火星车主动悬架的几何参数优化

Optimization of Geometric Parameters for Martian Rover Active Suspension

火星表面地形复杂,给火星车的移动带来困难。为解决火星车在火星表面的高性能移动问题,我国火星车在主副摇臂的基础构型上加入主动环节,成为主动悬架火星车。主动主副摇臂悬架为一种新型悬架,存在其特有的设计需求。为使火星车主摇臂张角调节过程中车厢俯仰角最小,抬轮工作模式下抬轮抗倾翻力矩最大,离合器所受力矩最小,以这3个参数作为优化目标,对主动主副摇臂悬架的尺寸参数进行优化。由于优化函数和约束条件均很复杂,故选用遗传算法进行优化,最终给出优化结果,并对优化目标进行仿真分析,对优化后的尺寸进行灵敏度分析。

The terrain on Martian is complex,leading difficulty for Martian rover to move.In order to improve performance of Martian rover mobility,Martian rover of China has been designed with active articulateness on the base of rocker-bogie suspension,and gained an active suspension.The active suspension is a new kind of suspension,which has its own special requirements.In order to minimize the body pitch,maximize the anti-tilting moment of wheel lifting operating mode and minimize the torque of the clutch between rocker and bogie,by selecting these three parameters as optimization objects,parameters of the suspension has been optimized.Because of the complex optimization function and the complex multi-constraints,genetic optimization has been selected as optimization method.The solution has been given,correlative simulations have been done,and the sensitivity of each suspension parameter has been analyzed.