火星车主动悬架设计及蠕动脱困策略

Design active suspension system and creeping control strategy for mars rover of China

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。

The active suspension structure of the Mars Rover was designed based on Rocker-Bogie Mechanism,and the creeping control strategy was proposed during a large sinkage.Four Mars Rover creeping tests were carried out.The test results show that the Mars Rover finally escaped from the large sinkage during all of four creeping tests.The average power of the Mars Rover is 13.5-18.94 W,and the maximum power is 24.8-52.4 W when the Mars Rover suspension is creeping.The average current and maximum current of the six drive motors are increased correspondingly compared with normal driving.The average current increases by 9.7%-74.8%,and the maximum current increases by 9.6%-34.5%.The results show that the active suspension combined with the creeping escape strategy can solve the sinkage risk and improve traffic ability of Mars Rover of China.