多构态星球车质心测量方法与试验研究

doi:10.3901/JME.2019.12.019

机械工程学报 ›› 2019, Vol. 55 ›› Issue (12): 19-28.doi: 10.3901/JME.2019.12.019

• 特邀专栏：空间机构设计青年学者专栏 • 上一篇下一篇

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多构态星球车质心测量方法与试验研究

那强^1,2, 李博³, 陶建国¹, 于金山¹, 樊世超⁴

1. 哈尔滨工业大学机电工程学院哈尔滨 150001;
2. 中国人民解放军63810部队文昌 571300;
3. 天津航天机电设备研究所天津 300301;
4. 北京卫星环境工程研究所北京 100094

收稿日期:2018-06-30 修回日期:2019-01-15 出版日期:2019-06-20 发布日期:2019-06-20
通讯作者: 陶建国(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为特种机器人技术、宇航空间机构及控制。E-mail:jgtao@hit.edu.cn
作者简介:那强,男,1993年出生。主要研究方向为宇航空间机构。E-mail:1142636895@qq.com
基金资助:
教育部“111”计划资助项目（B07018）

Centroid Measurement Method and Experimental Study of Multi-configuration Planetary Rover

NA Qiang^1,2, LI Bo³, TAO Jianguo¹, YU Jinshan¹, FAN Shichao⁴

1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001;
2. Unit 63810 of PLA, Wenchang 571300;
3. Tianjin Institute of Aerospace Mechatronics Equipment, Tianjin 300301;
4. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094

Received:2018-06-30 Revised:2019-01-15 Online:2019-06-20 Published:2019-06-20

摘要/Abstract

摘要： 研究确定多构态星球车质心位置的测量方法，对提高整车控制性能和越障能力、降低行驶能耗具有重要意义。通过分析星球车的构型特点及其构态与质心位置的关系，确定采用举升法的测量原理进行质心测量。基于星球车的构型，给出构态变换矩阵，并根据静力平衡方程和举升法的测量特点，建立适应多构态星球车质心测量计算的统一模型；在此基础上推导给出测量精度更高的降维质心测量计算模型。充分考虑星球车六轮多构态的特点，确定质心测量系统的测试台采用六套可升降关节臂式测量单元的构型方案，进而设计星球车质心测量系统的机械系统和电控系统，并完成系统样机的研制。应用星球车质心测量系统样机进行多构态下星球车质心测量试验，验证所给出的质心测量方法和所研制的质心测量系统的有效性。根据试验数据，拟合得到星球车质心与构态参数的关系曲线，并通过进一步分析获得星球车质心变化区域，确定星球车质心区域端点所对应的构态参数。质心测量试验及其数据分析的结果，为星球车的地面低重力模拟行驶试验和运动控制提供数据参考。采用蒙特卡洛法对多构态下的质心测量不确定度进行评定，根据评定结果得到星球车各方向质心测量精度分别为0.28 mm、0.33 mm和0.89 mm。

关键词: 多构态星球车, 质心测量模型, 质心测量系统, 质心测量试验, 质心区域, 精度分析

Abstract: Studying and determining the measurement method for the centroid of a multi-configuration planetary rover is of great significance for improving the control performance and obstacle ability and reducing the energy consumption. By analyzing the configuration characteristics and the relationship between its configuration and the position of the centroid, the measurement principle of lift method is used to measure the centroid. Based on the configuration of the planetary, the transformation matrix is given. And based on the measurement characteristics of the static balance equation and lift method, a measurement unified model is established. Furthermore, the dimension reduced model is derived, which can improve the accuracy of centroid measurement because it reduces the number of input parameters. Taking into full account the characteristics of the multi-wheel and multi-configuration, the measurement system is designed with six joint-arm measuring units. Then the mechanical system and electronic control system of the system are designed, and the prototype system is developed according the design. The planetary rover centroid measurement experiment is carried out using the prototype, and the effectiveness of the centroid measurement method and the centroid measurement system is verified. Based on the experimental data of centroid measurement, the relationship curves between centroid and configuration parameters are fitted to determine the configuration parameters corresponding to the end points of the centroid area. The result of the centroid measurement experiment provides the data references for the ground low-gravity simulated driving test and motion control of the planetary rover. Then the Monte Carlo method is used to evaluate the uncertainty of centroid measurement in multi-configuration. According to the evaluation results, the centroid measurement accuracy of 3 directions of the planetary rover is 0.28 mm, 0.33 mm and 0.89 mm.

Key words: multi-configuration planetary rover, centroid measurement model, centroid measurement system, centroid measurement experiment, centroid area, accuracy analysis

中图分类号:

V416

那强, 李博, 陶建国, 于金山, 樊世超. 多构态星球车质心测量方法与试验研究[J]. 机械工程学报, 2019, 55(12): 19-28.

NA Qiang, LI Bo, TAO Jianguo, YU Jinshan, FAN Shichao. Centroid Measurement Method and Experimental Study of Multi-configuration Planetary Rover[J]. Journal of Mechanical Engineering, 2019, 55(12): 19-28.

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多构态星球车质心测量方法与试验研究

Centroid Measurement Method and Experimental Study of Multi-configuration Planetary Rover

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