吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (1): 154-162.doi: 10.13229/j.cnki.Jdxbgxb20200604
• 车辆工程·机械工程 • 上一篇
火星车主动悬架设计及蠕动脱困策略
袁宝峰1(
),王成恩1,邹猛2,刘雅芳3,林云成3,贾阳3,陈百超3,金敬福2
- 1.上海交通大学 动力与机械学院，上海 200240
2.吉林大学 工程仿生教育部重点实验室，长春 130022
3.北京空间飞行器总体设计部，北京 100094
Design active suspension system and creeping control strategy for mars rover of China
Bao-feng YUAN1(),Cheng-en WANG1,Meng ZOU2,Ya-fang LIU3,Yun-cheng LIN3,Yang JIA3,Bai-chao CHEN3,Jing-fu JIN2
- 1.School of Mechanical and Power Engineering，Shanghai Jiao Tong University，Shanghai 200240，China
2.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，China
3.Institute of Spacecraft System Engineering，CAST，Beijing 100094，China
摘要：
在摇臂式悬架的基础上，设计了我国火星车主动悬架结构，制定了大沉陷时蠕动脱困和抬轮脱困控制策略，并进行了4次整车蠕动验证试验。试验结果表明：4次蠕动行驶均使得火星车从沉陷中顺利脱困；蠕动行驶时，整车平均功率为13.5~18.94 W，最大功率为24.8~52.4 W；6个驱动电机平均电流和最大电流比正常行驶时均相应增加，平均电流增加了9.7%~74.8%，最大电流增加了9.6%~34.5%。结果表明，主动悬架配合蠕动脱困策略可以解决摇臂式悬架存在的松软地面沉陷风险，提高我国火星车在松软火星表面的通过性。
中图分类号:
- V416
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