越野特种运载平台自平衡任务舱设计及其控制策略研究

针对某越野特种运载平台大幅度侧倾及俯仰运动下机动性提升问题，提出了一种基于双轴陀螺原理的自平衡任务舱系统结构设计方案以及基于该结构的控制方法。首先，采用Creo软件完成自平衡任务舱系统的结构建模，结合路面模型及行驶系统在ADAMS/View中搭建运动模型，将任务舱三维模型分解映射为体现侧倾和俯仰动力学的2个平面，形成侧倾和俯仰动力学数学模型，设计实时修正任务舱姿态的自平衡控制策略；其次，综合考虑不同类型路面对任务舱姿态的影响，设计基于载荷转移率的控制阈值算法，明确自平衡控制算法的工作区间；最后，在MATLAB/Simulink环境中搭建Simulink-ADAMS自平衡控制联合仿真模型，进行多种工况的虚拟试验来验证控制系统的有效性。结果表明，自平衡控制系统能够有效、实时地修正任务舱的侧倾角和俯仰角，降低越野特种运载平台侧倾及俯仰运动对于驾驶人员的影响程度。采用自平衡任务舱系统，突破了悬架的系统性能限制，提高了越野特种运载平台对恶劣越野路面的适应能力，为自平衡控制算法的仿真验证提供了模型基础。

Design and control of self-balancing cockpit for special carrier platform

The structure design scheme and the control method of a self-balancing cockpit system based on the principle of dual-axis gyro were proposed to solve the problem of improving maneuverability of special carrier platform under large roll and pitch motions. First, the structural modeling of the self-balancing cockpit system was completed by Creo, and the movement model was built in ADAMS/View in combination with the road model and the driving system of the vehicle. The three-dimensional model of the cockpit was decomposed and mapped into two planes that embody the dynamics of roll and pitch, and the dynamic mathematical model was formed respectively. Then a self-balancing control strategy for real-time correction of the cockpit attitude was designed. Second, considering the influence of different types of roads on the attitude of the cockpit, a control threshold module based on the load transfer rate was designed to clarify the working range of the self-balancing control algorithm. Finally, the Simulink-ADAMS self-balancing control joint simulation model was built in MATLAB/Simulink environment, and the virtual tests under various working conditions were performed to verify the effectiveness of the control system. The results show that the self-balancing control system can effectively correct the roll angle and pitch angle of the cockpit in real time, and reduce the impact of the vehicle roll and pitch motion on the driver. The self-balancing cockpit system breaks through the performance limitations of the suspension system, and improves the adaptability of the off-road special carrier platform to harsh off-road road surface, which provides a model basis for the simulation verification of self-balancing control algorithm.