基于ZMP的腿式缓冲平台着陆稳定性分析  

Landing Stability Analysis of Legged-type Buffer Platform Based on ZMP

作　　者：霍瑞坤 狄长春 王国平 李旭[3] Huo Ruikun;Di Changchun;Wang Guoping;Li Xu(Staff Room of Artillery Theory,PLA University of Army Engineering,Shijiazhuang 050003,China;No.94 Team,No.95985 Unit of PLA,Kaifeng 475000,China;Military Representative Bureau of PLA in Beijing,Shijiazhuang 050003,China)

机构地区：[1]陆军工程大学火炮理论教研室,石家庄050003 [2]中国人民解放军95985部队94分队,河南开封475000 [3]中国人民解放军北京军事代表局,石家庄050003

出　　处：《兵工自动化》2019年第10期18-21,27,共5页Ordnance Industry Automation

摘　　要：为研究腿式缓冲平台着陆的稳定性,结合胶泥阻尼器特点,建立腿式缓冲平台动力学模型。以判别动态稳定性的零力矩点(zero moment point,ZMP)理论为基础,得到腿式缓冲平台ZMP坐标公式,并提出ZMP-四边形和ZMP偏移量稳定性判据。结果表明:该判据能够判定平台的着陆稳定性,并得到影响平台稳定性的各参数响应规律,为腿式缓冲平台的进一步优化设计提供参考。In order to study the landing stability of the leg buffer platform,combined with the characteristics of the clay damper,a dynamic model of the legged-type buffer platform was established.Based on the theory of zero moment point (ZMP) to determine the dynamic stability,the ZMP coordinate formula of the legged-type buffer platform is obtained.And the stability criteria of the ZMP-quadrilateral rule and ZMP offset rule are proposed.The results show that criterion can determine the landing stability of the platform and obtain the parameters response rules that affect the stability of the platform,and provide reference for the further optimization design of the legged-type buffer platform.

关 键 词：胶泥阻尼器 零力矩点 判据 稳定性 

分 类 号：TP302.7[自动化与计算机技术—计算机系统结构]