火星车系统动力学建模与仿真分析  

Dynamics Modeling and Simulation Analysis of Mars Rover System

作　　者：潘冬[1] 李德伦[1] 袁宝峰[1] 贾阳[1] 王瑞[1] 张泽洲 PAN Dong;LI Delun;YUAN Baofeng;JIA Yang;WANG Rui;ZHANG Zezhou(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094

出　　处：《深空探测学报（中英文）》2020年第5期437-444,共8页Journal Of Deep Space Exploration

基　　金：国家自然科学基金资助项目(61733001)。

摘　　要：针对火星地形环境地面无法真实模拟,火星车功能性能地面验证不充分,尤其针对中国火星车采用主动悬架式移动系统,缺乏在轨使用经验的问题,建立了真实的火星车系统动力学模型。通过数学仿真手段对火星车不同地形下移动性能与策略进行了全面验证,仿真结果表明:通过车体升降和抬轮行走可有效提升火星车通过性能及故障容错能力,给出了地形环境、行走步态等对火星车性能的量化影响,结果可为中国火星车在轨应用以及故障处置提供参考。In view of the fact that the Martian terrain environment cannot be realistically simulated on the ground,the functional performance of the rover is not fully verified on the ground,especially the Chinese rover adopts an active suspension mobile system,lacks experience in orbit.Establish a real dynamics model of the rover system,and comprehensively verify the rover's movement performance and strategy under different terrains through mathematical simulation methods.the simulation results show that the vehicle body lifting and wheel-lifting walking can effectively improve the passing performance and fault tolerance of the rover.Give the quantitative influence of terrain environment and walking gait on the performance of the rover,provide reference for Chinese Mars rover application in orbit and troubleshooting.

关 键 词：火星车 主动悬架 动力学建模 性能验证 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]