Design method and device for symmetrical lunar vehicle suspension

Abstract

The invention relates to the technical field of lunar rovers, and discloses a symmetric lunar rover suspension design method and a symmetric lunar rover suspension design device. Multi-body system dynamics simulation is fused, dynamic behaviors of the lunar rover under complex terrains are accurately simulated, and by constructing a high-precision three-dimensional lunar surface model and a multi-body dynamics model, the dynamic behavior of the lunar rover under complex terrains is accurately simulated. The in-depth analysis and optimization of the suspension system are realized; according to the design of the device, symmetric layout and modular design are adopted, so that the structural balance and stress uniformity of the frame are enhanced, independent simulation and optimization of each sub-module are facilitated, and the overall design efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lunar rovers, and in particular to a symmetrical lunar rover suspension design method and a device thereof. Background Art

[0002] As human beings explore the moon, the performance requirements of the lunar rover as an important exploration tool are getting higher and higher. Especially in the high-speed and heavy-load mobile system on the lunar surface, the design and optimization of the suspension system are particularly critical. The traditional lunar rover suspension system, such as the double wishbone independent suspension used by the Apollo manned lunar rover, has shortcomings in terms of smoothness and stability on the lunar surface. These shortcomings are mainly reflected in poor adaptability to complex terrain, strong bumps during driving, and the reliability and durability of the suspension system.

[0003] In order to overcome these shortcomings, researchers began to explore new suspension system design solutions. Among them, the symmetrical suspension design has attracted much attention due to its structural balance and uniform force. However, for the special application scenario of the lunar rover, the design of the symmetrical suspension also needs to consider many factors, such as the low gravity environment on the lunar surface, complex terrain conditions, heavy load requirements, and driving speed.

[0004] At present, the research on the lunar rover suspension system has made some progress, but there are still some problems. For example, the existing suspension system often cannot meet the requirements of stability, comfort and durability at the same time; there is a lack of systematic theoretical guidance and simulation verification in the design process; there is a lack of in-depth understanding of the dynamic response characteristics under different road conditions, etc. Therefore, a new symmetrical lunar rover suspension design method is urgently needed to solve the problems existing in the existing technology and improve the overall performance of the lunar rover. For this purpose, a symmetrical lunar rover suspension design method and device are proposed. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a symmetrical lunar rover suspension design method and device to solve the background technical problems.

[0006] In the first aspect, to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a symmetrical lunar rover suspension design method, including the design of a wheel-symmetrical horizontal spring suspension, and the specific steps of the design are:

[0007] Using the lunar surface digital elevation model (DEM) and terrain data, a high-precision three-dimensional lunar surface model is constructed to simulate the terrain, landforms and physical properties of the lunar surface;

[0008] Based on the principles of vehicle dynamics and kinematics, a multi-body dynamics model of the lunar rover is constructed;

[0009] Simulation modeling based on computer-aided engineering software to simulate the complex behavior of vehicles driving on the lunar surface;

[0010] Based on the 3D lunar surface model, the lunar road surface is constructed using road data to generate random road surface models and impact excitation road surface models;

[0011] Construct a horizontal spring suspension model based on theory and the lunar rover multi-body dynamics model;

[0012] Based on the random road surface model and the impact excitation road surface model, the whole vehicle model dynamics simulation experiment is carried out, and the suspension physical model is established. The simulation experiment tests and compares the horizontal spring suspension model and the vertical spring suspension model through the suspension physical model.

[0013] Construct the physical model and theoretical model of the wheelset suspension, input the same road excitation signal to the physical model and the theoretical model at the same time, conduct simulation comparison between the theoretical model and the physical model, and conduct comprehensive evaluation and optimization of the suspension system;

[0014] According to the design principle of the wheelset suspension, the scaled prototype model is established and the scaled prototype is simulated and verified;

[0015] Mathematical models of traditional suspension and wheel-set suspension were established, and high-speed stability simulations of the two suspension systems were compared using simulation software. The dynamic response results of the suspension systems were compared considering different road conditions and driving speeds, and the sensitivity of the suspension high-speed stability was analyzed by comparing the spring oscillator forces of the two.

[0016] According to the simulation results and theoretical information, the simulation model structure of the scaled prototype is refined and designed, and a physical model is made based on the simulation model of the scaled prototype.

[0017] The physical model of the vehicle is experimentally analyzed on different road surfaces and compared with the simulation results to verify the rationality of the structure. Based on the analysis structure, the multi-particle swarm algorithm is used to optimize the structure.

[0018] Preferably, when constructing the multi-body dynamics model of the lunar rover, the low friction coefficient and high sedimentation caused by the low gravity environment of the moon and the special physical properties of the lunar soil accurately simulate the movement behavior of the lunar rover on the lunar surface.

[0019] Preferably, when performing simulation modeling based on computer-aided engineering software, multi-body system dynamics simulation software is used to simulate the dynamic characteristics of the lunar rover in terms of driving posture, tire force and suspension deformation under complex terrain.

[0020] Preferably, when constructing the horizontal spring suspension model, the influence of the spring stiffness, damping and preload parameters on the suspension performance is considered, and the parameters are iteratively optimized through an optimization algorithm to obtain the best suspension performance.

[0021] Preferably, when constructing the physical model and theoretical model of the wheelset suspension, a modular design concept is adopted to decompose the suspension system into multiple independent sub-modules, so as to facilitate independent simulation and optimization of each sub-module and improve the overall design efficiency.

[0022] Preferably, during the simulation and experiment process, the vibration response, tire wear and energy consumption key indicators of the lunar rover under different road conditions and driving speeds are recorded and analyzed to comprehensively evaluate the comprehensive performance of the suspension system; based on the evaluation results, suggestions for improving the suspension system are put forward and applied to subsequent design and optimization.

[0023] Preferably, when constructing the horizontal spring suspension model, the adaptability and stability of the suspension system under different load conditions are evaluated through simulation analysis according to the different load masses and different driving speeds of the lunar rover under different working conditions; based on the evaluation results, the key parameters of the spring stiffness and damping coefficient of the suspension system are dynamically adjusted to ensure that the lunar rover can maintain good driving performance and ride comfort under various working conditions.

[0024] Preferably, when constructing the horizontal spring suspension model, the influence of the load capacity and center of gravity position of the lunar rover on the suspension performance is analyzed to ensure the stability and comfort of the suspension system under different load conditions.

[0025] In the second aspect, a symmetrical lunar rover suspension device is provided. Based on the symmetrical lunar rover suspension design method described in the first aspect, a symmetrical lunar rover suspension is designed, including a frame, two first load-bearing plates and two second load-bearing plates are installed at both ends of the frame, the two second load-bearing plates are symmetrically distributed with the two first load-bearing plates, a spring damper is rotatably connected between the two second load-bearing plates and the upper ends of the two first load-bearing plates, adaptive stabilizing blocks are installed between the two first load-bearing plates and between the two first load-bearing plates, and rollers are installed on the outside of the first load-bearing plates and the second load-bearing plates.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention integrates multi-body system dynamics simulation to accurately simulate the dynamic behavior of the lunar rover under complex terrain. By constructing a high-precision three-dimensional lunar surface model and a multi-body dynamics model, it achieves in-depth analysis and optimization of the suspension system. In terms of device design, a symmetrical layout and modular design are adopted, which not only enhances the structural balance and force uniformity of the frame, but also facilitates independent simulation and optimization of each sub-module, significantly improving the overall design efficiency.

[0028] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flow chart of the design method for the symmetrical lunar rover suspension;

[0030] Figure 2 It is a schematic diagram of the suspension structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the asymmetric structure of the present invention;

[0032] Figure 4 It is a function diagram of road surface roughness of the present invention;

[0033] Figure 5 Modeling sketch for the horizontal spring suspension of the present invention;

[0034] Figure 6 It is a simplified schematic diagram of the vehicle with 14 degrees of freedom of the present invention.

[0035] In the figure: 1. frame; 2. first load-bearing plate; 3. second load-bearing plate; 4. roller; 5. spring damper; 6. stabilizing block. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this technical field without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1:

[0038] Please refer to 1. The present invention provides a symmetrical lunar rover suspension design method, the specific contents are as follows:

[0039] 1. Modeling of a new wheel-type lunar rover heavy-load simulation system

[0040] A rough road model of the moon is established, and a high-precision digital elevation model (DEM) of the lunar surface is constructed. The model includes the particle composition of the lunar soil, the roughness of the terrain, and potential obstacles and potholes. Using data sources such as the lunar reconnaissance orbiter, a detailed three-dimensional terrain model can be generated to provide an accurate environment for simulation. At the same time, based on vehicle dynamics and kinematics, a multi-body dynamic model of the lunar rover is established. The model includes the vehicle's geometric parameters, mass distribution, stiffness and damping characteristics of the suspension system, tire-ground interaction model, and power system.

[0041] After completing the theoretical model, simulation modeling is performed using computer-aided engineering software, such as MATLAB / Simulink. The simulation model should be able to handle nonlinear dynamics, transient response, and multi-scale simulation to simulate the complex behavior of the vehicle driving on the lunar surface. Finally, the accuracy and reliability of the simulation model are evaluated through comparative analysis of experimental verification and numerical simulation. The comparative analysis includes key parameters such as vehicle trajectory, suspension response, and wheel-ground contact force. Through model calibration and parameter optimization, the simulation results are ensured to be highly consistent with the actual physical model. These steps are interrelated and jointly build a comprehensive and high-precision lunar rover vehicle simulation system. Specifically, the following creations are made in the simulation system:

[0042] (1) Lunar road surface modeling

[0043] Due to the complexity of the lunar environment, it is necessary to divide the lunar environment into a random road model and an impact excitation road model, which correspond to the landing and driving environments of the manned lunar rover, respectively. The lunar terrain is rugged and complex, and its characteristics are represented by the road surface roughness. In the analysis with the base plane as the reference system, the change of the height q of the road surface relative to the base plane along the road length l is called the road surface roughness function, such as Figure 4 shown.

[0044] The difference between different grades of road surfaces mainly lies in the difference in road roughness. The road roughness coefficient G0 is used to represent different road roughness, and the power density of the same road surface is used to represent it.

[0045] The displacement power spectrum density function of road roughness is as follows:

[0046]

[0047] Where G q (n)—lunar power spectrum density

[0048] n —Wave number

[0049] G q (n0) Road roughness coefficient

[0050] Substituting the lunar rover's speed of 6 m / s for the formula By converting the function in the middle, we can get the time-frequency power spectrum density function:

[0051]

[0052] Converting it into a time domain model yields the following time domain model:

[0053]

[0054] Where: x r —Moon surface vertical displacement excitation

[0055] f0—lower cutoff frequency

[0056] w(t)—random white noise

[0057] Based on ISO standards, E-grade road surface is selected as the lunar surface roughness grade. q (n0) / (10 -6 m 3 ) is 409.

[0058] (2) Theoretical modeling of lunar rover horizontal spring suspension

[0059] The present invention uses a spring in a horizontal state as a model basis, and based on theory, constructs a lunar rover horizontal spring suspension model. The spring in the horizontal suspension is different from the existing traditional suspension. The spring is changed from a vertical state to a horizontal state. The wheel rocker rotates according to a fixed point, and the spring is used to limit the rotational freedom of the wheel. Each wheel rocker rotates around a fixed point. There is a sleeve structure above the connection to control the stability of both sides. The structure is simple, the reliability is improved, and the vehicle failure caused by uncertain factors is reduced.

[0060] The horizontal spring suspension model of the lunar rover is systematically analyzed and the corresponding mathematical model is established. Through the model analysis, the dynamic response characteristics of the suspension system under different working conditions are evaluated, so as to further optimize the design. The mathematical model in the present invention, such as the horizontal placement of the spring and the fixed-point rotation mechanism, can simulate the behavior of the system in actual operation. The simplified system analysis of the suspension system and the establishment of the mathematical model can be obtained, such as Figure 5 shown.

[0061] The sketch outline shows that the suspension itself has two degrees of freedom. Specifically, the body moving up and down creates one degree of freedom, while the wheel rotation relative to the body creates another degree of freedom. To further analyze the dynamic behavior of the suspension system, Newton's dynamic equations are used to describe the motion of the system. The equations are listed as follows:

[0062]

[0063] Where x represents the horizontal sway freedom of the vehicle body. Due to the addition of the rocker connection system, the horizontal sway is ignored. Through geometric structure analysis, we can get:

[0064]

[0065] The establishment of matrix equations can describe the dynamic behavior of the suspension system, and by calculating its transfer function, the response characteristics of the system can be further analyzed. Figure 5 It can be seen that the suspension system has three main degrees of freedom. In order to simplify the analysis process, first define and replace the quantity and establish the input and output vectors:

[0066] y1=z3(t) (vertical displacement of wheel 1 load);

[0067] (Vertical speed of wheel 1 load);

[0068] y3=z4(t) (vertical displacement of wheel 2 load);

[0069] (vertical speed of wheel 2);

[0070] y5=z m (t) (vertical displacement of sprung load);

[0071] (vertical velocity of sprung load);

[0072] z1(t) and z2(t) are the road surface response functions, which describe the excitation of the road surface at different time points. By analyzing these road surface response functions, a graphical expression of the system is established. According to the expression formula of the transfer matrix function, the matrix equations of the three degrees of freedom and the three degrees of freedom displacement are obtained:

[0073]

[0074] y=Cx+Du

[0075]

[0076] C=[|000001],y=Z m (t)

[0077] In Simulink, we build mathematical models, use independent mathematical operation modules, add modules step by step according to differential equations, and define corresponding parameters. Specifically, by converting each part of the differential equation into the corresponding Simulink module, we can intuitively build the model of the entire system; in addition, we can directly observe and process the parameters on each data line, making the debugging and optimization process easier and more intuitive.

[0078] By coupling the degrees of freedom of the vehicle body, a theoretical model of the vehicle can be established, such as Figure 6 shown.

[0079] Each suspension has two degrees of freedom, a total of eight degrees of freedom, and the vehicle body has six degrees of freedom on the x, y, and z axes, a total of 14 degrees of freedom. Excluding wheel steering and the degrees of freedom along the x and y directions, there are 11 degrees of freedom. The two degrees of freedom of the suspension are mutually constrained, and the vehicle roll, pitch, and vertical degrees of freedom are expressed as a combination of 4-5, 4-6, 4-7, and 4-8, and the formula is:

[0080]

[0081] (3) Vehicle model dynamics simulation

[0082] The road data generated in MATLAB is exported and imported into the unconventional road in Recurdyn, where a simplified model simulation is established.

[0083] Conduct road simulation experiments on horizontal suspension and vertical suspension, and compare and analyze the simulation results. Determine the state of the suspension based on the analysis results.

[0084] (4) Comparative analysis of theoretical and simulation results

[0085] The same road excitation signal is input to the physical model and the theoretical model at the same time, and the theoretical model and the physical model are simulated and compared. Specifically, during the simulation process, the excitation signals of E-level, F-level and G-level roads are input respectively, and the body response data derived are recorded through the simulation software. These data include but are not limited to key dynamic parameters such as body vertical acceleration, vertical displacement, and tire dynamic load. By comparing these data, the response consistency of the theoretical model and the physical model under different excitation conditions is evaluated, thereby verifying the accuracy and reliability of the model.

[0086] 2. Modeling and simulation verification of scaled prototype of wheelset suspension

[0087] (1) Model establishment of scaled prototype

[0088] To obtain the required physical quantities and parameters, in the control system theoretical model, the physical quantities contained in the A matrix need to undergo a scaled-down experiment, and the main physical parameters are as follows, as shown in Table 1:

[0089] Table 1. Parameters of horizontal suspension structure model

[0090]

[0091] Use coefficient α represents the similarity coefficient, then the following conditions apply:

[0092] m a =α m1 m1,m b =α m2 m2

[0093] k m =α k1 k1,K α =α K K

[0094] C α =α c1 c1

[0095] d a =α d1 d1,d b =α d2 d2

[0096] Under this condition, the matrix A can be obtained α , and after reducing each parameter, its transfer function must remain unchanged, that is, A α =A,B α =B,C α =C, after substituting the data into it, we can get:

[0097]

[0098] If the matrix is ​​to be identical, then each item must satisfy the same condition. If each item in the matrix is ​​identical, the system of equations can be derived:

[0099]

[0100] If the shape and material are not changed, the similarity ratio of mass is the cube of the similarity ratio of length. If the reduced size is 1 / n, it can be inferred that:

[0101]

[0102] The modeling of the scaled prototype is established based on the above derivation results. By satisfying the similarity conditions, it is ensured that the scaled prototype can accurately reflect the characteristics of the prototype model in terms of various physical quantities and dynamic responses, thereby achieving effective scale verification.

[0103] (2) Simulation verification of scaled prototype

[0104] The equation model used in the scaled prototype model building is constructed into a modular simulation, and the road surface excitation is input into the simulation interface for simulation verification.

[0105] 3. Simulation analysis of high-speed stability of wheel-set suspension

[0106] The specific example of suspension in the present invention is a wheel pair suspension;

[0107] (1) Comparison of traditional suspension and wheelset suspension models

[0108] Mathematical models of traditional suspension and wheelset suspension are established, and the two suspension systems are simulated and compared through simulation software. During the simulation, the dynamic response of the suspension system is analyzed in detail based on different road conditions and driving speeds, and the structure is optimized through multi-particle swarm algorithm based on the analysis results. In addition, actual physical tests are carried out to verify the accuracy of the simulation results.

[0109] (2) Comparative analysis of suspension simulation results

[0110] Compare the displacement vibration and vertical acceleration data of the two suspensions in the vehicle, and compare the oscillation intensity of the suspension in the Z axis.

[0111] 4. Structural refinement design of scaled prototype

[0112] Following the principle of similarity, the scaled prototype was designed to ensure the simplicity of the design structure, and the reduction ratio was determined to be 1:4. This ratio was chosen to reduce manufacturing and material costs while ensuring that the scaled model can accurately reflect the force and motion characteristics of the prototype. This reduction in ratio avoids measurement errors and increased structural complexity caused by too small a ratio.

[0113] The connected plate structure is subjected to force analysis and finite element stress analysis. Based on the analysis, the structure is optimized to obtain a scaled prototype that conforms to the principle of similarity. A specific physical model is then processed based on the scaled prototype.

[0114] 5. Physical experiment

[0115] The physical model is experimentally analyzed on different road surfaces and compared with the simulation results to verify the rationality of the structure. The multi-particle swarm algorithm is used to optimize the structure based on the analysis results.

[0116] Embodiment 2:

[0117] On the basis of the first embodiment, the present embodiment provides a symmetrical lunar rover suspension device. Based on the symmetrical lunar rover suspension design method of the first embodiment, a symmetrical lunar rover suspension is designed, including a frame 1. Two first load-bearing plates 2 and two second load-bearing plates 3 are installed at both ends of the frame 1. The two second load-bearing plates 3 are symmetrically distributed with the two first load-bearing plates 2. A spring damper 5 is rotatably connected between the two second load-bearing plates 3 and the upper ends of the two first load-bearing plates 2. The spring damper 5 is rotatably connected between the two second load-bearing plates 3 and the upper ends of the two first load-bearing plates 2. An adapted stabilizing block 6 is installed between the two first load-bearing plates 2, and rollers 4 are installed on the outside of the first load-bearing plates 2 and the second load-bearing plates 3 located outside; specifically, the frame 1 is used to connect with the vehicle body, the first load-bearing plates 2 and the second load-bearing plates 3 are connected to the frame 1, and the rollers 4 are installed on the outside of the first load-bearing plates 2 and the second load-bearing plates 3. The spring damper 5 is used to buffer the entire suspension, and the stabilizing block 6 increases the strength between the second load-bearing plates 3 and the two first load-bearing plates 2 to avoid deformation. The suspension structure adopts a wheel pair type, with a simple structure to control costs, disperse structural stress, good stability, and ensure overall performance.

[0118] The above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A symmetrical lunar rover suspension design method, characterized in that: The invention includes the design of a wheel-symmetrical horizontal spring suspension, and the specific steps of the design are as follows: Using the lunar surface digital elevation model (DEM) and terrain data, a high-precision three-dimensional lunar surface model is constructed to simulate the terrain, landforms and physical properties of the lunar surface; Based on the principles of vehicle dynamics and kinematics, a multi-body dynamics model of the lunar rover is constructed; Simulation modeling based on computer-aided engineering software to simulate the complex behavior of vehicles driving on the lunar surface; Based on the 3D lunar surface model, the lunar road surface is constructed using road data to generate random road surface models and impact excitation road surface models; Construct a horizontal spring suspension model based on theory and the lunar rover multi-body dynamics model; Based on the random road surface model and the impact excitation road surface model, the whole vehicle model dynamics simulation experiment is carried out, and the suspension physical model is established. The simulation experiment tests and compares the horizontal spring suspension model and the vertical spring suspension model through the suspension physical model. Construct the physical model and theoretical model of the wheelset suspension, input the same road excitation signal to the physical model and the theoretical model at the same time, conduct simulation comparison between the theoretical model and the physical model, and conduct comprehensive evaluation and optimization of the suspension system; According to the design principle of the wheelset suspension, the scaled prototype model is established and the scaled prototype is simulated and verified; Mathematical models of traditional suspension and wheel-set suspension were established, and high-speed stability simulations of the two suspension systems were compared using simulation software. The dynamic response results of the suspension systems were compared considering different road conditions and driving speeds, and the sensitivity of the suspension high-speed stability was analyzed by comparing the spring oscillator forces of the two. According to the simulation results and theoretical information, the simulation model structure of the scaled prototype is refined and designed, and a physical model is made based on the simulation model of the scaled prototype. The physical model of the vehicle is experimentally analyzed on different road surfaces and compared with the simulation results to verify the rationality of the structure. Based on the analysis structure, the multi-particle swarm algorithm is used to optimize the structure.

2. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When constructing the multi-body dynamics model of the lunar rover, the low friction coefficient and high sedimentation caused by the low gravity environment of the moon and the special physical properties of the lunar soil are used to accurately simulate the movement behavior of the lunar rover on the lunar surface.

3. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When performing simulation modeling based on computer-aided engineering software, multi-body system dynamics simulation software is used to simulate the dynamic characteristics of the lunar rover in terms of driving posture, tire force and suspension deformation under complex terrain.

4. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When constructing the horizontal spring suspension model, the influence of spring stiffness, damping and preload parameters on the suspension performance is considered, and the parameters are iteratively optimized through the optimization algorithm to obtain the best suspension performance.

5. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When constructing the physical model and theoretical model of the wheelset suspension, the modular design concept is adopted to decompose the suspension system into multiple independent sub-modules, so as to facilitate independent simulation and optimization of each sub-module and improve the overall design efficiency.

6. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: During the simulation and experimental process, the vibration response, tire wear and energy consumption key indicators of the lunar rover under different road conditions and driving speeds were recorded and analyzed to comprehensively evaluate the comprehensive performance of the suspension system. Based on the evaluation results, improvement suggestions for the suspension system were put forward and applied to subsequent design and optimization.

7. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When constructing the horizontal spring suspension model, the adaptability and stability of the suspension system under different load conditions are evaluated through simulation analysis according to the different load masses and different driving speeds of the lunar rover under different working conditions; based on the evaluation results, the key parameters of the spring stiffness and damping coefficient of the suspension system are dynamically adjusted to ensure that the lunar rover can maintain good driving performance and ride comfort under various working conditions.

8. A symmetrical lunar rover suspension design method according to claim 1, characterized in that: When constructing the horizontal spring suspension model, the influence of the load capacity and center of gravity position of the lunar rover on the suspension performance is analyzed to ensure the stability and comfort of the suspension system under different load conditions.

9. A symmetrical lunar rover suspension device, characterized in that: Based on the symmetrical lunar rover suspension design method described in claims 1-8, a symmetrical lunar rover suspension is designed, comprising a frame (1), two first load-bearing plates (2) and two second load-bearing plates (3) are installed at both ends of the frame (1), the two second load-bearing plates (3) are symmetrically distributed with the two first load-bearing plates (2), a spring damper (5) is rotatably connected between the two second load-bearing plates (3) and the upper ends of the two first load-bearing plates (2), an adaptive stabilizing block (6) is installed between the two first load-bearing plates (2) and between the two first load-bearing plates (2), and rollers (4) are installed on the outer sides of the first load-bearing plates (2) and the second load-bearing plates (3) located on the outer sides.

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