火星车系统动力学建模与仿真分析

Dynamics Modeling and Simulation Analysis of Mars Rover System

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。

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.