摘要
月球地形复杂加之低重力与低附着环境,传统车辆悬架的舒适性和稳定性较差。车辆行驶过程中会出现胎跳,导致轮胎与地面接触不良,甚至出现轮胎腾空情况。为了提高载人探月车辆的被动悬架的性能,以及车辆越障的平顺性。提出一种应用于半主动悬架的比例-积分-微分(PID)控制策略,采用Adams与Simulink联合仿真分析方法进行动力学性能的仿真与对比分析。在Adams中基于1/6重力的月面仿真环境下搭建1/4悬架模型,并在Simulink中建立月面路面激励位移与PID控制器,以车辆垂直加速度与悬架可变阻尼力作为PID控制器的输入量与输出量,得出载人月球车悬架性能指标。联合仿真分析结果显示:车身垂直加速度、悬架动行程、轮胎动载荷、轮胎离地间距都有大幅度的提升,表明采用PID控制器的半主动悬架可以有效提高乘坐舒适性与稳定性,同时操作性与安全性得到进一步保证。
The comfort and stability of conventional rover suspensions on the Moon are very poor,owing to the complex lunar terrain,along with the reduced gravity and low adhesion conditions.During the rover operation,tire bounce will occur,which results in poor tire-ground contact and even tire lift-off situations.To improve the passive suspension performance of manned lunar rovers and the smoothness of rover obstacle crossing,a semi-active suspension system with a proportion-integration-differentiation(PID)control strategy is introduced.The system is evaluated by means of Adams and Simulink co-simulation.In the Adams,a 1/4 suspension model is developed in the 1/6 lunar gravity environment.In the Simulink,the lunar surface road excitation displacement and a PID controller are designed.The vertical acceleration of the rover and the variable damping force of the suspension are,respectively,taken as the input and output of the PID controller,and the suspension performance indicators of the manned lunar rover are obtained.The simulation analysis results show substantial improvements in the vertical acceleration of the rover,suspension travel,tire load,and ground clearance,indicating that the proposed semi-active suspension with the PID controller can effectively improve the ride comfort and stability of the manned lunar rover,while ensuring good operability and safety.
作者
管西强
章祖亮
王卫军
李桃
张崇峰
GUAN Xiqiang;ZHANG Zuliang;WANG Weijun;LI Tao;ZHANG Chongfeng(College of Information,Mechanical and Electrical Engineering,Shanghai Normal University,Shanghai 201418,China;Shanghai Aerospace Systems Engineering Institute,Shanghai 201109,China;National Key Laboratory of Aerospace Mechanism,Shanghai 201109,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)
出处
《上海航天(中英文)》
2025年第3期52-60,共9页
Aerospace Shanghai(Chinese&English)
基金
上海市自然科学基金资助项目(20ZR1440500)。
