星球车非结构化环境行驶稳定性分析  

Travel Stability Analysis of Planetary Rover in Unstructured Environment

作　　者：刘涛 肖建军 唐玲 魏世民[1] LIU Tao;XIAO Jianjun;TANG Ling;WEI Shimin(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China;China Manned Space Agency,Beijing 100094,China)

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]中国载人航天工程办公室,北京100094

出　　处：《载人航天》2019年第5期661-666,共6页Manned Spaceflight

基　　金：北京市自然科学基金(L172031)

摘　　要：针对星球车在星球表面非结构化环境行驶过程中可能存在由于稳定性不足而发生倾覆的问题,提出了一种星球车在非结构化环境下的稳定角计算模型,用于分析星球车在非结构化环境行驶过程中整车的稳定性。首先,搭建了星球车运动学模型,确定了星球车行进过程中车轮质心与整车质心之间的位置关系;其次,建立了星球车稳定角计算模型;最后,利用Matlab/Simulink搭建稳定角计算模型,在Adams软件中建立了星球车坡道转移、垂直越障和爬坡3种典型工况,通过联合仿真分析得到了星球车坡道转移、垂直越障以及不同坡角下星球车稳定性,验证了计算模型的有效性。To solve the overturning problem of the planetary rover in unstructured environment,a stability angle calculation model in unstructured environment was proposed to measure the stability of the planetary rover in unstructured environment.First,the kinematics model of the planetary rover was established to determine the position relationship between the wheel center of mass and the whole rover center of mass in the process of the planetary rover driving.Then,according to the established kinematics model of the planetary rover,the stability angle calculation model of the planetary rover was established.Moreover,the stability angle calculation model was established in Matlab/Simulink and three typical working conditions of the planetary rover including ramp transfer,vertical obstacle crossing and climbing were established in Adams.The stability of the planetary rover in the case of the ramp transfer,vertical obstacle crossing and climbing was obtained by joint simulation analysis and the calculation model was verified.

关 键 词：星球车 运动学模型 稳定角 非结构化环境 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]