在某型卫星地面电联试过程中,对该卫星的姿态轨道控制系统进行接口分析及信号统计,针对其接口复杂性、信号多样性的特点,提出采用片上系统(Systemona Chip,SOC)芯片对所有部件模拟器进行通用化设计。文中给出了该型卫星通用型电模拟器...在某型卫星地面电联试过程中,对该卫星的姿态轨道控制系统进行接口分析及信号统计,针对其接口复杂性、信号多样性的特点,提出采用片上系统(Systemona Chip,SOC)芯片对所有部件模拟器进行通用化设计。文中给出了该型卫星通用型电模拟器硬件平台设计方案以及陀螺、反作用轮和通用接口模块的硬件配置说明,针对该型卫星姿态轨道控制系统电联试要求,对所有部件按真实接口配置成电模拟器,形成通用接口箱、敏感器电模拟器箱和执行机构电模拟器箱,并通过CAN(Controller Area Network)总线接入闭环仿真,对太阳捕获、地球捕获及正常模式进行了仿真测试,仿真结果表明通用电模拟器满足设计要求,对其他卫星的地面电联试有很好的参考价值。展开更多
A parallel wheelset suspension(PWS)designed for a heavy-duty lunar vehicle,specifically for a multi-wheeled pressurized lunar rover(MWPLR),is beneficial for adapting wheels to rough terrain and absorbing vertical vibr...A parallel wheelset suspension(PWS)designed for a heavy-duty lunar vehicle,specifically for a multi-wheeled pressurized lunar rover(MWPLR),is beneficial for adapting wheels to rough terrain and absorbing vertical vibrations passively.It is a 2-degree-of-freedom spatial parallel mechanism.However,when a lunar vehicle is driven over rough terrain,the wheelset alignment parameters of the PWS vary substantially,resulting in poor wheel-to-ground contact.This paper aims to address these problems.It first presented a PWS design approach,used simulations to confirm the correctness of the kinematic model,evaluated the initial suspension performance,and established an optimization objective.We then analyzed the suspension’s instantaneous screw axis variations as the wheelset crossed the obstacle.The results help us determine the causes and optimization variables that affect the alignment parameters.Finally,based on the kinematic and simulation analysis methods,the optimized suspension ensured that the variation in the camber,toe,and inclination angle of the steering axis would be[-1°,-1°]when the MWPLR crossed a 0.4 m high obstacle.The simulation demonstrated that the PWS improved the ride comfort of the MWPLR and that the optimized PWS enhanced the straight-line drivability and flexible steering capability of the MWPLR.PWS and its design methodology provide a design reference for other multi-wheeled rovers.展开更多
文摘在某型卫星地面电联试过程中,对该卫星的姿态轨道控制系统进行接口分析及信号统计,针对其接口复杂性、信号多样性的特点,提出采用片上系统(Systemona Chip,SOC)芯片对所有部件模拟器进行通用化设计。文中给出了该型卫星通用型电模拟器硬件平台设计方案以及陀螺、反作用轮和通用接口模块的硬件配置说明,针对该型卫星姿态轨道控制系统电联试要求,对所有部件按真实接口配置成电模拟器,形成通用接口箱、敏感器电模拟器箱和执行机构电模拟器箱,并通过CAN(Controller Area Network)总线接入闭环仿真,对太阳捕获、地球捕获及正常模式进行了仿真测试,仿真结果表明通用电模拟器满足设计要求,对其他卫星的地面电联试有很好的参考价值。
基金supported by the National Natural Science Foundation of China(Grant Nos.T2388101 and U23A20614)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003)+2 种基金the“111”Project,China(Project No.B07018)the Harbin Institute of Technology(HIT)Key Project Research and Development Grant,China(Grant No.HIT2021005)the Self-Planned Task of State Key Laboratory of Robotics and System,HIT,China(Grant No.SKLRS202101A02).
文摘A parallel wheelset suspension(PWS)designed for a heavy-duty lunar vehicle,specifically for a multi-wheeled pressurized lunar rover(MWPLR),is beneficial for adapting wheels to rough terrain and absorbing vertical vibrations passively.It is a 2-degree-of-freedom spatial parallel mechanism.However,when a lunar vehicle is driven over rough terrain,the wheelset alignment parameters of the PWS vary substantially,resulting in poor wheel-to-ground contact.This paper aims to address these problems.It first presented a PWS design approach,used simulations to confirm the correctness of the kinematic model,evaluated the initial suspension performance,and established an optimization objective.We then analyzed the suspension’s instantaneous screw axis variations as the wheelset crossed the obstacle.The results help us determine the causes and optimization variables that affect the alignment parameters.Finally,based on the kinematic and simulation analysis methods,the optimized suspension ensured that the variation in the camber,toe,and inclination angle of the steering axis would be[-1°,-1°]when the MWPLR crossed a 0.4 m high obstacle.The simulation demonstrated that the PWS improved the ride comfort of the MWPLR and that the optimized PWS enhanced the straight-line drivability and flexible steering capability of the MWPLR.PWS and its design methodology provide a design reference for other multi-wheeled rovers.
