基于轮力感知装置的软地面通过性测试系统  

The testing system of vehicle trafficability on soft terrain based on wheel force sensor

作　　者：王东[1] 冯李航 董卫华 刘明明 WANG Dong;FENG Lihang;DONG Weihua;LIU Mingming(Southeast University,Nanjing 210096,China;Nanjing TECH University,Nanjing 211816,China;Unmanned Research Center,Beijing 100029,China)

机构地区：[1]东南大学,南京210096 [2]南京工业大学,南京211816 [3]无人研究中心,北京100029

出　　处：《兵器装备工程学报》2024年第9期229-233,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金青年基金项目(62103184)。

摘　　要：针对车辆的地面通过性试验方法主要局限于模型试验而缺乏实车试验的现状,提出了一套基于轮力感知装置的软地面通过性测试系统。系统以维轮力感知装置为核心,辅以轮速传感器、视觉传感器、GPS等多种车载设备。试验结果表明本文所提出的测试系统能够在多种软地面条件下完成牵引力、滑移率等通过性关键性指标的实时测量,进而为通过性地图的建立提供有力支撑。Given that current vehicle ground mobility testing methods are mainly confined to model testing and lack real vehicle testing,this paper proposes a soft ground mobility testing system based on a multidimensional wheel force sensing device.The system is centered on the wheel force sensing device,supported by other onboard equipment such as wheel speed sensors,visual sensors,and GPS.Experimental results indicate that the proposed system can perform real-time measurements of key mobility metrics such as traction force and slip ratio under various soft ground conditions,providing robust support for the construction of mobility maps.

关 键 词：多维轮力 软地面通过性 测试系统 实车试验 评估模型 

分 类 号：TH82[机械工程—仪器科学与技术]