星球车质心测量系统的研制与误差估计

那强; 王婉秋; 陶建国

doi:10.3788/OPE.20172514.0045

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星球车质心测量系统的研制与误差估计

更新时间：2020-08-13

- 星球车质心测量系统的研制与误差估计
- Development and error estimation of centroid measurement system for planet rover
- 光学精密工程 2017年25卷第12z期页码：45-51
- 作者机构：
  
  1. 北京卫星环境工程研究所, 北京 100094
  2. 哈尔滨工业大学机电工程学院,黑龙江哈尔滨,150001
- 作者简介：
- 基金信息：
  
  国家教育部“111”计划资助项目（No.B07018）()
- DOI：10.3788/OPE.20172514.0045
  中图分类号： V416.8;V448.2
- 收稿日期：2017-08-28，
  
  修回日期：2017-09-15，
  
  纸质出版日期：2017-12-31
- 稿件说明：
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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(12z): 45-51

NA Qiang, WANG Wan-qiu, TAO Jian-guo. Development and error estimation of centroid measurement system for planet rover[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 45-51
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(12z): 45-51 DOI： 10.3788/OPE.20172514.0045.

NA Qiang, WANG Wan-qiu, TAO Jian-guo. Development and error estimation of centroid measurement system for planet rover[J]. Editorial Office of Optics and Precision Engineering, 2017,25(12z): 45-51 DOI： 10.3788/OPE.20172514.0045.

摘要

为了实现星球车悬吊式低重力补偿试验及测量不同工况下星球车的质心变化，研制了一套星球车质心测量系统，该系统可以通过一次在线测量和一次辅助测量获得星球车在不同工况下的质心位置。首先，提出并研制了主要由六套可升降关节臂式电子秤组成的星球车质心测量系统。该系统利用举升法和侧倾平台法结合的原理，通过各电子秤测量不同工况下各车轮的压力，经计算获得相应工况的整车质心；然后，阐述了系统的测量原理和步骤，给出了基于星球车各车轮的压力值的质心位置矢量及其各坐标分量的计算模型；最后，分析了包括系统误差、随机误差和粗大误差对测量结果的影响，给出了消除或减小误差的措施，并定量分析了系统由各类传感器测量产生的系统误差。计算分析表明：该系统各方向的最大测量误差分别为0.694，0.163和0.255 mm，合成误差不大于0.757 mm，满足星球车不同工况下质心位置测量精度的要求。

Abstract

In order to realize low gravity compensation experiment of a overhung planet rover and understand the centroid variation of the planet rover in different working conditions

a planet rover centroid measurement system was designed. The system can measure the centroid position of the planet rover under different working conditions by one on-line measurement and one auxiliary measurement. Firstly

a centroid measurement system for planet rover was developed

which was mainly composed of six sets of height-adjustable and joint arm type electronic scale measuring unit. Combined lifting method with tilting-platform method

the rover centroid was calculated by measuring the pressure of every wheel in different operating conditions with every electronic scale. Secondly

the measuring steps and methods of the system were described. The calculation model of centroid position vector and its coordinate components were derived based on the measurement of every wheel pressure. Thirdly

the error of the measurement system was analyzed

including systematic error

random error and accidental error

and the measures to eliminate or reduce the errors were proposed. Moreover

the systematic errors caused by sensor measurements were quantitatively analyzed. The results show that the maximum measurement error in each direction is 0.694

0.163 and 0.255 mm respectively

and the overall error is less than 0.757 mm. The proposed system can meet the planet rover center of mass measurement accuracy requirements in different working conditions.

关键词

Keywords

references

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