Research On The Suspension Of High-speed Manned Lunar Rover With Landing Function

The high-speed manned lunar rover with landing function is a new type of manned lunar rover which USES the spring damping of the suspension itself for landing buffer.The suspension is a kind of dual-arm suspension which can withstand the impact of landing and the damping of the suspension is adjusted to meet the different requirements of the dynamic characteristics of landing and driving functions.Therefore,the first step of designing a manned lunar rover is to study the dynamic characteristics of its suspension under the lunar gravity environment.However,the wheels in lunar environment are easy to lift off the ground,and the K&C model commonly used in vehicle dynamics research cannot reflect the wheel lift status.Therefore,this paper studies the modeling of the dynamic characteristics of the suspension,the comparison of the dynamic characteristics under different conditions of the moon and the earth,and the optimization design of the suspension,mainly including the following parts:First of all,a landing function high-speed manned lunar rover suspension is designed.In this process,the overall design indicators and requirements of the manned lunar rover are converted into the design requirements of the suspension,and the suspension design scheme is proposed.Based on the vehicle design method,the suspension parameters were calculated according to the lunar environment and the functional requirements of the lunar rover.Based on kinematics of mechanism,the kinematics of suspension is modeled and the ADAMS wheel test bench is used to verify the model.The wheel positioning parameter analysis and suspension optimization design are completed in MATLAB.Secondly,the dynamic modeling of manned lunar rover driving and landing is completed.In this process,the pavement spectrum model of the typical pavement condition of the lunar rover is firstly established,and the ground contact model of the rigid wheels of the lunar rover is established by using the Hertz model.In the course of driving and landing dynamics modeling,the wheels of the lunar rover are considered to be off the ground.In the establishment of the roll stability model,the roll stability factor is proposed for the evaluate roll stability of the lunar rover under the condition of uniform turning speed,and the influence of the design parameters and working conditions on the roll stability is analyzed.Simulink module is used to correlate the model data of each part of the lunar rover,and the dynamics model of ADAMS co-simulation is built.Finally,the simulation results of ADAMS and the calculated data of the model are compared to verify the lunar rover’s driving and landing dynamics model.By changing the gravity condition and the mass of the vehicle,the dynamic characteristics of the lunar rover under different conditions were analyzed,and the conclusion was drawn that the lunar gravity environment made the wheels easily off the ground.The roll stability model is used to analyze the influence of suspension parameters and working conditions on the roll stability of the lunar rover.Aiming at the wheel off the ground problem,the fixedpoint theory combined with asymmetric damping design method can greatly improve the wheel off the ground problem when sinusoidal input,and a lunar rover suspension with good comprehensive dynamic characteristics can be obtained.