重力不同引起的载人月球车操纵差异分析  

Analysis on handling deviation caused by different gravities for lunar roving vehicle

作　　者：梁忠超[1] 王永富[1] 刘振[2] 高海波[2] 邓宗全[2] 

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]机器人技术与系统国家重点实验室(哈尔滨工业大学),哈尔滨150080

出　　处：《哈尔滨工业大学学报》2017年第1期114-119,共6页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金(51605082;51275085);中国博士后科学基金项目(2016M591442);辽宁省博士科研启动基金(201601006);沈阳市科技基金(F16-226-6-00)

摘　　要：为分析月球与地球重力差异对驾驶员所带来的操纵影响,推导了载人月球车操纵动力学方程.基于径向基神经网络和间接逆模型的训练方法,建立以行驶轨迹为输入、驾驶员操纵转角为输出的载人月球车操纵动力学逆系统.采用两种不同类型的间接对比形式,包括地球重力条件下重复月面行驶的轨迹路线和月球重力条件下重复地面行驶的轨迹路线.将正弦函数和斜坡阶越函数作为驾驶员操纵输入,获得月球或地球重力条件下的行驶轨迹,并利用逆系统求解得到不同重力条件下行驶相同轨迹时驾驶员的操纵转角.结果表明,驾驶员在月球重力条件下需要做出更大的操纵转向角度、更快的操纵转向速度、更高的操纵转向变换频率,并且在月球重力条件下更不容易重复地球重力条件下的相同行驶轨迹.这说明载人月球车在月球重力条件下的操纵性能较差.For analyzing the influences of different gravities of the Earth and the Moon on driver of lunar roving vehicle（ LRV）,the handling dynamic functions were deduced. Based on RBF neutral networks and indirect inverse model training methods,the inverse handling system of LRV,whose inputs were the moving traces and outputs were the handling angles of the driver,was obtained. Two types of indirect comparisons were used for the inverse system,including repeating the moving traces on the Moon under the earth＇s gravity and repeating the moving traces on the Earth under the lunar gravity. The sine and ramp-pulse were used as the handling functions,and the moving traces on the Moon or the Earth could be solved by the handling dynamic system. Then,the handling angles could be obtained by the inverse system when repeating same traces under different gravities. The results show that the driver needs bigger steering angle,more rapid steering speed,and more frequent steering shift under the lunar gravity.Morever,it is much more difficult to repeat the same trace under the lunar gravity than under the earth＇s gravity. It illustrats that the LRV has the worse handling performances on the Moon.

关 键 词：载人月球车 操纵动力学 逆系统 重力因素影响 径向基神经网络 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]