Research On Active Suspension Adjustment System Of Manned Lunar Rover

The manned lunar rover is an indispensable and important tool in manned lunar exploration projects,and is an important equipment that enables astronauts to have largescale mobility.In order to improve the riding comfort,driving smoothness and handling stability of the manned lunar rover,it is necessary to adopt an active suspension with an active adjustment function.This paper focuses on the research on the composition and control strategy of the adjustment system in the active suspension of the manned lunar rover,and comprehensively verifies the adjustment function of the adjustment system.Based on the passive suspension mechanism of the manned lunar rover developed in the laboratory,an adjustment mechanism that can transform it into an active suspension is designed.After analyzing the design requirements of the manned lunar rover,the performance requirements of the suspension system were obtained.After comparing the characteristics of each configuration of the adjustment mechanism,the link configuration with better overall performance was selected.Aiming at the limitation of the energy supply of the manned lunar rover,a working plan for a combined active and passive regulating mechanism was formulated.The structure of each part of the adjustment mechanism and the assembly method with the passive suspension are designed.The structure of the rod is optimized through the verification of key mechanical properties and the safety of the adjustment mechanism is verified.The dynamic model of the total system of the active suspension of the manned lunar vehicle and the dynamic model of the regulating subsystem were established,and the lunar input model of shock and random vibration was established.Based on the design of the manned lunar rover active suspension mechanism,the complete suspension model is reasonably simplified and equivalent,and the stiffness damping of the shock absorber in the equivalent suspension and the size of the suspension mass are obtained through analysis and calculation.According to the structural characteristics of the adjusting mechanism,the relationship between kinematics and dynamics is analyzed,and the corresponding relationship between the output torque of the motor in the adjusting mechanism and the active control force in the equivalent suspension is obtained.According to the work plan of the regulating mechanism,the random vibration lunar input is filtered.Based on the dynamic model of the manned lunar rover system,a variety of active control strategies are studied.Designed PID and fuzzy PID controllers,optimal and preview optimal controllers respectively,and analyzed the simulation results to determine that the fuzzy PID control strategy with adaptive capability is superior to the traditional PID control and preview optimal control with preview capability Better than optimal control.Considering the motor output limitation,the preview optimal control strategy was finally selected.From the frequency domain,the application of this control strategy to the performance changes of the suspension system was analyzed,and the mutual verification with the time domain control effect was completed.Using ADAMS and MATLAB joint simulation to verify the effectiveness of the adjustment mechanism and control strategy design.A complete and simplified suspension mechanical model is established in ADAMS,and a preview optimal controller is established in MATLAB.On the basis of the correct verification of the overall suspension system dynamics model,the simulation results of the simplified suspension and the equivalent suspension under preview optimal control are only 3.8% different,which verifies the effectiveness of the control strategy;The active simulation results of the simplified suspension are only 4.8% apart,which verifies the effectiveness of the design of the adjustment mechanism,and finally fully verifies that the design of the adjustment system mechanism and control strategy is feasible.