载人月球车转向传动机构研究
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II
哈尔滨工业大学工学硕士学位论文
mechanism is analyzed and the steering mechanism’s design work is improved lastly. Keywords: manned lunar rover vehicle, steering mechanism, optimal design, simulation analysis
工学硕士学位论文
载人月球车转向传动机构研究
硕 士 研 究 生： 门树东 导 师： 高海波 教授
申 请 学 位： 工学硕士 学 科： 航空宇航制造工程
所 在 单 位： 机电工程学院 答 辩 日 期： 2013 年 7 月 授予 学位 单位： 哈尔滨工业大学
Classified Index: TP242 U.D.C: 621
Abstract ....................................................................................................................... II 第1章 绪 1.1 课题来源及研究背景和意义............................................................................. 1 1.1.1 课题来源..................................................................................................... 1 1.1.2 课题研究的背景和意义.............................................................................. 1 1.2 国内外研究现状 ...................................................ቤተ መጻሕፍቲ ባይዱ............................................ 2 1.2.1 载人月球车转向传动机构研究现状 .......................................................... 2 1.2.2 地面车辆转向传动机构研究现状 .............................................................. 4 1.3 主要研究内容.................................................................................................... 7 第 2 章 转向方式分析选择及机构方案确定 .............................................................. 9 2.1 引言 ................................................................................................................... 9 2.2 转向方式及转向原理分析 ................................................................................ 9 2.2.1 不同转向方式的分析 ................................................................................. 9 2.2.2 转向原理的特性分析 ............................................................................... 12 2.3 载人月球车转向方式的选择........................................................................... 14 2.3.1 载人月球车转向系统的设计要求 ............................................................ 14 2.3.2 转向方式的选择 ....................................................................................... 15 2.4 载人月球车转向传动机构方案的确定 ........................................................... 18 2.4.1 转向传动机构方案分析............................................................................ 18 2.4.2 转向传动机构形式的对比选择 ................................................................ 21 2.5 小结 ................................................................................................................. 22 第 3 章 转向梯形断开点位置的优化及分析 ............................................................ 23 3.1 引言 ................................................................................................................. 23 3.1.1 优化设计概述 ........................................................................................... 23 3.1.2 断开点位置优化设计概述 ........................................................................ 23 3.2 转向梯形断开点位置确定方法 ....................................................................... 24 3.3 转向梯形断开点位置解析推导与分析 ........................................................... 26 3.3.1 转向梯形断开点位置的解析推导 ............................................................ 26 3.3.2 断开点位置折展时的可行性分析 ............................................................ 31 3.4 转向梯形断开点位置的优化设计 ................................................................... 33
III
哈尔滨工业大学工学硕士学位论文
目
摘
录
要 ...........................................................................................................................I 论 ............................................................................................................ 1
I
哈尔滨工业大学工学硕士学位论文
Abstract
Manned lunar landing is the inevitable way for the development of China's space industry, the manned lunar rover vehicle (LRV) is the essential tool for moon exploration. The steering mechanism is one key part of LRV mobile systems, its performance directly affects the LRV steering stability and security, so the steering mechanism’s design to meet the performance requirements of LRV is significant to manned lunar landing. On this background, the steering mechanism is designed in this paper based on Ackerman-geometry steering. The steering mainly includes two ways, differential steering and track steering. In this paper the two ways’ characteristics are analyzed and compared to determine which way to adopt; Ackerman-geometry steering and double Ackerman-geometry steering characteristics are analyzed in this paper, the double Ackerman-geometry steering advantages are stated and it is found more suited to adopt; Based on the overall scheme of energy system of the nickel cadmium battery and double wishbone type independent suspension, the divided steering mechanism is determined to adopt. three kinds of schemes are designed and carried on the contrast analysis, finally the scheme three is determined to adopt as the manned lunar rover steering mechanism. When designing divided steering mechanism, the first problem is to determine splitting point location. So-called splitting point in structure refers to the connected ball joint center between the tie rod and the central steering link, the center is wheel beating and folding point of axis of rotation. There are two initial methods for the steering mechanism splitting point position to determine, graphical method and analytical method. By comparison , one method is better to be used; The inflection circle theory and Euler-Sawari equation in mechanism subject is used to solve splitting point position initially, thus a feasibility analysis is conducted in the process of a wide range of folding. By optimal design, the splitting point position is determined finally. Based on Ackerman-geometry steering theory, the inner and outer wheel turning angles mathematical model is deduced ,and the nature of the theoretical model is analyzed; the optimized mathematical model of the steering mechanism is established. By model optimization and results analysis, the best steering mechanism parameters are obtained in this paper. By using optimized results, the steering mechanism’s Pro/E three-dimensional model and ADAMS simulation model are established; The kinematics simulation of the steering pull rod folding and the wheel turning angles are carried out to validate previous reduction rationality. Steering motor and the reducer are selected, according to the resistance torque and the drive torque, key parts’ dynamics simulation is carried out; By using finite element analysis software, stress condition of key bars of the steering
Dissertation for the Master Degree in Engineering
RESEARCH ON THE STEERING MECHANISM OF MANNED LUNAR ROVER VEHICLE
Candidate： Supervisor： Academic Degree Applied for： Speciality： Affiliation： Date of Defence： Degree-Conferring-Institution：
硕士学位论文
载人月球车转向传动机构研究
（学术型）
RESEARCH ON THE STEERING MECHANISM OF MANNED LUNAR ROVER VEHICLE
门树东
哈尔滨工业大学 2013 年 7 月
国内图书分类号： TP242 国际图书分类号：621
学校代码： 10213 密级：公开
哈尔滨工业大学工学硕士学位论文
摘 要
载人登月是中国航天事业发展的必经之路，载人月球车是进行月球探测必不 可少的工具。而转向传动机构作为月球车移动系统的关键部分之一，其性能的好 坏直接影响到月球车的操纵稳定性和安全性，设计满足性能要求的转向传动机构 对载人登月意义重大。出于这样的背景，本文对载人月球车的转向传动机构进行 设计。 本文对转向的两种方式即差速转向和轨迹转向的特点进行分析对比，并对阿 克曼转向原理以及双阿克曼转向进行特性分析，阐述了采用双阿克曼转向所具有 的优势，结合月球表面的环境和对转向传动机构提出的要求，确定了所采用的转 向方式；根据载人月球车总体方案中采用的能源系统以及悬架机构采用双横臂式 独立悬架，确定了采用整体式动力转向器的断开式转向传动机构。确定了断开式 转向传动机构的三种方案，并对其进行对比分析，最终确定载人月球车转向传动 机构所采用的方案。 在设计断开式转向梯形时，首先要确定断开点位置。对比初定转向梯形断开 点位置的两种方法即图解法和解析法特点，以采用更佳的方法；利用机构学中拐 点圆的理论并结合欧拉-萨瓦里方程求解了断开点位置，并对其在大范围折展时进 行了可行性分析；利用优化设计的方法计算转向梯形断开点位置。 推导了转向传动机构内外轮转角的数学模型，分析了转向传动机构内外轮转 角理论模型的性质；根据阿克曼转向原理，建立优化设计模型，对转向梯形的参 数进行优化，并对优化结果进行分析，得出最优化的转向传动机构参数。 通过优化计算所得的结果，对转向传动机构进行了 Proe/E 三维模型的设计并 建立 ADAMS 仿真模型；对悬架折展和月球车内外轮摆角变化进行运动学仿真， 验证之前推导的合理性；选取转向电机与减速器，根据阻力矩和驱动力矩进行关 键件的动力学仿真； 利用 ANSYS 有限元分析软件对转向机构关键杆件进行受力分 析及校核，完善了设计工作。 关键词：载人月球车；转向传动机构；优化设计；仿真分析
Men Shudong Prof. Gao Haibo Master of Engineering Aeronautics and Astronautics Manufacturing Engineering School of Mechatronics Engineering July, 2013 Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文
mechanism is analyzed and the steering mechanism’s design work is improved lastly. Keywords: manned lunar rover vehicle, steering mechanism, optimal design, simulation analysis
工学硕士学位论文
载人月球车转向传动机构研究
硕 士 研 究 生： 门树东 导 师： 高海波 教授
申 请 学 位： 工学硕士 学 科： 航空宇航制造工程
所 在 单 位： 机电工程学院 答 辩 日 期： 2013 年 7 月 授予 学位 单位： 哈尔滨工业大学
Classified Index: TP242 U.D.C: 621
Abstract ....................................................................................................................... II 第1章 绪 1.1 课题来源及研究背景和意义............................................................................. 1 1.1.1 课题来源..................................................................................................... 1 1.1.2 课题研究的背景和意义.............................................................................. 1 1.2 国内外研究现状 ...................................................ቤተ መጻሕፍቲ ባይዱ............................................ 2 1.2.1 载人月球车转向传动机构研究现状 .......................................................... 2 1.2.2 地面车辆转向传动机构研究现状 .............................................................. 4 1.3 主要研究内容.................................................................................................... 7 第 2 章 转向方式分析选择及机构方案确定 .............................................................. 9 2.1 引言 ................................................................................................................... 9 2.2 转向方式及转向原理分析 ................................................................................ 9 2.2.1 不同转向方式的分析 ................................................................................. 9 2.2.2 转向原理的特性分析 ............................................................................... 12 2.3 载人月球车转向方式的选择........................................................................... 14 2.3.1 载人月球车转向系统的设计要求 ............................................................ 14 2.3.2 转向方式的选择 ....................................................................................... 15 2.4 载人月球车转向传动机构方案的确定 ........................................................... 18 2.4.1 转向传动机构方案分析............................................................................ 18 2.4.2 转向传动机构形式的对比选择 ................................................................ 21 2.5 小结 ................................................................................................................. 22 第 3 章 转向梯形断开点位置的优化及分析 ............................................................ 23 3.1 引言 ................................................................................................................. 23 3.1.1 优化设计概述 ........................................................................................... 23 3.1.2 断开点位置优化设计概述 ........................................................................ 23 3.2 转向梯形断开点位置确定方法 ....................................................................... 24 3.3 转向梯形断开点位置解析推导与分析 ........................................................... 26 3.3.1 转向梯形断开点位置的解析推导 ............................................................ 26 3.3.2 断开点位置折展时的可行性分析 ............................................................ 31 3.4 转向梯形断开点位置的优化设计 ................................................................... 33
III
哈尔滨工业大学工学硕士学位论文
目
摘
录
要 ...........................................................................................................................I 论 ............................................................................................................ 1
I
哈尔滨工业大学工学硕士学位论文
Abstract
Manned lunar landing is the inevitable way for the development of China's space industry, the manned lunar rover vehicle (LRV) is the essential tool for moon exploration. The steering mechanism is one key part of LRV mobile systems, its performance directly affects the LRV steering stability and security, so the steering mechanism’s design to meet the performance requirements of LRV is significant to manned lunar landing. On this background, the steering mechanism is designed in this paper based on Ackerman-geometry steering. The steering mainly includes two ways, differential steering and track steering. In this paper the two ways’ characteristics are analyzed and compared to determine which way to adopt; Ackerman-geometry steering and double Ackerman-geometry steering characteristics are analyzed in this paper, the double Ackerman-geometry steering advantages are stated and it is found more suited to adopt; Based on the overall scheme of energy system of the nickel cadmium battery and double wishbone type independent suspension, the divided steering mechanism is determined to adopt. three kinds of schemes are designed and carried on the contrast analysis, finally the scheme three is determined to adopt as the manned lunar rover steering mechanism. When designing divided steering mechanism, the first problem is to determine splitting point location. So-called splitting point in structure refers to the connected ball joint center between the tie rod and the central steering link, the center is wheel beating and folding point of axis of rotation. There are two initial methods for the steering mechanism splitting point position to determine, graphical method and analytical method. By comparison , one method is better to be used; The inflection circle theory and Euler-Sawari equation in mechanism subject is used to solve splitting point position initially, thus a feasibility analysis is conducted in the process of a wide range of folding. By optimal design, the splitting point position is determined finally. Based on Ackerman-geometry steering theory, the inner and outer wheel turning angles mathematical model is deduced ,and the nature of the theoretical model is analyzed; the optimized mathematical model of the steering mechanism is established. By model optimization and results analysis, the best steering mechanism parameters are obtained in this paper. By using optimized results, the steering mechanism’s Pro/E three-dimensional model and ADAMS simulation model are established; The kinematics simulation of the steering pull rod folding and the wheel turning angles are carried out to validate previous reduction rationality. Steering motor and the reducer are selected, according to the resistance torque and the drive torque, key parts’ dynamics simulation is carried out; By using finite element analysis software, stress condition of key bars of the steering
Dissertation for the Master Degree in Engineering
RESEARCH ON THE STEERING MECHANISM OF MANNED LUNAR ROVER VEHICLE
Candidate： Supervisor： Academic Degree Applied for： Speciality： Affiliation： Date of Defence： Degree-Conferring-Institution：
硕士学位论文
载人月球车转向传动机构研究
（学术型）
RESEARCH ON THE STEERING MECHANISM OF MANNED LUNAR ROVER VEHICLE
门树东
哈尔滨工业大学 2013 年 7 月
国内图书分类号： TP242 国际图书分类号：621
学校代码： 10213 密级：公开
哈尔滨工业大学工学硕士学位论文
摘 要
载人登月是中国航天事业发展的必经之路，载人月球车是进行月球探测必不 可少的工具。而转向传动机构作为月球车移动系统的关键部分之一，其性能的好 坏直接影响到月球车的操纵稳定性和安全性，设计满足性能要求的转向传动机构 对载人登月意义重大。出于这样的背景，本文对载人月球车的转向传动机构进行 设计。 本文对转向的两种方式即差速转向和轨迹转向的特点进行分析对比，并对阿 克曼转向原理以及双阿克曼转向进行特性分析，阐述了采用双阿克曼转向所具有 的优势，结合月球表面的环境和对转向传动机构提出的要求，确定了所采用的转 向方式；根据载人月球车总体方案中采用的能源系统以及悬架机构采用双横臂式 独立悬架，确定了采用整体式动力转向器的断开式转向传动机构。确定了断开式 转向传动机构的三种方案，并对其进行对比分析，最终确定载人月球车转向传动 机构所采用的方案。 在设计断开式转向梯形时，首先要确定断开点位置。对比初定转向梯形断开 点位置的两种方法即图解法和解析法特点，以采用更佳的方法；利用机构学中拐 点圆的理论并结合欧拉-萨瓦里方程求解了断开点位置，并对其在大范围折展时进 行了可行性分析；利用优化设计的方法计算转向梯形断开点位置。 推导了转向传动机构内外轮转角的数学模型，分析了转向传动机构内外轮转 角理论模型的性质；根据阿克曼转向原理，建立优化设计模型，对转向梯形的参 数进行优化，并对优化结果进行分析，得出最优化的转向传动机构参数。 通过优化计算所得的结果，对转向传动机构进行了 Proe/E 三维模型的设计并 建立 ADAMS 仿真模型；对悬架折展和月球车内外轮摆角变化进行运动学仿真， 验证之前推导的合理性；选取转向电机与减速器，根据阻力矩和驱动力矩进行关 键件的动力学仿真； 利用 ANSYS 有限元分析软件对转向机构关键杆件进行受力分 析及校核，完善了设计工作。 关键词：载人月球车；转向传动机构；优化设计；仿真分析
Men Shudong Prof. Gao Haibo Master of Engineering Aeronautics and Astronautics Manufacturing Engineering School of Mechatronics Engineering July, 2013 Harbin Institute of Technology