多构态星球车质心测量方法与试验研究
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摘要
研究确定多构态星球车质心位置的测量方法,对提高整车控制性能和越障能力、降低行驶能耗具有重要意义。通过分析星球车的构型特点及其构态与质心位置的关系,确定采用举升法的测量原理进行质心测量。基于星球车的构型,给出构态变换矩阵,并根据静力平衡方程和举升法的测量特点,建立适应多构态星球车质心测量计算的统一模型;在此基础上推导给出测量精度更高的降维质心测量计算模型。充分考虑星球车六轮多构态的特点,确定质心测量系统的测试台采用六套可升降关节臂式测量单元的构型方案,进而设计星球车质心测量系统的机械系统和电控系统,并完成系统样机的研制。应用星球车质心测量系统样机进行多构态下星球车质心测量试验,验证所给出的质心测量方法和所研制的质心测量系统的有效性。根据试验数据,拟合得到星球车质心与构态参数的关系曲线,并通过进一步分析获得星球车质心变化区域,确定星球车质心区域端点所对应的构态参数。质心测量试验及其数据分析的结果,为星球车的地面低重力模拟行驶试验和运动控制提供数据参考。采用蒙特卡洛法对多构态下的质心测量不确定度进行评定,根据评定结果得到星球车各方向质心测量精度分别为0.28 mm、0.33 mm和0.89 mm。
Studying and determining the measurement method for the centroid of a multi-configuration planetary rover is of great significance for improving the control performance and obstacle ability and reducing the energy consumption. By analyzing the configuration characteristics and the relationship between its configuration and the position of the centroid, the measurement principle of lift method is used to measure the centroid. Based on the configuration of the planetary, the transformation matrix is given. And based on the measurement characteristics of the static balance equation and lift method, a measurement unified model is established. Furthermore, the dimension reduced model is derived, which can improve the accuracy of centroid measurement because it reduces the number of input parameters. Taking into full account the characteristics of the multi-wheel and multi-configuration, the measurement system is designed with six joint-arm measuring units. Then the mechanical system and electronic control system of the system are designed, and the prototype system is developed according the design. The planetary rover centroid measurement experiment is carried out using the prototype, and the effectiveness of the centroid measurement method and the centroid measurement system is verified. Based on the experimental data of centroid measurement, the relationship curves between centroid and configuration parameters are fitted to determine the configuration parameters corresponding to the end points of the centroid area. The result of the centroid measurement experiment provides the data references for the ground low-gravity simulated driving test and motion control of the planetary rover. Then the Monte Carlo method is used to evaluate the uncertainty of centroid measurement in multi-configuration. According to the evaluation results, the centroid measurement accuracy of 3 directions of the planetary rover is 0.28 mm, 0.33 mm and 0.89 mm.
Studying and determining the measurement method for the centroid of a multi-configuration planetary rover is of great significance for improving the control performance and obstacle ability and reducing the energy consumption. By analyzing the configuration characteristics and the relationship between its configuration and the position of the centroid, the measurement principle of lift method is used to measure the centroid. Based on the configuration of the planetary, the transformation matrix is given. And based on the measurement characteristics of the static balance equation and lift method, a measurement unified model is established. Furthermore, the dimension reduced model is derived, which can improve the accuracy of centroid measurement because it reduces the number of input parameters. Taking into full account the characteristics of the multi-wheel and multi-configuration, the measurement system is designed with six joint-arm measuring units. Then the mechanical system and electronic control system of the system are designed, and the prototype system is developed according the design. The planetary rover centroid measurement experiment is carried out using the prototype, and the effectiveness of the centroid measurement method and the centroid measurement system is verified. Based on the experimental data of centroid measurement, the relationship curves between centroid and configuration parameters are fitted to determine the configuration parameters corresponding to the end points of the centroid area. The result of the centroid measurement experiment provides the data references for the ground low-gravity simulated driving test and motion control of the planetary rover. Then the Monte Carlo method is used to evaluate the uncertainty of centroid measurement in multi-configuration. According to the evaluation results, the centroid measurement accuracy of 3 directions of the planetary rover is 0.28 mm, 0.33 mm and 0.89 mm.
引文
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[3]ROSS B P,MCLEOD C.Upgrade of the Goddard space flight center's mass properties measuring facility[J].Dupad,2004,129(3360):1415-1416.
[4]KLETZKINE P.The integration and testing of XMM[J].Esa Bulletin Aseeuropean Space Agency,1999,100(100):68-78.
[5]SAILVIGNOL J C,BRUNNER O.A new force measurement device for spacecraft testing[J].Esa Bulletin Aseeuropean Space Agency,2001,105(105):87-90.
[6]BOYNTON R,WIENER K.Measuring mass properties of aircraft control surfaces[C]//59th Annual Conference of the Society of Allied Weight Engineers.Louis,Missouri,2000:5-7.
[7]BOYNTON R.Measuring weight and all three axes of the center of gravity of a rocket motor without having to re-position the motor[C]//61st Annual Conference of the Society of Allied Weight Engineers.Virginia Beach,Virginia,2002:20-22.
[8]BOYNTON R.How mass properties affect satellite attitude control[C]//67th Annual Conference of Society of Allied Weight Engineers.Seattle,Washington,2008:10-13.
[9]MONDAL N,ACHARYYA S,SAHA R,et al.Optimum design of mounting components of a mass property measurement system[J].Measurement,2016(78):309-321.
[10]张烈山.多组舱段质量质心测量设备关键技术研究[D].哈尔滨:哈尔滨工业大学,2012.ZHANG Lieshan.Research on key technologies of measuring apparatus for determining the masses and three axes of centroids of multiply cabins[D].Harbin:Harbin Institute of Technology,2012.
[11]周燕.弹箭质量特性参数综合测试系统设计[D].南京:南京理工大学,2006.ZHOU Yan.Design of comprehensive test system for projectile quality characteristic parameters[D].Nanjing:Nanjing University of Science and Technology,2006.
[12]薄悦.提高质心测量精度的关键技术研究[D].北京:机械科学研究总院,2004.BO Yue.Research on the key technique of improving precision in measurement of barycenter[D].Beijing:China Academy of Machinery Science and Technology,2004.
[13]倪栋,王一峰.车辆质心位置测量系统的研制[J].工程机械,2011,2(2):19-21.NI Dong,WANG Yifeng.Development of vehicle centroid measurement system[J].Construction Machinery and Equipment,2011,2(2):19-21.
[14]杜晨,陈勉.卫星质量特性测试新方法研究[J].航天器环境工程,2004,21(3):11-15.DU Chen,CHEN Mian.Research on new test method of mass properties of spacecraft[J].Spacecraft Environment Engineering,2004,21(3):11-15.
[15]那强,王婉秋,陶建国.星球车质心测量系统的研制与误差估计[J].光学精密工程,2017,25(增刊):45-51.NA Qiang,WANG Wanqiu,TAO Jianguo.Development and error estimation of a centroid measurement system for planet rover[J].Optics and Precision Engineering,2017,25(Suppl.):45-51.
[16]那强.多构态六轮星球车质心测量系统及其测量方法研究[D].哈尔滨:哈尔滨工业大学,2018.NA Qiang.Research on centroid measuring system and method of multi-configuration six-wheeled planetary rovers[D].Harbin:Harbin Institute of Technology,2018.
[17]KUMAR H,MOONA G,ARORA P K,et al.Monte Carlo method for evaluation of uncertainty of measurement in brinell hardness scale[J].Indian Journal of Pure&Applied Physics,2017,55(6):445-453.