月壤力学参数在线估计算法研究  

Research on mechanical parameters online estimation of lunar soil

作　　者：崔平远[1] 刘冰[1] 居鹤华[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《计算机测量与控制》2008年第2期245-247,269,共4页Computer Measurement &Control

基　　金：国家863项目(2006AA12Z307)

摘　　要：提出了一种基于Guass-Legendre数值积分法和Newton迭代法的新的月壤力学参数估计算法;首先分析行驶在月壤环境下的月球车刚性驱动轮的力/力矩情况,推导出用于力学参数的求解模型;然后采用两点Guass-Legendre数值积分法对模型进行简化;最后结合Newton迭代法和最速下降法求解非线性方程组,依据虚拟六维力/力矩传感器和其它车载传感设备的输出计算出月壤关键力学参数内摩擦角和压陷系数;仿真实验显示该方法是正确和有效的,在高噪声干扰下依然具有较高的准确度,并且该方法具有低计算复杂度,适于月球车进行在线地形参数估计。A new method for mechanical parameters estimation of lunar soil integrating the Guass-Legendre numerical integral method and the iterative method of Newton is presented. First the model for computing mechanical parameters is derived through analyzing the rigid driven wheels of a lunar rover which moves in lunar soil environment. Then two-points Guass-Legendre integral method is used to simplify the resolve model. Finally the iterative method of Newton and the steepest descent method are combined to solve the non-linear equations, and the outputs of on -board virtual sensors are used for computing the key mechanical parameters of lunar soil i. e. internal friction angle and press-sinkage parameter. Simulation results show correctness under high noises disturbance and effectiveness with low computational complexity, which allows a lunar rover for online mechanical parameters estimation of lunar soil.

关 键 词：力学参数 内摩擦角 压陷系数 力/力矩传感器 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]