履带无人车半实物仿真平台研究  

Research on Semi-Physical Simulation Platform for Tracked Unmanned Vehicles

作　　者：施嘲风 柳慧泉 王骏波 万泓成 SHI Chao-feng;LIU Hui-quan;WANG Jun-bo;WAN Hong-cheng(AVIC Beijing Precision Engineering Institute for Aircraft Industry,Beijing 100076,China)

机构地区：[1]航空工业北京航空精密机械研究所,北京100076

出　　处：《测控技术》2018年第B11期90-95,共6页Measurement & Control Technology

摘　　要：针对履带无人车的环境适应能力和越障能力，研究了一种履带无人车半实物仿真系统。设计并实现了一种具有履带模拟、垂直振动、多轴摇摆的多自由度仿真平台。对仿真平台的动态指标性能进行了实验验证。实验结果表明，该仿真平台可满足某型履带无人车的仿真要求。To verify the environmental adaptability and obstacle surmounting ability of tracked unmanned vehi- cle, asemi-physical simulation system is studied. A multi-DOF simulation platform with track simulation, verti- cal vibration and multi axis swing is designed and implemented. The dynamic performance of the simulation platform is verified by experiments. The experimental results show that the simulation platform can meet the simulation requirements of a tracked unmanned vehicle.

关 键 词：履带无人车 半实物仿真 多自由度平台 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]