星球车车轮原地转向沉陷试验及模型研究  

Experimental Study and Modeling of Wheel's Steering Sinkage for Planetary Exploration Rovers

作　　者：杨怀广[1] 丁亮[1] 高海波[1] 郭军龙[1] 邓宗全[1] 刘振[1] 吕焱[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,哈尔滨150080

出　　处：《机械工程学报》2017年第8期99-108,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金(61370033);机器人技术与系统国家重点实验室自主课题(SKLRS201401A01);黑龙江省博士后青年英才计划(LBH-TZ0403);中央高校基本科研业务专项资金(HIT.BRETIII.201411);"111"创新引智计划(B07018)资助项目

摘　　要：星球车转向沉陷量是其转向力学研究的基础,可以对星球车转向机构设计、车轮转向控制及仿真提供支持。利用星球车单轮测试台进行车轮原地转向沉陷量测试试验,分析了垂直载荷和轮刺高度等因素对沉陷量的影响。结合试验数据对传统转向沉陷量模型进行分析,发现通过改变沉陷指数可以极大的提高沉陷量的计算精度。进而对沉陷指数进行辨识和分析,并推导出两种沉陷指数的理论计算模型。基于沉陷指数模型推导了修正的沉陷量计算模型,其对于沉陷量的预测结果与试验数据相比最大相对误差约为5%,确定系数大于0.97,证明该模型可以反映车轮转向过程中由于土壤压实和流动等因素引起的动态沉陷。Steering sinkage of planetary exploration rover＇s wheel is the basis of its steering mechanics, which can in turn be used to the steering mechanism design, control and simulation of rovers. Systematic steering experiments are carried out using a single-wheel testbed to analyze the influence of different vertical loads, lug heights, etc. The conventional model of steering sinkage is analyzed based on the experimental results, and the conclusion that changing the sinkage exponent can fit the dynamic variety of the sinkage is obtained. Further more, two sinkage-exponent models are obtained after analyzing and identifying the experimental results. The improved steering sinkage model is deduced by the two sinkage-exponent models, and by comparing the improved wheel sinkage model with the experimental results, it is found that the error is less than 5% and the R-squares are more than 0.97, which proves the improved model can fit the dynamic steering sinkage caused by soil compression and lateral flow during the period of wheel steering.

关 键 词：地面力学 车轮转向 沉陷量 变沉陷指数 星球车 

分 类 号：O39[理学—工程力学] U489[理学—力学]