Low gravity simulation method adapted to the terrestrial gravity environment

Abstract

The application discloses a low-gravity simulation method suitable for the earth gravity environment, and comprises the following steps: constructing a low-gravity simulation device; the simulation device comprises a plane and a first inclined plane and a second inclined plane which are symmetrically arranged relative to the plane; the bottom end of the first inclined plane is connected with one end of the plane through a first circular arc, and the bottom end of the second inclined plane is connected with the other end of the plane through a second circular arc; a moving platform is arranged on the first inclined plane, so that the moving platform slides along the first inclined plane and sequentially passes through the first circular arc, the plane, the second circular arc and the second inclined plane, and reciprocating motion between the first inclined plane and the second inclined plane is realized. The application can effectively simulate the change relationship of gravity with time, and provides technical support for biological low-gravity simulation test.

Description

Technical Field

[0001] This invention relates to the field of low gravity, and more specifically to a low gravity simulation method adapted to Earth's gravity environment. Background Technology

[0002] With the development of aerospace technology, deep space exploration of extraterrestrial bodies such as Mars and the Moon has become an important direction for human space activities. Establishing long-term workstations and bases can provide astronauts with a living and sheltering environment, and the nutrients needed for astronauts' lives can be obtained by cultivating plants at the base. Since the low-gravity environment in extraterrestrial bodies such as Mars and the Moon will have a certain impact on plant cultivation, it is necessary to simulate a low-gravity environment on the ground so that more researchers can conduct experiments and verifications on the ground.

[0003] Currently, methods for simulating microgravity environments on Earth include the force balance method and the motion method. The force balance method balances gravity by adding a balancing force to an object, thus counteracting the effects of gravity on the object. Methods using the force balance method to simulate microgravity include suspension, water buoyancy, and air buoyancy. However, the force balance method cannot achieve internal equilibrium of forces such as gravity, and cannot eliminate the perception of weight by living organisms; therefore, it cannot simulate the low-gravity effects on living organisms.

[0004] The motion method achieves this by having the experimental platform and object fall "equivalently." The organism is in motion with the object, and its weight is no longer perceived through deformation. Common methods for simulating microgravity using the motion method include the drop tower method, the projectile flight method, the sounding rocket method, and the high-altitude balloon method. Although the motion method can simulate micro / low gravity fields in the Earth's environment, it is short-lived, costly, and far from meeting the time requirements for plant growth and development.

[0005] In summary, neither the force balance method nor the motion method can simulate low-gravity isostatic forces in the Earth's environment. Even if long-term experiments are possible, the mechanical environment of these experiments differs significantly from the real low-gravity environment. Therefore, to address these issues, a low-gravity simulation method adapted to the Earth's gravity environment is needed, capable of effectively simulating the relationship between gravity and time, thus providing technical support for conducting biological low-gravity simulation experiments. Summary of the Invention

[0006] In view of this, the purpose of this invention is to overcome the deficiencies in the prior art and provide a low gravity simulation method adapted to the Earth's gravity environment, which can effectively simulate the relationship between gravity and time, and provides technical support for conducting biological low gravity simulation experiments.

[0007] The low-gravity simulation method adapted to Earth's gravity environment of the present invention includes:

[0008] Construct a low gravity simulation device; the simulation device includes a plane and a first inclined plane and a second inclined plane symmetrically arranged about the plane; the bottom end of the first inclined plane is connected to one end of the plane through a first circular arc, and the bottom end of the second inclined plane is connected to the other end of the plane through a second circular arc;

[0009] The mobile platform is positioned on the first inclined plane, allowing it to slide down the first inclined plane and pass through the first arc, the plane, the second arc, and the second inclined plane in sequence, thus achieving reciprocating motion between the first and second inclined planes.

[0010] Furthermore, the simulated gravitational acceleration g as the mobile platform slides down the inclined plane is determined according to the formula. sim :

[0011] g sim = g·cosθ;

[0012] Where g is the Earth's gravitational acceleration, and θ is the angle between the first inclined plane and the plane.

[0013] Furthermore, the mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration g when only the front wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. sim :

[0014]

[0015] Where, m c The mass of the car; m cs The mass of the vehicle body excluding the wheels; h is the height at which the vehicle's center of gravity descends; J cs m is the moment of inertia of the vehicle body. w For the mass of the wheel; J w Let P1 be the moment of inertia of the wheel; P1 = (2N1 - M1) 2 cotα1+M1 2 ;

[0016] N1 = (Rr)cosα1; r is the radius of the wheel; R is the radius of the arc; l is the distance between the center of mass of the front wheel and the center of mass of the rear wheel; α1 is the angle of motion of the front wheel relative to the center of the arc.

[0017] Furthermore, the mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration g when both the front and rear wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. sim :

[0018]

[0019] in,

[0020] Furthermore, the mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration g when only the rear wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. sim :

[0021]

[0022] in, K3 = M3csc 2 (θ-α2);

[0023]

[0024] M3 = l 2 -(Rr) 2 (1-cos(θ-α2)) 2 S = (Rr)sin(θ-α2); α2 is the angle by which the rear wheel moves relative to the center of the arc.

[0025] Furthermore, the simulated gravitational acceleration g when the mobile platform slides on the plane... sim Let g be the acceleration due to Earth's gravity.

[0026] Furthermore, using the maximum simulated gravitational acceleration max(g) sim The time percentage of the overweight state (e) is used as an evaluation parameter for the simulation effect.

[0027] Among them, the maximum simulated gravitational acceleration max(g) sim This reflects the degree of deviation between the simulated gravitational acceleration under hypergravity and the ideal simulated gravitational acceleration. The smaller the value, the smaller the difference from the ideal value and the higher the simulation accuracy.

[0028] The percentage of time spent in the hypergravity state, e, reflects the proportion of time the mobile platform is not in an ideal state. The smaller the value, the greater the proportion of time the mobile platform is in an ideal low-gravity environment, and the better the simulation effect. However, when the value is too large, the hypergravity period is too long, and the low-gravity simulation device will be unable to perform low-gravity simulation.

[0029] Furthermore, the overweight state time ratio e is the ratio of the time the mobile platform spends in the overweight segment to the total movement time; wherein, the time the mobile platform spends in the overweight segment is the sum of the time the mobile platform spends in the circular arc segment and the time the mobile platform spends in the horizontal segment; and the total movement time is the sum of the time the mobile platform spends in the overweight segment and the time the mobile platform spends in the inclined plane segment.

[0030] The beneficial effects of this invention are as follows: This invention discloses a low-gravity simulation method adapted to Earth's gravity environment. It analyzes in detail the relationship between simulated gravity and time in a double-slope-horizontal state and establishes an evaluation mechanism combining maximum gravitational acceleration and the proportion of time under hypergravity. Addressing the energy loss problem caused by uncertainties and friction during motion, an energy compensation method based on catapult impact is proposed, clarifying the variation law of simulated gravitational acceleration throughout the process with parameters such as initial height and radius of curvature. Taking three low-gravity environment simulations (g / 2, g / 3, and g / 6) as research objects, and comprehensively comparing parameters such as speed, ascent height, proportion of time under hypergravity, and gravitational acceleration during motion, parameter curves before and after energy compensation under different low-gravity environments are obtained. This forms a parameter co-optimization method for a double-slope-horizontal periodic low-gravity simulation device, providing technical support for subsequent biological low-gravity simulation experiments. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0032] Figure 1 This is a schematic diagram of the low gravity device of the present invention;

[0033] Figure 2 This is a schematic diagram of the initial position of the trolley inclined surface according to the present invention;

[0034] Figure 3 This is a schematic diagram showing the height of the center of gravity of the trolley's front wheel when it enters the circular arc according to the present invention;

[0035] Figure 4 This is a schematic diagram showing the height of the center of mass of the two wheels of the vehicle in the arc of the present invention;

[0036] Figure 5 This is a schematic diagram showing the height of the center of gravity of the vehicle when the front wheel exits the arc of the present invention;

[0037] Figure 6 This is a schematic diagram illustrating the motion relationship of the front wheels of the vehicle when entering a circular arc according to the present invention;

[0038] Figure 7 This is a schematic diagram showing the motion relationship between the two wheels of the vehicle in the circular arc according to the present invention;

[0039] Figure 8 This is a schematic diagram of the motion relationship of the front wheels of the vehicle when they exit the arc. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings, as shown in the figures:

[0041] This embodiment discloses a low-gravity simulation method adapted to Earth's gravity environment, including the following steps:

[0042] Construct a low gravity simulation device; the simulation device includes a plane and a first inclined plane and a second inclined plane symmetrically arranged about the plane; the bottom end of the first inclined plane is connected to one end of the plane through a first circular arc, and the bottom end of the second inclined plane is connected to the other end of the plane through a second circular arc;

[0043] The mobile platform is positioned on the first inclined plane, allowing it to slide down the first inclined plane and pass through the first arc, the plane, the second arc, and the second inclined plane in sequence, thus achieving reciprocating motion between the first and second inclined planes.

[0044] In this embodiment, the mobile platform is a car; such as Figure 1 As shown, the entire device consists of two inclined planes with an angle of θ and a plane of length L. The plane and the inclined planes are connected by a circular arc with radius R. The initial height of the cart's center of mass from the bottom of the inclined plane is H. The cart slides freely down the inclined plane, rises through the plane to the other side of the inclined plane, and then slides down the other side of the inclined plane, achieving periodic motion. The mass of the cart is m. c The mass of the car body excluding the wheels is m. cs The height of the car's center of gravity is h. c The height of the vehicle's center of gravity is h. cs The car is a four-wheeled vehicle with a wheel radius of r and a distance of b between the car's center of mass and the center of the front wheel on the inclined plane.

[0045] The motion of the car is divided into four stages: the descent down the inclined plane (segment AB), the two-segment circular transition (segment BF), the planar rolling (segment FG), and the ascent up the inclined plane (segment GH). Assuming that the car rolls purely during its motion and there is no energy loss, the descent and ascent are completely symmetrical. Therefore, we only consider the descent down the inclined plane (segment AB), the circular transition (segment BF), and the planar motion (segment FG).

[0046] The descent phase (segment AB):

[0047] like Figure 2 As shown, the cart slides down the inclined plane with uniform acceleration. The cart's acceleration is a = gsinθ, and its velocity is v = gsinθ·t. The simulated gravitational acceleration is:

[0048]

[0049] That is, g sim = g·cosθ. Running time during this stage.

[0050] Arc transition phase (BF segment):

[0051] like Figure 2As shown, let the center of the arc be O. When the trolley is at its initial height, let the center of the front wheel be O1, the center of the rear wheel be O2, and the center of mass of the trolley be C. m The center of gravity of the car body is C. ms .

[0052] At this point, a Cartesian coordinate system O is established with O as the origin, the horizontal direction to the right as the x-axis, and the vertical direction upward as the y-axis. xy Then the vertical coordinate of the car's center of mass at this moment is:

[0053] C my =H+(h) c -R)cosθ (2)

[0054] Front wheel descent phase (BD segment):

[0055] like Figure 3 As shown, let the center of the front wheel of the car be O'1, the center of the rear wheel be O'2, and the center of mass of the car be C'. m The center of gravity of the car body is C' ms The angle of motion of the current wheel relative to the origin O in the circular arc. At this point, the front wheels of the car enter the arc, while the rear wheels remain on the inclined plane. Establish a Cartesian coordinate system O with O as the origin, the direction parallel to the downward slope as the u-axis, and the direction perpendicular to the upward slope as the v-axis. uv .

[0056] At this moment, the center coordinates of the front wheel of the car are O'1((Rr)·sinα1,-(Rr)·cosα1), and the center coordinates of the rear wheel are O'2(O' 2u ,-(Rr)), where,

[0057] have to

[0058] The acute angle formed by the line connecting the two wheels and the U-axis:

[0059]

[0060] Coordinates of the midpoint of the line connecting the centers of the two wheels:

[0061]

[0062] Therefore, the center of gravity of the car is at O. uv The coordinates in the coordinate system are:

[0063]

[0064] in

[0065] The car's center of gravity is at O. xyThe coordinates in the coordinate system are:

[0066]

[0067] At this moment, the height to which the car's center of gravity descends is:

[0068]

[0069] in

[0070] The two-round circular descent phase (DE segment):

[0071] like Figure 4 As shown, the angle of motion of the current wheel relative to the origin O in the arc is:

[0072] At this time, both the front and rear wheels are located within the arc. The angle by which the rear wheel moves relative to the origin O within the arc is: Among them, the angle formed by the lines connecting the centers of the front and rear wheels to the origin.

[0073] In the coordinate system Oxy, the coordinates of the center of the front wheel of the car are O'1(-(Rr)sin(θ-α1),-(Rr)cos(θ-α1)) and the coordinates of the center of the rear wheel are O'2(-(Rr)sin(θ-α1+θ2),-(Rr)cos(θ-α1+θ2)).

[0074] The acute angle between the line connecting the two wheels and the horizontal direction is:

[0075]

[0076] Coordinates of the midpoint of the line connecting the centers of the two wheels:

[0077]

[0078] Therefore, the ordinate of the car's center of mass is:

[0079]

[0080] in

[0081] At this moment, the height to which the car's center of gravity descends is:

[0082]

[0083] The rear wheel descending arc phase (EF segment):

[0084] like Figure 5 As shown, the angle by which the rear wheel moves relative to the origin O in the arc:

[0085] At that time, the front wheel had already moved out of the arc and entered the plane, while the rear wheel continued to slide down the arc segment.

[0086] In coordinate system O xy In the diagram, the center coordinates of the front wheel of the car are O'1 (O' 1x The coordinates of the rear wheel center are O'2(-(Rr)sin(θ-α2),-(Rr)cos(θ-α2)), where...

[0087]

[0088] Solving

[0089] The acute angle formed by the line connecting the centers of the two wheels and the horizontal direction is:

[0090]

[0091] Coordinates of the midpoint of the line connecting the centers of the two wheels:

[0092]

[0093] Therefore, the ordinate of the car's center of mass is:

[0094]

[0095] Where M3 = l 2 -(Rr) 2 (1-cos(θ-α2)) 2 .

[0096] At this moment, the height to which the car's center of gravity descends is:

[0097]

[0098] Based on the above analysis, the simulated gravitational acceleration of the vehicle body is further analyzed as follows:

[0099] The vehicle's speed is obtained using the kinetic energy theorem, as shown in the following formula:

[0100]

[0101] Among them, J cs Let m be the moment of inertia of the vehicle body. w For the mass of the wheel, J w Let v be the wheel's rotational inertia, v and ω be the vehicle's velocity and angular velocity, respectively, v1 and ω1 be the front wheel's velocity and angular velocity, and v2 and ω2 be the rear wheel's velocity and angular velocity.

[0102] The following relationship exists:

[0103]

[0104] Where P is the instantaneous center of velocity of the trolley, and C' ms Let the center of mass of the vehicle be (17). Substituting the above equation into (17), we get...

[0105]

[0106] The following discussion will proceed in stages.

[0107] Front wheel descent phase (BD segment):

[0108] like Figure 6 As shown in (a), P is the instantaneous center of velocity of the trolley, which is located in coordinate system O. uv The coordinates P(P) in u ,P v ),in

[0109]

[0110] Solving

[0111] Distance between instantaneous center and front wheel center:

[0112]

[0113] Distance between instantaneous center and rear wheel center:

[0114]

[0115] Vehicle body center of gravity coordinates:

[0116]

[0117] The distance between the vehicle's center of mass and its instantaneous center of mass is:

[0118]

[0119] in N1=(Rr)cosα1.

[0120] According to equation (19), the speed of the car body is:

[0121]

[0122] The expression for h is given in equation (7).

[0123] like Figure 6 As shown in (b), when the front wheel has traveled dt, the angle dα1 that the front wheel has traveled relative to the origin O is then:

[0124] v1·dt=(Rr)·dα1 (26)

[0125] Will Substituting the values ​​and integrating both sides, we obtain the running time for this stage:

[0126]

[0127] The acceleration of the vehicle body is:

[0128]

[0129] in

[0130]

[0131] The simulated gravitational acceleration is:

[0132]

[0133] The two-round circular descent phase (DE segment):

[0134] like Figure 7 As shown, at this stage, the instantaneous center P coincides with the center O of the arc, therefore the distances from P to O'1 and O'2 are equal, i.e.

[0135] |PO'1|=|PO'2|=Rr (30)

[0136] The distance from the instantaneous center of gravity to the vehicle's center of mass is:

[0137]

[0138] Substituting into equation (19), we can obtain the vehicle speed at this stage:

[0139]

[0140] The expression for h is given in equation (11).

[0141] The running time for this stage is the same as in equation (26), that is:

[0142]

[0143] According to equations (26) and (32), the vehicle acceleration can be obtained:

[0144]

[0145] in The simulated gravitational acceleration is:

[0146]

[0147] The rear wheel descending arc phase (EF segment):

[0148] like Figure 8As shown in (a), the coordinates of the instantaneous center P are (O' 1x ,P y ), where the slope of line PO'2 is:

[0149]

[0150] Solving Distance between instantaneous center and front wheel center:

[0151]

[0152] Distance between instantaneous center and rear wheel center:

[0153]

[0154] Vehicle body center of gravity coordinates:

[0155]

[0156] The distance between the vehicle's center of mass and its instantaneous center of mass is:

[0157]

[0158] Where M3 = l 2 -(Rr) 2 (1-cos(θ-α2)) 2 S = (Rr)sin(θ-α2).

[0159] Substituting into equation (19), we can obtain the vehicle speed at this stage:

[0160]

[0161] The expression for h is given in equation (16).

[0162] like Figure 8 As shown in (b), when the rear wheel travels dt, the angle dα2 that the rear wheel has traveled relative to the origin O is dα2. Therefore:

[0163] v2@dt=(Rr)·dα2 (42)

[0164] The runtime for this stage is:

[0165]

[0166] The vehicle acceleration is:

[0167]

[0168] in,

[0169]

[0170] K3 = M3 csc 2 (θ-α2)

[0171]

[0172] The simulated gravitational acceleration is:

[0173]

[0174] Planar motion phase (FG segment):

[0175] like Figure 1 As shown, after the trolley exits the circular arc, without considering energy loss, the trolley moves at a constant speed on the plane. According to equation (17), the speed of the trolley is:

[0176] v = 2g[H+(h) c -R)(1+cosθ)] (46)

[0177] The simulated gravitational acceleration of the car is g. The running time for this stage is:

[0178]

[0179] In this embodiment, the present invention utilizes the maximum simulated gravitational acceleration max(g) sim The time percentage of the overweight state (e) is used as an evaluation parameter for the simulation effect.

[0180] (1) Maximum simulated gravitational acceleration max(g) sim Maximum simulated gravitational acceleration refers to the simulated gravitational acceleration g on the moving platform when it is in the hypergravity zone. sim The maximum value of this parameter reflects the degree of deviation between the simulated gravitational acceleration under hypergravity and the ideal simulated gravitational acceleration. The smaller the value, the smaller the difference from the ideal value and the higher the simulation accuracy.

[0181] (2) Proportion of time in the overweight state e: The sum of the time 2 (t2+t3+t4) during the movement of the mobile platform in the circular arc segment and the time t5 during the movement of the mobile platform in the horizontal segment is the time during which the mobile platform is in the overweight state. During this time, the mobile platform is always in the overweight state. The ratio of this time to the total time is e, that is:

[0182]

[0183] This evaluation parameter reflects the proportion of time the mobile platform is not in an ideal state. The smaller the value, the greater the proportion of time the mobile platform is in an ideal low-gravity environment, and the better the simulation effect. However, when the value is too large, the time in the hypergravity period is too long, and the device will be unable to perform low-gravity simulation.

[0184] Therefore, the proportion of the time spent in the state of overweight during the entire motion of the vehicle is:

[0185]

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A low-gravity simulation method adapted to Earth's gravity environment, characterized in that: include: Construct a low-gravity simulation device; The simulation device includes a plane and a first inclined plane and a second inclined plane arranged symmetrically about the plane; The bottom end of the first inclined plane is connected to one end of the plane through a first circular arc, and the bottom end of the second inclined plane is connected to the other end of the plane through a second circular arc. The mobile platform is placed on the first inclined plane, so that the mobile platform slides down the first inclined plane and passes through the first arc, the plane, the second arc and the second inclined plane in sequence, realizing the reciprocating motion between the first inclined plane and the second inclined plane. Using maximum simulated gravitational acceleration The proportion of time spent in the overgravity state, e, is used as an evaluation parameter for the simulation effect; Among them, the maximum simulated gravitational acceleration This refers to the simulated gravitational acceleration on the mobile platform when it is in the overweight zone. The maximum value reflects the degree of deviation between the simulated gravitational acceleration under hypergravity and the ideal simulated gravitational acceleration. The smaller the value, the smaller the difference from the ideal value and the higher the simulation accuracy. The percentage of time spent in the hypergravity state, e, reflects the proportion of time the mobile platform is not in an ideal state. The smaller the value, the greater the proportion of time the mobile platform is in an ideal low-gravity environment, and the better the simulation effect. However, when the value is too large, the hypergravity period is too long, and the low-gravity simulation device will be unable to perform low-gravity simulation. The percentage of time in the overweight state, e, is the ratio of the time the mobile platform spends in the overweight segment to the total movement time; wherein, the time the mobile platform spends in the overweight segment is the sum of the time the mobile platform spends in the circular arc segment and the time the mobile platform spends in the horizontal segment; and the total movement time is the sum of the time the mobile platform spends in the overweight segment and the time the mobile platform spends in the inclined plane segment.

2. The low-gravity simulation method adapted to Earth's gravity environment according to claim 1, characterized in that: The simulated gravitational acceleration when the mobile platform slides down the inclined plane is determined based on the formula. : ； in, For Earth's gravitational acceleration, The angle between the inclined plane and the plane is the first angle.

3. The low-gravity simulation method adapted to Earth's gravity environment according to claim 1, characterized in that: The mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration when only the front wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. : ； in, The acceleration due to Earth's gravity; The angle between the inclined plane and the plane at the first inclination angle; The mass of the car; The mass of the car body excluding the wheels; The height at which the center of gravity of the vehicle descends; ; The moment of inertia of the vehicle body; For the mass of the wheel; The moment of inertia of the wheel; ; ; ; ; The radius of the wheel; The radius of the arc; This is the distance between the center of gravity of the front wheel and the center of gravity of the rear wheel; The angle by which the front wheel moves relative to the center of the arc; This refers to the height of the vehicle's center of gravity.

4. The low-gravity simulation method adapted to Earth's gravity environment according to claim 1, characterized in that: The mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration when both the front and rear wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. : ； in, The acceleration due to Earth's gravity; The angle between the inclined plane and the plane at the first inclination angle; The mass of the car; The mass of the car body excluding the wheels; The height at which the center of gravity of the vehicle descends; The moment of inertia of the vehicle body; ; ; The radius of the wheel; The radius of the arc; This is the distance between the center of gravity of the front wheel and the center of gravity of the rear wheel; The angle by which the front wheel moves relative to the center of the arc; The height of the vehicle's center of gravity; For the mass of the wheel; Let be the moment of inertia of the wheel.

5. The low-gravity simulation method adapted to Earth's gravity environment according to claim 1, characterized in that: The mobile platform is a trolley, which includes front wheels and rear wheels; the simulated gravitational acceleration when only the rear wheels of the trolley enter the descent phase of the circular arc is determined according to the following formula. : ； in, The acceleration due to Earth's gravity; The angle between the inclined plane and the plane at the first inclination angle; The mass of the car; The mass of the car body excluding the wheels; The height at which the center of gravity of the vehicle descends; The moment of inertia of the vehicle body; The radius of the wheel; The radius of the arc; This is the distance between the center of gravity of the front wheel and the center of gravity of the rear wheel; The angle by which the front wheel moves relative to the center of the arc; The height of the vehicle's center of gravity; For the mass of the wheel; The moment of inertia of the wheel; ； ； ； ； ; ; It is the angle by which the rear wheel moves relative to the center of the arc.

6. The low-gravity simulation method adapted to Earth's gravity environment according to claim 1, characterized in that: The simulated gravitational acceleration when the mobile platform slides on the plane. Earth's gravitational acceleration .

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