崎岖地形中关节式月球车姿态估计数值求解方法  

Numerical Solving Method of Kinematic Observers Estimation of Articulated Rovers on Rough Terrain

作　　者：禹鑫燚[1] 高海波[1] 邓宗全[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《航空学报》2009年第8期1521-1530,共10页Acta Aeronautica et Astronautica Sinica

基　　金：国家"863"计划(2006AA04Z231);高等学校学科创新引智计划(B07018);黑龙江省自然科学基金(ZJG0709)

摘　　要：以被动关节式地形自适应月球车为研究对象,融合关节机器人D-H坐标建模方法构建了月球车悬架运动学模型和以侧倾、俯仰和偏转角表示姿态的欧拉角方式建立了车轮到世界坐标系的悬架完整表达模型。利用悬架完整表达模型,用带有迭代因子的连续迭代和离散迭代数值求解方法,建立了光滑和离散崎岖地形姿态估计算法。最后以8轮扭杆双摇杆摇臂月球车原理样机为例来验证此模型求解方法。仿真结果验证了所建立的基于数值方法的崎岖地形被动关节式月球车姿态估计模型的正确性,其求解模型精度能够满足仿真要求。Based on a study of the passive articulated rover, a complete suspension kinematics model from wheel to inertial reference frame is presented, which uses the D-H kinematics model method of manipulator and presentation with Euler angle of pitch, roll, and yaw. By means of this complete suspension kinematics model and Newton＇s numerical continuous and discrete method with iterative factors, the numerical solution of kinematic observer estimation of articulated rovers on smooth rough and discrete terrain is constructed. To demonstrate the validity of this numerical solution, an example about a two torsion-bar rocker-bogie lunar rover with eight wheels is presented. Simulation results show that this numerical solving method of kinematic observer estimation of articulated rovers on rough terrain is valid and its precision can satisfy the requirements of simulation systems.

关 键 词：姿态估计 悬架运动学 月球车 数值方法 被动关节式 

分 类 号：V41[航空宇航科学与技术—航空宇航推进理论与工程] TP24[自动化与计算机技术—检测技术与自动化装置]