A method for determining the hinge reaction torque in response to impacts on hinge deployment.

Abstract

A method for determining the hinge reaction torque in the event of a holding-moment hinge deployment impact includes: establishing the system dynamic equations; setting the current values ​​(HoldMarker_H5, HoldMarker_H6) of the holding hinge flags for hinges H5 and H6, and the updated values ​​(HoldMarker_H5_update, HoldMarker_H6_update) of the holding hinge flags for hinges H5 and H6; updating the system generalized coordinate matrix q, the generalized coordinate first-order derivative matrix with respect to time, and obtaining the system generalized coordinate q at the next moment. i The constraint reaction force of each hinge is compared with the structural strength of the hinge. This invention solves the problem of high safety design and testing costs of the entire satellite hinge caused by the large impact torque during satellite antenna deployment.

Description

Technical Field

[0001] This invention belongs to the field of satellite overall design technology, and in particular, it is a method for determining the hinge reaction torque in response to the impact of hinge deployment. Background Technology

[0002] Some satellite antennas, such as the B7 frame antenna (e.g.) Figure 1 The B7 (as shown) is widely used as the main payload of spacecraft such as mobile communication satellites, radar satellites, and high-orbit navigation satellites. It has drawbacks such as fast deployment speed (deployment time approximately 2 seconds), large deployment impact force (peak value exceeding 1000N), and large impact moment (impact moment up to 500Nm). The deployment impact force or moment of the B7 frame antenna can easily damage the onboard hinges, leading to overall satellite failure or performance degradation.

[0003] Existing technologies largely focus on the structural safety design of the B7 frame antenna during on-orbit and ground deployment, such as a method for electromechanical integration of the B7 frame antenna (CN106785470B) and analysis of the deployment impact characteristics of the frame reflector (Huang Zhirong, Song Yanping, analysis of the deployment impact characteristics of the offset-fed frame reflector). Little attention is paid to the impact of integrating the B7 frame antenna onto the entire satellite on the satellite's hinges and structural safety. Hu Fei, Song Yanping, and others pointed out that the deployment impact of the B7 frame antenna may cause damage to the satellite's structure and mechanical components or shorten its operational lifespan, thereby leading to a shortened or terminated satellite lifespan. The satellite hinge is the component most vulnerable to deployment impacts on the satellite; its damage can directly lead to satellite failure. For example, damage to the satellite's SADA system will directly cause a power outage, rendering the entire satellite unusable.

[0004] To reduce the damage to the onboard hinges caused by antenna deployment impact, it is desirable for the antenna deployment impact to act on the satellite at a more favorable angle. This requires the use of the joint between the extension arm B5 and the vertical plate B6 to provide a holding torque. To verify the correctness of this angle and whether the holding torque can dissipate the deployment impact kinetic energy, joint tests of the antenna extension arm B5 are often necessary. Figure 2 This diagram illustrates the combined test of the extendable arm B5 and the antenna reflector. This design is prone to damage to the joints of the extendable arm B5 and the vertical plate B6. Furthermore, insufficient unloading of the extendable arm B5 and the antenna can lead to discrepancies between ground-based test results and on-orbit results, impacting the safety of the satellite's on-orbit hinge. If the impact force and torque during antenna deployment cause damage to the satellite's hinge, modifications to the hinge structure strength may be necessary, leading to multiple tests and increased development costs. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of existing technologies and provide a method for determining the hinge reaction torque in response to the impact of antenna deployment. Specifically, this invention addresses the safety assessment and strength adjustment of onboard hinge structures caused by antenna deployment impacts. This invention is used to address the assessment and strength adjustment of the impact of onboard antenna deployment impacts on onboard activities and structural components, thereby avoiding damage to the satellite from rapid antenna deployment impacts and ensuring the overall safety of the satellite.

[0006] The technical solution of this invention is:

[0007] A method for determining the hinge reaction torque in response to the impact of a holding moment hinge deployment includes:

[0008] Using a six-component force platform, the deployment impact force and torque time history data of the frame antenna B7 acting on the six-component force platform were obtained.

[0009] Establish the system dynamics equations;

[0010] By integrating the system dynamic equations, the generalized coordinates of the system and the first derivative of the generalized coordinates with respect to time at the next moment are obtained, thereby calculating the constraint reaction forces and constraint reaction moments of all hinges H1 to H6.

[0011] Based on the current values ​​of the holding hinge flags (HoldMarker_H5, HoldMarker_H6) of hinges H5 and H6, and based on the constraint reaction force and constraint reaction moment, update the holding hinge flag values ​​(HoldMarker_H5_update, HoldMarker_H6_update) of hinges H5 and H6.

[0012] Based on the current values ​​of the hinge flags (HoldMarker_H5, HoldMarker_H6) for hinges H5 and H6, and based on the updated values ​​of the hinge flags (HoldMarker_H5_update, HoldMarker_H6_update) for hinges H5 and H6, update the system's generalized coordinate matrix q and the generalized coordinate first-order time derivative matrix.

[0013] Based on the updated system generalized coordinate matrix q and the generalized coordinate first-order time derivative matrix Based on the updated values ​​(HoldMarker_H5_update, HoldMarker_H6_update), the system dynamic equations, the whole-star kinematic recursive matrix, and the right-hand side of the acceleration are determined, and the system's generalized coordinates q at the next moment are obtained. i ;

[0014] The constraint reaction force of each hinge is compared with the structural strength of the hinge. If the strength requirement is not met, it is determined that the hinge is damaged due to the impact of the antenna deployment and the structural design needs to be optimized. Otherwise, it is determined that the hinge does not need to be adjusted in terms of structural design.

[0015] Preferably, the method for updating hinge H5 and hinge H6 to maintain the updated hinge flag values ​​(HoldMarker_H5_update, HoldMarker_H6_update) is as follows:

[0016] Step 7.1 If the current value HoldMarker_H5 is zero, obtain the constraint reaction torque in the rotation direction based on the constraint reaction force obtained in Step 5; when the constraint reaction torque in the rotation direction of hinge H5 is less than its holding torque, set the update value HoldMarker_H5_update to zero; otherwise, set the update value HoldMarker_H5_update to 1.

[0017] If the current HoldMarker_H5 is 1, when the absolute value of the first derivative of the generalized coordinate of hinge H5 with respect to time is less than the motion-stagnation switching speed of hinge H5 read in step two, HoldMarker_H5_update is set to zero; otherwise, the update value HoldMarker_H5_update is set to 1.

[0018] If the current HoldMarker_H6 is zero, when the rotation direction constraint reaction torque of hinge H6 is less than its holding torque, the update value HoldMarker_H6_update will be set to zero; otherwise, the update value HoldMarker_H6_update will be set to 1.

[0019] If the current HoldMarker_H6 is 1, when the absolute value of the first derivative of the generalized coordinate of hinge H6 with respect to time is less than the motion-stop switching speed of hinge H6, the update value HoldMarker_H6_update will be set to zero; otherwise, the update value HoldMarker_H6_update will be set to 1.

[0020] Preferably, the current values ​​of the holding hinge flags (HoldMarker_H5, HoldMarker_H6) of the initial state hinges H5 and H6 are both zero.

[0021] Preferably: the updating system includes a generalized coordinate matrix q and a generalized coordinate matrix with respect to time first derivative. The method is as follows:

[0022] If both the current value HoldMarker_H5 and the updated value HoldMarker_H5_update are equal to 0.

[0023]

[0024]

[0025] If the current value HoldMarker_H5 = 0, and the update value HoldMarker_H5_update = 1,

[0026]

[0027]

[0028] If the current value HoldMarker_H5 = 1 and the update value HoldMarker_H5_update = 0,

[0029]

[0030]

[0031] If the current value HoldMarker_H5 = 1, and the update value HoldMarker_H5_update = 1,

[0032]

[0033]

[0034] If both the current value HoldMarker_H6 and the updated value HoldMarker_H6_update are equal to 0.

[0035] q = q temp1 ,

[0036] If the current value HoldMarker_H6 = 0, and the update value HoldMarker_H6_update = 1,

[0037]

[0038]

[0039] If the current value HoldMarker_H6 = 1, and the update value HoldMarker_H6_update = 1,

[0040]

[0041]

[0042] If the current value HoldMarker_H6 = 1 and the update value HoldMarker_H6_update = 0,

[0043] q = q temp1 ,

[0044] Preferably, the method for determining the system dynamic equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows:

[0045] If HoldMarker_H6_update = 0, then:

[0046] System dynamic equations:

[0047]

[0048] Among them, Z1, z1 represents the system's generalized mass matrix, the second derivative of the generalized coordinates with respect to time, and the generalized external force matrix, respectively. M sys =diag(M B1 M B2 M B3 M B4 M B5 M B6 ) T M Bi (i = 1 to 6) represents object B i The mass matrix, m Bi J Bi and I 3×3 Object B i The mass, inertia tensor matrix, and 3×3 bit matrix, This represents the impact force and moment array acting on the vertical plate B6 when the frame antenna B7 is deployed. Indicates to The transpose of the external force matrix obtained by linear interpolation. q1 represents the system's generalized coordinates. Indicates that virtual hinge H1 corresponds to T time The transpose of the generalized coordinates of time, q H2 Indicates that the rotational hinge H2 corresponds to T time The generalized coordinate of time, q H3 Indicates that the rotational hinge H3 corresponds to T time Generalized coordinates of time;

[0049] Whole star kinematic recursive matrix:

[0050]

[0051] Among them, G H1 G H2 and G H3 These represent the kinematic recursive relation matrices of hinges H1 to H3, respectively.

[0052] The right-hand side of acceleration:

[0053]

[0054] in, Let i represent the right-hand term of the acceleration of object Bi in this case, i∈[1,6].

[0055] Preferably, the method for determining the system dynamic equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows:

[0056] If HoldMarker_H5_update = 1 and HoldMarker_H6_update = 0, then:

[0057] System dynamic equations:

[0058]

[0059] Whole star kinematic recursive matrix:

[0060]

[0061] The right-hand side of acceleration:

[0062]

[0063] in, q H5 G represents the rotational generalized coordinates of the holding moment hinge H5. G2 and g2 are the recursive kinematics and right-hand side terms of acceleration of the whole star when holding moment hinges H5 and H6 are respectively considered as rotational hinges and locking hinges. H5 This represents the kinematic recursive matrix representing the holding moment hinge H5. and This indicates that the acceleration of the holding torque hinges H5 and H6 is obtained by obtaining the quadratic term of acceleration.

[0064] Preferably, the method for determining the system dynamic equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows:

[0065] If HoldMarker_H5_update = 0 and HoldMarker_H6_update = 1, then:

[0066] System dynamic equations:

[0067]

[0068] Whole star kinematic recursive matrix:

[0069]

[0070] The right-hand side of acceleration:

[0071]

[0072] in, It is an N-row, 1-column matrix, where N is the number of non-zero generalized coordinates of the hinges in the system; q H6 G represents the generalized rotational coordinates of hinge H6, and G3 and g3 are the recursive kinematics and right-hand side terms of acceleration of the whole star when hinges 5 and 6 are respectively considered as rotational and locking hinges. H6 This represents the kinematic recursive relation matrix of the rotational hinge H6. This indicates that the acceleration of hinge H6 is obtained by obtaining the quadratic term of acceleration.

[0073] Preferably, the method for determining the system dynamic equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows:

[0074] If HoldMarker_H5_update = 1 and HoldMarker_H6_update = 1, then:

[0075] System dynamic equations:

[0076]

[0077] Whole star kinematic recursive matrix:

[0078]

[0079] The right-hand side of acceleration:

[0080]

[0081] in, 1 N This represents a column matrix of dimension N (unit 1), where N is the generalized coordinate system. number of rows.

[0082] The advantages of this invention compared to the prior art are:

[0083] This invention implements a satellite hinge safety strength adjustment method based on antenna deployment impact using variable topology technology. This method identifies the hinge damage risk caused by satellite antenna deployment impact in advance, improves the design of the hinge that may damage it, and avoids the risk of satellite on-orbit failure or premature decommissioning caused by antenna deployment impact. At the same time, it models the B5 extension arm, which requires physical testing, into a corresponding variable topology mechanical model, effectively protecting the B5 extension arm from potential damage during ground testing and reducing the development cost and cycle of the entire satellite extension arm B5 prototype. Attached Figure Description

[0084] Figure 1 This is a schematic diagram of the B7 frame antenna on the Environment-1C satellite.

[0085] Figure 2 A diagram showing the experimental scheme for the antenna deployment impact force and torque.

[0086] Figure 3 This is a flowchart of the method of the present invention.

[0087] Figure 4(a) is a schematic diagram of the deployment and impact of the satellite part (excluding the antenna) frame antenna B7 of the present invention.

[0088] Figure 4(b) is a schematic diagram of the deployment and impact of the antenna B7, which is a frame structure antenna.

[0089] Figure 5 This is a configuration diagram of the B7 satellite with a frame antenna.

[0090] Figure 6(a) is a schematic diagram of the ground test of the frame antenna B7.

[0091] Figure 6(b) is a partial enlarged view of the ground test schematic diagram of the B7 frame antenna. Detailed Implementation

[0092] To reduce the impact of antenna deployment impact on the satellite's movable hinge, obtain the optimal safe angle between the extension arm B5 and the satellite, and avoid satellite failure or damage caused by antenna deployment impact, a scheme for optimizing the angle of the extension arm B5 and adjusting the strength of the hinge structure design is proposed. The invention will be described in detail below with reference to schematic diagrams and examples.

[0093] This invention provides a method for determining the hinge reaction torque in response to the impact of a hinge deployment, such as... Figure 3 As shown, the steps are as follows:

[0094] Step 1: Using the theoretical mechanical isolation method, the satellite equipped with the frame antenna B7 is divided into the antenna part (i.e., the frame antenna B7) as shown in Figure 4(a) and the satellite part excluding the antenna as shown in Figure (b). The antenna deployment impact force and torque are applied as equivalent external forces and torques to the satellite and the frame antenna B7, and the satellite components and hinges are numbered sequentially.

[0095] Taking the B7 satellite system with its framed antenna as an example, its configuration is as follows: Figure 5 As shown. It mainly includes the satellite body B1, the south solar wing B2, the north solar wing B3, the retracted antenna B4, the extended arm B5, the vertical plate B6, and the frame antenna B7. The satellite body B1 is connected to the orbital coordinate system by a 6-DOF virtual hinge H1. The south solar wing B2 is connected to the satellite body B1 by a rotational hinge H2. The north solar wing B3 is connected to the satellite body B1 by a rotational hinge H3. The retracted antenna B4 is connected to the satellite body B1 by a locking hinge H4 (both are in a fixed state). The extended arm B5 is connected to the satellite body B1 by a holding moment hinge H5. The extended arm B5 is connected to the vertical plate B6 by a holding moment hinge H6. The antenna B7 is connected to the vertical plate B6 by a fixed hinge H7 (both are in a fixed state).

[0096] Step 2: Obtain data such as the mass and inertia matrix of the satellite body B1, south solar wing B2, north solar wing B3, extendable arm B5, and vertical plate B6 through CAD software or actual measurement, as well as the vector array of the outer objects of hinges H1 to H6, and the direction cosine matrices of the inner and outer objects. Read in the holding torque (related to the motor performance of the drive hinge) and motion-to-stagnation switching speed of the extendable arm B5 hinge (holding torque hinge H5) and the vertical plate B6 hinge (holding torque hinge H6). Set the holding state flag HoldMarker_H5 of the extendable arm B5 hinge and the holding state flag HoldMarker_H6 of the vertical plate B6 hinge to zero.

[0097] Step 3: Conduct ground deployment tests of the antenna. Using a six-component force platform, obtain the deployment impact force and torque time history data of the frame antenna B7 acting on the six-component force platform. As shown in Figures 6(a)(b).

[0098] Step 4: Using steps 1, 2, and 3, and based on the recursive method of multibody dynamics, establish the system dynamic equations. Combine steps 1 and 2 to calculate the generalized mass matrix Z1 and the generalized external force matrix z1 in the system dynamic equations. For details on the specific implementation method, please refer to Hong Jiazhen's "Computational Multibody Dynamics".

[0099] Step 4.1 Using the recursive method of multibody dynamics, the system dynamic equations are determined based on the vector array of the circumscribed object, the direction cosine matrices of the inscribed object and the circumscribed object:

[0100]

[0101] Among them, Z1, z1 represents the system's generalized mass matrix, the second derivative of the generalized coordinates with respect to time, and the generalized external force matrix, respectively. M sys =diag(M B1 M B2 M B3 M B4 M B5 M B6 ) T M Bi (i = 1 to 6) represents object B i The mass matrix, m Bi J Bi and I 3×3 Object B i The mass, inertia tensor matrix, and 3×3 bit matrix, This represents the impact force and moment array acting on the vertical plate B6 when the frame antenna B7 is deployed. Indicates to The transpose of the external force matrix obtained by linear interpolation. q1 represents the system's generalized coordinates. Indicates that virtual hinge H1 corresponds to T time The transpose of the generalized coordinates of time, q H2 Indicates that the rotational hinge H2 corresponds to T time The generalized coordinate of time, q H3 Indicates that the rotational hinge H3 corresponds to T time At this moment, the generalized coordinates are 0, and since the holding torque hinges H5 and H6 are locked (i.e., H5 and H6 are fixed hinges), they are not reflected in formula (1). G1 and g1 can be expressed as...

[0102]

[0103] Among them, G H1 G H2 and G H3 These represent the kinematic recursive relation matrices of hinges H1 to H3, respectively. This represents the right-hand term of the acceleration of object Bi in this case. For the specific expression, please refer to "Multibody Dynamics Analysis of Large Space Antennas" pp. 87-91.

[0104] Step 5: Integrate both sides of equation (1) to obtain the new time t. update System generalized coordinates q update and the first derivative of generalized coordinates with respect to time Calculate the constraint reaction forces and constraint reaction moments of all hinges H1 to H6 in the system (integrate formula (1) twice to obtain the generalized coordinates of the system). Through system generalized coordinates Using existing technologies, the constraint reaction forces of hinges H1 to H6 are calculated and written into the computer results file; the calculation formula for the constraint reaction forces of hinges can be found in Hong Jiazhen's "Computational Multibody Dynamics" pp. 360-361.

[0105] Step 6: Determine if the new time stamp is less than the final simulation time. If the new time stamp is less than the final simulation time, proceed to Step 7; otherwise, proceed to Step 10.

[0106] Step 7: Based on the relationship between the constraint reaction torques of holding torque hinges H5 and H6 and their respective holding torques, as well as the relationship between the relative generalized velocity and the switching velocity of hinges containing holding torques, determine the kinematic state of the hinges and update their corresponding holding hinge labels.

[0107] Step 7.1 If the current HoldMarker_H5 is zero, obtain the constraint reaction torque in the rotation direction based on the constraint reaction force obtained in Step 5; when the constraint reaction torque in the rotation direction of hinge H5 is less than its holding torque, set the update value HoldMarker_H5_update to zero, and the star body B1 and the extension arm B5 connected by hinge H5 remain relatively stationary at the current moment; otherwise, set the update value HoldMarker_H5_update to 1; proceed to Step 7.2;

[0108] If the current HoldMarker_H5 is 1, when the absolute value of the first derivative of the generalized coordinate of the holding moment hinge H5 with respect to time is less than the motion-to-stagnation switching speed of the holding moment hinge H5 read in step 2 (equivalent to the holding moment hinge H5 switching from a motion state to a stagnation state), HoldMarker_H5_update is set to zero; otherwise, HoldMarker_H5_update is set to 1; proceed to step 7.2;

[0109] Step 7.2 If the current HoldMarker_H6 is zero, when the rotation direction constraint reaction torque of the holding torque hinge H6 is less than its holding torque, set the update value HoldMarker_H6_update to zero; otherwise, set the update value HoldMarker_H6_update to 1 and proceed to step eight.

[0110] If the current HoldMarker_H6 is 1, when the absolute value of the first derivative of the generalized coordinate of hinge H6 with respect to time is less than the motion-stagnation switching speed of the holding moment hinge H6, the update value HoldMarker_H6_update is set to zero; otherwise, the update value HoldMarker_H6_update is set to 1, and the process proceeds to step eight.

[0111] Step 8: Update the system's generalized coordinate matrix, the generalized coordinate first derivative matrix with respect to time matrix, and the acceleration right-hand side matrix based on the current and updated values ​​of the hinge identifier containing the holding torque;

[0112] Step 8.1 If both the current value HoldMarker_H5 and the updated value HoldMarker_H5_update are equal to 0, then

[0113] Generalized coordinate array at current moment

[0114] The first derivative of the generalized coordinate array at the current moment

[0115] If the current value HoldMarker_H5 = 0, and the update value HoldMarker_H5_update = 1,

[0116] (The first three terms are the generalized coordinate arrays obtained from step five at the current time, q) H5_temp The initial values ​​are obtained from the satellite configuration.

[0117] Proceed to step 8.2;

[0118] If the current value HoldMarker_H5 = 1 and the updated value HoldMarker_H5_update = 0, then

[0119]

[0120]

[0121] If the current value HoldMarker_H5 = 1 and the updated value HoldMarker_H5_update = 1, then

[0122]

[0123] Proceed to step 8.2;

[0124] Step 8.2 If both the current value HoldMarker_H6 and the updated value HoldMarker_H6_update are equal to 0, then

[0125] q = q temp1 ,

[0126] If the current value HoldMarker_H6 = 0 and the updated value HoldMarker_H6_update = 1, then

[0127] (q H6_temp The initial values ​​are obtained from the satellite configuration.

[0128] Proceed to step nine;

[0129] If the current value HoldMarker_H6 = 1 and the updated value HoldMarker_H6_update = 1, then

[0130] Set new generalized coordinates

[0131]

[0132] If the current value HoldMarker_H6 = 1 and the updated value HoldMarker_H6_update = 0, then

[0133] q = q temp1 , Proceed to step nine;

[0134] Step 9: Based on the hinge identifier update values ​​HoldMarker_H5_update and HoldMarker_H6_update containing the holding torque, select the system dynamic equation, update the kinematic recursive relation matrix and the acceleration right-hand side column matrix, and obtain the system generalized coordinate q. i Proceed to step five;

[0135] If HoldMarker_H6_update = 0 and HoldMarker_H6_update = 0, select equations (1) and (2), update their kinematic recursive relation matrix and acceleration right-hand side term column G1 and g1 according to the results of step eight, and proceed to step ten;

[0136] If HoldMarker_H5_update = 1 and HoldMarker_H6_update = 0, select equations (3) and (4), update their kinematic recursive relation matrix and acceleration right-hand side term column G2 and g2, obtain the system generalized coordinate q2 and proceed to step ten;

[0137]

[0138] In the formula, q H5 G2 represents the rotational generalized coordinates of the holding moment hinge H5. G2 and g2 are the recursive kinematics and right-hand side terms of acceleration of the whole satellite when the holding moment hinges H5 and H6 are taken as the rotational hinge and the locking hinge, respectively. See Zhou Zhicheng and Dong Fuxiang, "Multibody Dynamics of Large Space Antenna Deployment", pp. 87-91 for details.

[0139]

[0140] In the formula, G H5 This represents the kinematic recursive matrix representing the holding moment hinge H5. and The acceleration of holding moment hinges H5 and H6 is expressed as the second term of acceleration. For details, see Zhou Zhicheng and Dong Fuxiang, "Multibody Dynamics of Large Space Antenna Deployment", pp. 87-91.

[0141] If HoldMarker_H5_update = 0 and HoldMarker_H6_update = 1, select equations (5) and (6), update their kinematic recursive relation matrix and acceleration right-hand side term column G3 and g3, obtain the system generalized coordinate q3 and proceed to step ten;

[0142]

[0143] In the formula, It is an N-row, 1-column matrix, where N is the number of non-zero generalized coordinates of the hinges in the system; q H6 G3 and g3 represent the generalized rotational coordinates of hinge H6, and G3 and g3 are the recursive kinematics and right-hand side terms of acceleration of the whole star when hinges 5 and 6 are respectively considered as rotational and locking hinges. They can be written as follows:

[0144]

[0145] In the formula, G H6 This represents the kinematic recursive relation matrix of the rotational hinge H6. The acceleration of hinge H6 is expressed as the second term of acceleration. For the specific formula, please refer to Zhou Zhicheng and Dong Fuxiang's "Multibody Dynamics of Large Space Antenna Deployment" pp. 87-91.

[0146] If HoldMarker_H5_update = 1 and HoldMarker_H6_update = 1, select equations (7) and (8), update their kinematic recursive relation matrix and acceleration right-hand side term column G4 and g4, obtain the system generalized coordinate q4 and proceed to step ten;

[0147]

[0148] In the formula, 1 N This represents a column matrix of dimension N (unit 1), where N is the generalized coordinate system. The number of rows. G4 and g4 can be represented as

[0149]

[0150] q i ∈[q1, q2, q3, q4],

[0151] When i=1, q1 represents HoldMarker_H5_update=0, HoldMarker_H6_update=0; the corresponding system generalized coordinate array;

[0152] When i=2, q2 means HoldMarker_H5_update=1, HoldMarker_H6_update=0, hinge H5 starts to rotate, and H6 is in the holding state;

[0153] When i=3, q3 means HoldMarker_H5_update=0, HoldMarker_H6_update=1, hinge H6 starts to rotate, and H5 is in the holding state;

[0154] When i=4, q4 indicates that HoldMarker_H5_update=1 and HoldMarker_H6_update=1, and both hinges H5 and H6 start to rotate.

[0155] Based on the system's generalized coordinate q, the constraint reaction force of each hinge is obtained.

[0156] Step 10: Read the constraint reaction force results of each hinge obtained in Step 9 and compare them with the hinge structure strength. If the strength requirements are not met, it is determined that the hinge is damaged due to the impact of the antenna deployment, and proceed to Step 11. Otherwise, the hinge is considered to be intact and does not require adjustment.

[0157] Step 11: Obtain the number of the damaged hinge and the maximum constraint force at the time of failure, multiply it by a safety factor (e.g., a safety factor of 1.5) to obtain the new design impact force and torque, which will serve as input for the design improvement of the hinge.

[0158] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0159] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for determining the hinge reaction torque in response to the impact of a holding moment hinge, wherein the south solar wing B2 is connected to the satellite body B1 via a rotary hinge H2, the north solar wing B3 is connected to the satellite body B1 via a hinge H3, the retracted antenna B4 is connected to the satellite body B1 via a hinge H4, the extended arm B5 is connected to the satellite body B1 via a hinge H5, the extended arm B5 is connected to the vertical plate B6 via a hinge H6, and the frame antenna B7 is connected to the vertical plate B6 via a hinge H7; hinges H5 and H6 are holding moment hinges, characterized in that... include: Using a six-component force platform, the deployment impact force and torque time history data of the frame antenna B7 acting on the six-component force platform were obtained. ; Establish the system dynamics equations; By integrating the system dynamic equations, the generalized coordinates of the system and the first derivative of the generalized coordinates with respect to time at the next moment are obtained, thereby calculating the constraint reaction forces and constraint reaction moments of all hinges H1~H6. Based on the current value of the hinge flags held by hinges H5 and H6 ( , ), and based on the constraint reaction force and constraint reaction moment, update the hinge flag update values ​​of hinge H5 and hinge H6. , ); Based on the current value of the hinge flags held by hinges H5 and H6 ( , ), and maintain the hinge flag update value according to hinge H5 and hinge H6 ( , ), update the system's generalized coordinate array Generalized coordinates as first derivatives of time matrix ; According to the updated system generalized coordinate array Generalized coordinates as first derivatives of time matrix And based on the updated value ( , To determine the system's dynamic equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration, and to obtain the system's generalized coordinates q at the next moment. i ; The constraint reaction force of each hinge is compared with the structural strength of the hinge. If the strength requirement is not met, it is determined that the hinge is damaged due to the impact of the antenna deployment and the structural design needs to be optimized. Otherwise, it is determined that the hinge does not need to be adjusted in terms of structural design.

2. The method for determining the hinge reaction torque in response to the impact of hinge deployment under holding torque, as described in claim 1, is characterized in that: The update obtains hinge H5 and hinge H6, maintaining the hinge flag update value ( , The method is as follows: Step 7.1 If the current value The value is zero. Based on the obtained constraint reaction force, the constraint reaction torque in the rotation direction is obtained. When the constraint reaction torque in the rotation direction of hinge H5 is less than its holding torque, the value is updated. Set to zero; otherwise, update the value. Set to 1; If the current The value is 1. When the absolute value of the first derivative of the generalized coordinate of hinge H5 with respect to time is less than the motion-stagnation switching speed of hinge H5 read in step two, then... Set to zero; otherwise, update the value. Set to 1; If the current The value is zero when the constraint reaction torque in the rotation direction of hinge H6 is less than its holding torque; the value will then be updated. Set to zero, otherwise update the value. Set to 1; If the current The value is set to 1. When the absolute value of the first derivative of the generalized coordinate of hinge H6 with respect to time is less than the motion-stop switching speed of hinge H6, the value will be updated. Set to zero; otherwise, update the value. Set to 1.

3. The method for determining the hinge reaction torque in response to the impact of hinge deployment under holding torque, as described in claim 2, is characterized in that: The initial state of hinges H5 and H6 retains the current value of the hinge flags. , All are zero.

4. The method for determining the hinge reaction torque in response to the impact of hinge deployment under holding torque, as described in claim 1, is characterized in that: The updated system generalized coordinate array Generalized coordinates as first derivatives of time matrix The method is as follows: If the current value and update value When all are equal to 0, ， ， If the current value =0, and update value When =1, ， ； If the current value =1, and update value When =0, ， ， If the current value =1, and update value When =1, ， ； If the current value and update value When all are equal to 0, ， ， If the current value =0, and update value When =1, ， ； If the current value =1, and update value When =1, ， ； If the current value =1, and update value When =0, ， 。 5. A method for determining the hinge reaction torque in response to an impact on the unfolding of a holding moment hinge, as described in any one of claims 1 to 4, characterized in that, The method for determining the system dynamics equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows: if =0, and =0, then: System dynamic equations: in, , , Let represent the system's generalized mass matrix, the second derivative of the generalized coordinates with respect to time, and the generalized external force matrix, respectively; , , , (i=1~6) represents objects The mass matrix, , , and Each of the objects The mass, inertia tensor matrix, and 3×3 bit matrix, This represents the impact force and moment array acting on the vertical plate B6 when the frame antenna B7 is deployed. Indicates to The transpose of the external force matrix obtained by linear interpolation; Represents the system's generalized coordinates. , Indicates virtual hinge H1 corresponding Transpose of the generalized coordinates of time. Indicates the rotational hinge H2 corresponding to Generalized coordinates of time, Indicates the corresponding rotational hinge H3 Generalized coordinates of time; Whole star kinematic recursive matrix: in, , and These represent the kinematic recursive relation matrices of hinges H1 to H3, respectively. The right-hand side of acceleration: in, Let i represent the right-hand term of the acceleration of object Bi in this case, i∈[1,6].

6. The method for determining the hinge reaction torque in response to the impact of a hinge deployment under holding torque, as described in claim 5, is characterized in that... The method for determining the system dynamics equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows: if =1, and =0, then: System dynamic equations: Whole star kinematic recursive matrix: The right-hand side of acceleration: in, , , , The rotational generalized coordinates of the holding torque hinge H5 are represented. and To use the holding moment hinge H5 and holding moment hinge H6 as the rotary hinge and locking hinge, respectively, the recursive kinematics matrix of the whole star and the right-hand side of the acceleration are derived. This represents the kinematic recursive matrix representing the holding moment hinge H5. and This indicates that the acceleration of the holding torque hinges H5 and H6 is obtained by obtaining the quadratic term of acceleration.

7. The method for determining the hinge reaction torque in response to the impact of a hinge deployment under holding torque, as described in claim 5, is characterized in that... The method for determining the system dynamics equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows: if =0, and =1, then: System dynamic equations: Whole star kinematic recursive matrix: The right-hand side of acceleration: in, , It is an N-row, 1-column matrix, where N is the number of non-zero generalized coordinates of the hinges in the system; , The generalized coordinates representing the rotation of hinge H6 and To treat hinges 5 and 6 as rotational and locking hinges respectively, the recursive kinematics matrix and the right-hand side of the acceleration are given. This represents the kinematic recursive relation matrix of the rotational hinge H6. This indicates that the acceleration of hinge H6 is obtained by obtaining the quadratic term of acceleration.

8. The method for determining the hinge reaction torque in response to the impact of a hinge deployment under holding torque, as described in claim 5, is characterized in that... The method for determining the system dynamics equations, the whole-plane kinematic recursive matrix, and the right-hand side of the acceleration is as follows: if =1, and =1, then: System dynamic equations: Whole star kinematic recursive matrix: The right-hand side of acceleration: in, , , , This represents a column matrix of dimension N (unit 1), where N is the generalized coordinate system. number of rows.

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