上海航天（中英文）2025，Vol.42Issue(3)：52-60,9.DOI:10.19328/j.cnki.2096-8655.2025.03.007
月面环境下的载人月球车半主动悬架控制策略
Semi-active Suspension Control Strategy of Manned Lunar Rover in Lunar Surface Environment
摘要
Abstract
The comfort and stability of conventional rover suspensions on the Moon are very poor,owing to the complex lunar terrain,along with the reduced gravity and low adhesion conditions.During the rover operation,tire bounce will occur,which results in poor tire-ground contact and even tire lift-off situations.To improve the passive suspension performance of manned lunar rovers and the smoothness of rover obstacle crossing,a semi-active suspension system with a proportion-integration-differentiation(PID)control strategy is introduced.The system is evaluated by means of Adams and Simulink co-simulation.In the Adams,a 1/4 suspension model is developed in the 1/6 lunar gravity environment.In the Simulink,the lunar surface road excitation displacement and a PID controller are designed.The vertical acceleration of the rover and the variable damping force of the suspension are,respectively,taken as the input and output of the PID controller,and the suspension performance indicators of the manned lunar rover are obtained.The simulation analysis results show substantial improvements in the vertical acceleration of the rover,suspension travel,tire load,and ground clearance,indicating that the proposed semi-active suspension with the PID controller can effectively improve the ride comfort and stability of the manned lunar rover,while ensuring good operability and safety.关键词
载人月球车/动力学联合仿真/比例-积分-微分(PID)控制器/1/4半主动悬架/月面环境Key words
manned lunar rover/dynamic co-simulation/proportion-integration-differentiation(PID)controller/1/4 semi-active suspension/lunar surface environment分类
信息技术与安全科学引用本文复制引用
管西强,章祖亮,王卫军,李桃,张崇峰..月面环境下的载人月球车半主动悬架控制策略[J].上海航天（中英文）,2025,42(3):52-60,9.基金项目
上海市自然科学基金资助项目(20ZR1440500) （20ZR1440500）
