星球车车轮的滑转率估计方法  

Estimation Method for Wheel Slip Ratio of Planetary Rover

作　　者：尤波[1] 时洋[1] 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080

出　　处：《哈尔滨理工大学学报》2015年第2期23-27,共5页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金青年基金(51105117);黑龙江省自然科学基金(QC20140549)

摘　　要：未来的勘探任务要求星球车自主运行于复杂的星球表面,车轮滑转率的有效估计是星球车高性能移动控制的关键.基于车辆地面力学理论,建立了基于滑转率的车轮-土壤相互作用力学积分模型,推导了积分模型中集中力的解析表达式.针对模型方程组的高度耦合性和复杂非线性,分析了模型参数间的耦合关系;结合被动滑转原理和参数关系分析结果,系统研究了星球车车轮的滑转率估计方法.通过开展轮壤相互作用试验,将车轮滑转率的模型计算值与试验所得值进行比较,验证了积分模型滑转率估计方法的正确性.The future exploration tasks require that planetary rover can run on the complex surface of planet. Efficient estimation of wheel slip ratio is the key of high performance motion control of rover. The integral model for wheel soil interaction mechanics based on slip ratio is buildt and analytical expressions of concentrated forces for the integral model are derived based on vehicle terramechanics theory. The relationship between model parameters is analyzed aimed at the highly coupling characteristic and complexly nonlinear characteristics of the integral model e- quations. The estimation method for wheel slip ratio of rover is researched combined with the g^uand mechanics the- ory and the analytic resuh of parameters relationship. The calculated values of integral model and the actual values for wheel slip ratio are compared by wheel soil interaction experiments. Experimental results show that the estima- tion method for slip ratio based on integral model is correct.

关 键 词：滑转率 地面力学 被动滑转 耦合关系 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计]