• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (5): 1-13.doi: 10.3901/JME.2015.05.001

• 机构学及机器人 •    下一篇

载人月球车等效侧倾刚度和阻尼计算方法

梁忠超1,2 高海波1 闫 冰3 刘 振1 丁 亮1 邓宗全1 曲建俊1   

  1. 1.哈尔滨工业大学机器人技术与系统国家重点实验室;
    2.沈阳建筑大学交通与机械工程学院;
    3.北京宇航系统工程研究所
  • 出版日期:2015-03-05 发布日期:2015-03-05
  • 基金资助:
    国家自然科学基金(51275106,61005080)、新世纪优秀人才支持计划(NCET-10-0055)、“111”工程(B07018)、国家重点基础研究发展计划(973计划,2013CB035502)和中国航天科技集团公司-哈尔滨工业大学联合技术创新中心技术创新(CASC-HIT11-1A03)资助项目

Calculation Approach of the Equivalent Roll Stiffness and Damping of the Lunar Roving Vehicle

LIANG Zhongchao1,2 GAO Haibo1 YAN Bing3 LIU Zhen1 DING Liang1 DENG Zongquan1 QU Jianjun2   

  1. 1.State Key Laboratory of Robotics and System, Harbin Institute of Technology;
    2.School of Mechanical Engineering, Shenyang Jianzhu University;
    3.Beijing Institute of Astronautical Systems Engineering
  • Online:2015-03-05 Published:2015-03-05

摘要: 载人月球车是月面探测必不可少的探测工具,以载人月球车为主的月面活动技术是载人探月及建立月球基地的关键技术。载人月球车移动系统作为承载平台不仅要承担一定的重量,还要保证宇航员在行驶中安全,需要研究其操纵稳定性,而在进行其操纵动力学建模时,等效侧倾刚度和阻尼取值的准确性直接影响其侧翻安全性计算的准确性。在通过对双横臂扭杆悬架结构的载人月球车瞬时侧倾刚度和阻尼进行数学建模时,发现其随车身的侧倾运动发生变化,而不为定值;当采用整个侧倾运动过程中的能量等效的方法,得到的等效侧倾刚度随车身的侧倾运动变化较小,接近定值。因此对不同的等效侧倾刚度与阻尼的取值方法下操纵动力学方程的计算结果与载人月球车的操纵动力学仿真结果进行对比与分析,得到较为精确的等效侧倾刚度和阻尼的取值方法,为载人月球车的操纵动力学和侧翻安全性的研究奠定基础。

关键词: 操纵动力学仿真, 操纵稳定性, 等效侧倾刚度与阻尼, 月面低重力, 载人月球车

Abstract: Lunar roving vehicle (LRV) is indispensable in the mission of the lunar exploration, and the technology of the lunar surface activity is the key of the manned lunar exploration and the establishment of the lunar base. The LRV not only needs to take the payload, but also should guarantee the astronauts’ safety in moving. Therefore the handling stability of the LRV needs to be researched, and the equivalent roll stiffness and damping are the important parameters in the dynamics equations and affect the computational accuracy of the roll-over performance. The instantaneous equivalent roll stiffness and damping of the double wishbone arm type of LRV have been calculated, and the results show that they are not constant values and but are variable during the rolling movement. However the roll equivalent stiffness is approximately a constant value when the energy equivalence approach of the rolling process is adopted. Thus, the calculations of the dynamical equations with different roll stiffness and damping values of the different methods are contrast with the dynamical simulation of the LRV, the accurate equivalent roll stiffness and damping value are obtained through the analysis, and it will lay the foundation for the research of the handling dynamics and roll-over safety of the LRV.

Key words: equivalent roll stiffness and damping, handling dynamic simulation, handling stability, low gravity on lunar, lunar roving vehicle

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