一种主动悬架式火星车稳定裕度优化控制策略

针对火星车在非结构化环境下行驶存在的稳定性不足而导致倾覆的风险，提出针对一种六轮主动悬架式火星车的稳定裕度优化控制方法。首先，考虑了火星车悬架机构调整过程中车轮与接触地面滑移和侧倾等运动关系，建立和完善了六轮主动悬架式火星车行驶的运动学模型。然后，以火星车夹角调整机构角度为变量，推导火星车在非结构环境下的稳定裕度模型。之后，使用内点法求解火星车稳定裕度的最优解，并获得期望的夹角调整机构关节角度。在此基础上，对夹角调整机构的关节角度进行规划和控制，实现火星车悬架机构构型的调整，从而提高火星车在非结构化环境下行驶的稳定裕度。最后，对火星车稳定裕度优化控制策略的有效性进行仿真验证，结果表明，所提出的控制方法可有效提高火星车在非结构化环境下行驶的稳定裕度。

An Optimal Control Strategy for Stability Margin of a Mars Roverwith Active Suspension

Aiming at the overturning risk caused by the low stability of a Mars rover in an unstructured environment, an optimization control method for the stability margin of a six-wheeled Mars rover with active suspension is proposed. Firstly, considering the relationships of slip and roll between wheels and contact ground during the suspension mechanism adjusting, the kinematics model of the six-wheeled Mars rover with active suspension in an unstructured environment is established and perfected. Then, taking the angles of angle adjustment mechanisms of the Mars rover as the variables, the stability margin model of the Mars rover is obtained. After that, the interior point method is used to solve the optimal solution of the stability margin of the Mars rover, and the desired angles of the angle adjustment mechanisms are obtained. On this basis, the angles of the angle adjusting mechanisms are planned and controlled, and the configuration of the Mars rover is adjusted, so as to improve the stability margin of the Mars rover in the unstructured environment. Finally, the effectiveness of the stability margin control strategy of the Mars rover is verified by simulation. The results show that the proposed control method can effectively improve the stability margin of a Mars rover in an unstructured environment.