航天服关节力矩的数学模型
收稿日期: 2014-04-15
修回日期: 2014-08-21
网络出版日期: 2015-03-31
基金资助
航天科技创新基金
Mathematical model for spacesuit joint torque
Received date: 2014-04-15
Revised date: 2014-08-21
Online published: 2015-03-31
Supported by
Aerospace Science and Technology Innovation Fund
航天服关节力矩特性的数学表述是预测航天员出舱(EVA)作业强度、评估航天员疲劳度、规划EVA活动路径的重要基础。首先,分析了关节力矩的特性,提出建立数学模型的要求,阐述了Jiles-Atherton磁滞模型原理,以及磁滞模型与关节力矩特性的相合性。其次,利用模拟退火算法的思想对遗传算法进行了改进,并基于MATLAB软件实现。最终,对EVA航天服腕关节和肩关节力矩进行仿真,得到关节力矩在特定活动角度下的数学模型。仿真结果表明,针对关节力矩迟滞特性所得的关节力矩数学模型,能够更准确地描述关节活动力矩特性,计算所得模型可以更便捷地用于航天服工效学等相关研究领域。
关键词： 舱外航天服; 关节力矩; 数学模型; Jiles-Atherton磁滞模型; 改进的遗传算法
张新军 , 李潭秋 , 张万欣 , 李元丰 . 航天服关节力矩的数学模型[J]. 航空学报, 2015 , 36(3) : 865 -871 . DOI: 10.7527/S1000-6893.2014.0196
The mathematical model of spacesuit joint torque makes a significant disparity in the prediction of extra-vehicular activity (EVA) task intensity, fatigue estimation of astronaut and planning EVA route. Firstly, the hysteresis of joint torque is analyzed and the requirement of the joint torque model application is stated. The Jiles-Atherton hysteresis model, as well as the relevance with hysteresis property of joint torque, is detailed. Then the simulated annealing is adopted to improve the genetic algorithm, which is realized by MATLAB. Finally, the mathematical models of the EVA spacesuit wrist joint torque and shoulder joint torque are simulated. The consequence of simulation elucidates that the mathematical model of spacesuit joint torque is feasible. What is more, the mathematical model of spacesuit joint torque will have a wide application in the research of spacesuit ergonomic and other fields.
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