航天器系统可靠性及线缆布线效率具有重要意义。

中文关键词： 柔性线缆；力学建模；空间约束；拖拽；非线性振动

英文摘要： There is limit space to reduce parts' weight based on optimal design theory in spacecraft structure. Thus, aerospace departments begin to focus on path planning technology of cable harness recently. However, in the traditional way, the 1:1 physical prototype model of cable harness is used to determine the spacecraft structural layout. Therefore, the test results lack of general rational planning and theoretical basis. For this reason, physical characteristic of nonlinear constitutive relations and displacement strain relations are described, and the dynamic equation of motional cable harness is established considering cable winding, twisting and winding deformation. Moreover, the modeling and plan planning of flexible motional cable harness is studied in this project, and spatial constraints, performance constraints and external force constraints in spacecraft structural layout are further considered completely. Further, the kinematics and dynamics modeling and simulation of flexible cable harness are established, and the real-time dynamic simulation of 3D entity cable harness layout are realized based on C++ and OpenGL. Then, the efficient path planning algorithms considering feasible spatial domain are developed under condition of spatial constraints, performance constraints and load constraints. The laws of t

英文关键词： flexible cables；mechanics models；spatial constraints；drag；nonlinear vibration