Dynamics Modeling and Simulation Analysis of Mars Rover System
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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。Abstract: 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.
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Key words:
- Mars rover /
- active suspension /
- dynamics modeling /
- performance verification
Highlights● The terrain environment of Mars is complex. ● Passive suspension Mars rover is easy to sink and difficult to climb；Active suspension Mars rover has the functions of wheel-lifting walking and peristaltic walking. ● Improve the trafficability of complex terrain environment. ● The surface environment of Mars cannot be simulated accurately. ● It is verified by simulation，provide reference for Chinese Mars rover application in orbit and troubleshooting. -
表 1 柔性件模态
Table 1 Flexible part mode
结构名称 模态频率/Hz 主摇臂长臂 281.8/518.7 主摇臂短臂 831.7/841.6 副摇臂 736.8/759.0 
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表 2 车轮法向力
Table 2 Normal force of wheel
工况 法向力/N ${F_{{\simfont\text{左前}}}}$ ${F_{{\simfont\text{左中}}}}$ ${F_{{\simfont\text{左后}}}}$ ${F_{{\simfont\text{右前}}}}$ ${F_{{\simfont\text{右中}}}}$ ${F_{{\simfont\text{右后}}}}$ 水平面 159 146 142 159 146 142 前向坡 60 79 252 60 79 252 后向坡 250 112 27 250 112 27 越障 238 320 208 238 320 208 过坑 231 401 209 231 401 209 最大值 250 401 252 250 401 252
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表 3 车轮驱动力矩
Table 3 Drive force of wheel
工况 驱动力矩/（Nm） ${T_{{\simfont\text{左前}}}}$ ${T_{{\simfont\text{左中}}}}$ ${T_{{\simfont\text{左后}}}}$ ${T_{{\simfont\text{右前}}}}$ ${T_{{\simfont\text{右中}}}}$ ${T_{{\simfont\text{右后}}}}$ 前向坡 6 10 17 6 10 17 后向坡 18 13 3 18 13 3 越障 40 50 30 40 50 30 过坑 34 59 31 34 59 31 最大值 40 59 31 40 59 31
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表 4 夹角调整机构驱动力矩
Table 4 Drive force of angle adjustment mechanism
工况划分 主摇臂力矩/（Nm） ${T_{{\simfont\text{左长}}}}$ ${T_{{\simfont\text{左短}}}}$ ${T_{{\simfont\text{右长}}}}$ ${T_{{\simfont\text{右短}}}}$ 水平地面 下降至压紧 115 96 115 96 抬升至极限 144 120 144 120 前向坡 下降至压紧 63 123 63 123 抬升至极限 78 139 78 139 后向坡 下降至压紧 136 44 136 44 抬升至极限 149 53 149 53 侧向坡 下降至压紧 43 26 158 143 抬升至极限 59 43 225 205
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表 5 夹角调整机构驱动力矩
Table 5 Drive force of angle adjustment mechanism
工况划分 主摇臂力矩/（Nm） ${T_{{\simfont\text{左长}}}}$ ${T_{{\simfont\text{左短}}}}$ ${T_{{\simfont\text{右长}}}}$ ${T_{{\simfont\text{右短}}}}$ 单前轮抬升行走 113 98 113 97 双前轮抬升行走 114 99 114 99 单中轮抬升行走 106 82 217 192 双中轮抬升行走 204 163 204 163 单后轮抬升行走 116 110 75 48 双后轮抬升行走 75 46 75 46
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