Self-stabilizing Mission Cabin Design For Off-road Special Platforms

As the tasks of the ground wheeled platform become more diverse and the working environment becomes more complex,higher requirements are put forward for the mobility and adaptability of off-road special platform vehicles.Aiming at the problem of improving the adaptability of the off-road special platform under large-scale roll and pitching motions,this paper proposes a self-stabilizing mission cabin system based on the principle of dual-axis gyroscope,and analyzes its self-stabilization control performance.Mainly carries out the following research works:Firstly,based on the principle of the two-degree-of-freedom gyroscope,the mission cabin body and the mission cabin carrier body are designed to provide rotational freedom in the pitch and roll directions respectively.According to the theory of material mechanics,the diameter of the supporting shaft of the mission cabin is determined,and the selection of the self-stabilizing control motor and the design of the worm gear are completed.Combined with the driving system,Creo 3D modeling software is used to complete the overall structure modeling of the off-road special platform.Secondly,according to the driving environment of the off-road special platform,the slope road surface model and the equivalent volume road surface model of different road levels are constructed.Simplify the overall structure model of the off-road special platform and import it into multi-body dynamics analysis software for assembly to form a virtual prototype model,and combine with Matlab software to create a joint simulation platform.Use Carsim software and finite element analysis software to verify the correctness and accuracy of the structural strength and dynamics of the virtual prototype model.Thirdly,construct the mathematical relationship between the load transfer rate and the pitch or roll angle caused by acceleration,slope and road surface excitation.Under the three road environments of flat and good road surface,sloping road surface and bumpy off-road road surface,the change law of the load transfer rate of the pavement excitation response characteristic parameters of the off-road special platform is studied,and the load transfer rate characteristic curve is drawn.The load transfer rate boundary is divided according to the load transfer rate characteristic curve.Combined with the vertical force of the tire,the design of the control threshold scheme in the self-stabilization control algorithm is completed.Finally,the mission cabin's pitch and roll dynamics are decomposed and projected onto two different planes to complete the mission cabin dynamics mathematical modeling.Using the dynamic equation of the mission cabin,the posture correction torque of the mission cabin is obtained through the sliding mode control algorithm.Three driving conditions of slope road surface,D-level road surface and G-level road surface were constructed.With the aid of the multi-body dynamics analysis software and Matlab joint simulation platform,the designed selfstabilization control algorithm was used to verify the posture correction effect of the task cabin.The simulation results show that the control threshold module is accurate in judging the working conditions of the off-road special platform,and the self-stabilization control effect is significant,and the calculated correction torques are all within the motor rated torque range,which improves the ability of the off-road special carrier platform to adapt to harsh off-road roads.