面向分体式飞行汽车对接锁定的机电系统设计与验证

doi:10.13229/j.cnki.jdxbgxb.20230894

Abstract

Abstract:

The design of the docking and locking system scheme adopted the concept of "profile sliding guidance + multi-point locking". Static and dynamic analyses of the docking process were conducted using the capture domain theory and dynamic simulations. A scaled-down experimental platform was established for multi-objective docking and locking tests， thus confirming the reliability， stability， and speed of the modular flying vehicle. By controlling the communication system and mechanical guidance， the modular flying vehicle can achieve pose correction under conditions of horizontal deviation within a range of $± 10$ mm and heading deviation within a range of ±5 degrees. Experimental results indicate that this docking system ensures the accuracy， stability， and swiftness of module transitions during modal switching.

Key words: mechanical design and theory, modular flying vehicle, electromechanical system, modular design, capture domain

CLC Number:

TH122

Chen WANG,Te LUO,Qian-qian HUI,Zhong-hao WANG,Fang-fang WANG. Design and verification of electromechanical system for docking and locking of modular flying vehicle[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(8): 2130-2140.

Figures/Tables 23

Fig.1

Table 1

Design requirements for docking systems"

参数名称	参数数值
对接前水平容许偏差/mm	$± 100$ mm
对接前航向容许偏差/（°）	$± 5$
对接速度/（mm·s^-1）	$≤ 80$
锁定/解锁时间/s	$≤ 10$
飞行-客舱间机构总质量/kg	$≤ 25$
客舱-地面间机构总质量/kg	$≤ 25$

Table 1

Fig.2

Table 2

Fig.3

Fig.4

Fig.5

Table 3

Parameter of docking mechanism"

参数	数值	参数	数值
$D 1$ /mm	700	$H 2$ /mm	110
$β 1$ /（°）	60°	$h 1$ /mm	200
$H 1$ /mm	210	$h 2$ /mm	50
壁厚/mm	10	$β 2$ /（°）	60°
$L 1$ /mm	350	$l 1$ /mm	150
$L 2$ /mm	400	$l 2$ /mm	70

Table 3

Fig.6

Fig.7

Table 4

Parameter of docking mechanism between passenger capsule and ground module"

参数	数值	参数	数值
$H 3$ /mm	300	$β 3$ /（°）	60
$D 2$ /mm	840	$H 5$ /mm	200
$D 3$ /mm	700	$D 4$ /mm	170
$H 4$ /mm	250	$H 6$ /mm	270

Table 4

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Table 5

Fig.18

References 16

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	飞行-客舱间	客舱-地面间
布局	中央机构	中间机构+周边机构
机械导引方式	圆台型面	中间机构圆台型面
锁定方式	丝杆锁爪	锁紧滑块（插销原理）、锁紧瓣（过盈配合）
功能	连接为飞行模态	连接为地面模态

	锁爪/ 锁紧瓣	锁爪平均受力/N
	锁爪/ 锁紧瓣	第一次	第二次	第三次
飞行- 客舱间	一	497.15	519.10	483.16
	二	491.62	486.25	458.45
	三	493.04	445.70	516.61
	四	482.85	496.04	493.66
周边机构	一	198.88	202.55	179.45
	二	210.66	178.48	181.14
	三	197.26	169.55	200.81
	四	211.91	259.61	224.54

Design and verification of electromechanical system for docking and locking of modular flying vehicle

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