| 为月球车低能耗越障的摇臂悬架参数多目标优化 |
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| 引用本文： | 李所军,高海波,邓宗全.为月球车低能耗越障的摇臂悬架参数多目标优化[J].吉林大学学报(工学版),2010,40(3). |
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| 作者姓名： | 李所军 高海波 邓宗全 |
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| 作者单位： | 哈尔滨工业大学机电工程学院,哈尔滨,150080 |
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| 基金项目： | “863”国家高技术研究发展计划项目(2006AA04Z231);;高等学校学科创新引智计划项目(B07018);;黑龙江省自然科学基金重点项目(ZJG0709) |
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| 摘 要： | 为满足月球车能耗低、重量轻的使用要求,基于月球车的越障工况,以各驱动电机能量消耗为目标函数,对月球车的摇臂悬架参数进行了优化,并建立了摇臂悬架参数模型。分析了月球车越障通过性条件,建立了悬架参数多目标优化的数学模型。采用极大极小值法,将多目标函数统一成单目标函数,利用序列二次规划法(SQP)进行优化分析,得到了悬架参数的优化值。结果表明,越障时电机能量消耗明显降低。
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| 关 键 词： | 机械设计 悬架参数 多目标优化 月球车 摇臂悬架 |
Multi-objective optimization of rocker-bogie suspension parameters of lunar rover for energy-saving passing obstacle |
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| LI Suo-jun,GAO Hai-bo,DENG Zong-quan.Multi-objective optimization of rocker-bogie suspension parameters of lunar rover for energy-saving passing obstacle[J].Journal of Jilin University:Eng and Technol Ed,2010,40(3). |
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| Authors: | LI Suo-jun GAO Hai-bo DENG Zong-quan |
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| Affiliation: | School of Mechanical and Electrical Engineering;Harbin Institute of Technology;Harbin 150080;China |
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| Abstract: | In order to meet the requirements of the lunar rover for energy saving and light weight,taking the energy consumption of driving motors as the objective function,the parameters of rocker-bogie suspension were optimized for rover passing obstacle condition.A parametric model was built for the rocker-bogie suspension,the conditions for rover-passing obstacle were analyzed,and a mathematical model was established for the multi-objective optimization of the suspension parameters.The maximum-minimum method was a... |
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| Keywords: | mechanical design suspension parameter multi-objective optimization lunar rover rocker-bogie suspension |
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